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EtherCAT ACU - Bonfiglioli Redutores Do Brasil

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1. VPlus 53 VPlus KP500 p KP500 hec f 1 P 419 48 Hz 2 Power OFF amp ON 3 P 419 48 Hz CANopen ew i VPlus i VPlus KP500 Ep q i KP500 B 0x6046 1140 rpm Li d E lt h i 1 P 419 48 Hz 2 P 419 38 Hz 3 Power OFF amp ON 4 P 419 48 Hz pondus GENER ur VPlus i VPlus KP500 Ji sq 1 KP500 c 0x6046 1140 rpm 0x1010 save Uo d 4 4 a 1 1 P 419 48 Hz 2 P 419 38 Hz 3 Save 1140 rpm 4 Power OFF amp ON 5 P 419 38 Hz CANopen CANopen i E ES VPlus VPlus VPlus i KP500 s 5 KP500 o d g KP500 D 0x6046 1140 rpm 0x1010 save UI U T AN i i Au i i 1 1 P419 48Hz 2 P419 38 Hz 3 Save 1140 rpm 4 P419 48Hz 5 Power OFF amp ON 6 P 419 38 Hz Abfolge 39 04 13 CM EtherCAT GW Bonfiglioli A Value of a parameter is set via KP500 or VPlus No save command 1 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus 2 Power OFF and ON 3 The value of KP500 VPlus is active 48 Hz B No save command The value of the CANopen obj
2. Bj VPlus 8 04 F INV20130417 vcb E elaks File Edit View 6 a D e Pe Finished Frequency Inverter Data Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 E Machine Data EI 305 CAN Baud Rate 6 250 kBit s System Data j 367 CAN Node Number A m See BONN E 1423 CANopen 053007 Perc Act Value Source 52 Analog Input MFITA B abi Ss 1414 CANopen 8 Perc ES 52 Analog Input MFIT x ini 1415 CANopen 043011 Act Value Word 5 s 1416 CANopen 043012 Act Value Word2 55 Analog Input EM STINA V E Control Inputs Dutputs 1407 CAN 03021 Act Value Long 57 PWM Input E Control Functions ts oed rl 63 Reference Percentage 1 dl Special Functions 2 1418 CANopen 043022 Act Value Long2 64 Reference Percentage 2 E Actual Values 65 Reference Percentage 3 curo 66 Reference Percentage 4 beds qu 67 Reference Percentage RAM E Communication 133 Ramp Percentage Output RS485 R5232 137 Ref Percent Channel Output CANopen DeviceNet 138 Act Percent Channel Output Gs 139 Actual Percentage Ramp 704 RxPDO1 Word Convert PDP intemal 705 R PDO1 Word2 Bus Controller 706 RxPDO1 Word3 Error Behaviour COP DEV EH dE Matz or Syomin 715 RxPDO2 Word2 716 RxPDO2 Word3 d 717 RxPDO2 Wordd J R i la m d Default value 52 Analog Input MED A L The percentage value is scaled as percent 100 e g 5678 rep
3. E RN VPlus 8 04 FNNV20130417 vcb f gt Sa d File Edit View UBI a n t X r y Finished Control Inputs Outputs Parameter Data Set o Data Set Data Set 2 Data Set 3 1 Control Functions fj 945 T PDO1 Boolean 7 FALSE Special Functions f 947 TxPD01 Boolean2 7 FALSE Geen fj 948 T4PDO1 Boolean 7 FALSE Ge Ge dj 943 TWPDO1 Booleand 7 FALSE TREI Re 9 950 TxPD01 Word 9 Zero CANopen DeviceNet 9 951 TxPD01 Word 9 Zeto Ethernet t 952 TxPDO1 Word3 9 Zero Convert PDP intemal Ben TPDO1 Word 9 Zero Bus Controller GEZ TxPDO1 Longi 9 Zero Error Behaviour COP DEV LE LEO La 765 CANopen 043122 Ref Value Long2 x E Systembus 689 Output Position Controller El Gear n Basic Settings 690 Index Controller Output Master uncis 708 RxPDO1 Longi 709 RxPDO1 Long SYNC Identifier 718 RxPDO2 Long m SDOT dentiier 718 RxPDO2 Long SD02 Set Active 728 RaPDOS Long 4 729 RxPDO3 Long si ec 738 RxPDO1 Long extrapolated m unen 743 Act Position User Units RxPDO Function 745 MCI Act Speed u s Timeout 747 Contouring Error User Urits TAPDO1 Objects open 0x312 OutF PDPcony longl Dut F PDPconv long2 Output FmMax Loadestimation 2501 ET Output Frequency 1 TxPDO2 Objects TxPDO3 Objects Synchronization m 4 m lt 2502 FT Output Frequency 2 2503 FT Dutput Frequency 3 Default value 9 Zero 2504 FT O
4. 47 12 3 1 Handling of data sets cyclic writing of the parameters 47 12 3 2 Handling of index parameters cyclic writing tteeeeeeeeeeaeae 48 12 3 2 1 Example Writing an index parameter eee 49 12 3 2 2 Example Reading an index parameter mee 49 12 4 Manufacturer objects 0x3000 Ox5FFF iii 50 12 4 1 0x3001 0 Digital In actual value 50 12 4 2 0x3002 0 Digital Out actual value i 50 12 4 3 0x3003 0 Digital Out set values emen 51 12 4 4 0x3004 0 Boolean Mus mme nnnm nennen innen ener nnne nne 52 12 4 5 0x3005 0 Boolean DeMUX iii iii 53 4 CM EtherCAT 04 13 12 4 6 0x3006 0 Percentage set value meme 54 12 4 7 0x3007 0 Percentage Actual Value Source 1 55 12 4 8 0x3008 0 Percentage Actual Value Source 2 nrnna 55 12 4 9 0x3011 0 Actual Value Word 1 0 0 etter reer e enna renee emen nen 56 12 4 10 0x3012 0 Actual Value Word 2 meme 56 12 4 11 0x3021 0 Actual Value Long 1 enses ntc ae 57 12 4 12 0x3022 0 Actual Value Long 2 e 57 12 4 13 0x3111 0 Ref Value Word 58 12 4 14 0x3112 0 Ref Value Word 2 e 58 12 4 15 0x3121 0 Ref Value Long 1 nemen nnn nne 59 12 4 16 0x3122 0 Ref Value Long 2 enne nne nennen nnne 59 12 4 17 OXBFTO n Geant factors 60 12 4 18 0x5F11 n 0x5F14 n Phasing 1 4 61 12 4 19 0x5F15 0 In Gear Threshold
5. e ee eee een eee eine eee eee iii kun usus iii 22 5 Installation Disassembly of the communication module 23 5 1 Installation P 23 04 13 CM EtherCAT 3 Gi Bonfiglioli 5 2 1 X 24 6 Connector occupation 1rrrrs ar erres aaa eeee nane ee reni iene einen 25 iu 26 MMC Ii uc 26 9 Setting the node address 1 eeeeeeeieee eiii eese esee eee 26 10 Operational behavior on bus failure 1 ee eee cesse eee KEEEERRRRKEEEERRRKEEEEEERERKKeEEn 26 11 BDerCAT Over Vie qu bud oe nce dus RF DU M D DE E DM ME 27 11 1 Communication Objects 111eseeeeeieieeee essei esee nhan anna na nana usan nna usan naa a n 27 11 2 Application Objects ereeesKEEEERERKEEEERERKEEEEERERKEEEERERKEEEERRRREEEEERRRERKEEEERKEKKERERRKEEEERRRKE 27 11 3 Funktion SDO ukkeEERRRREEEEERKEEEERRRERREEEEERRRKEEEERRRKEEEERREREEEEERRRKEEEERERRKEEERRRRKEEEERRRKKEEEEREN 28 113 1 Error code table ue ie rediere ai 28 11 4 PDO Function 1nnseeeeeieesieeee esses kann suu k annuus a nnmnnn nannamamma 29 11 5 Emergency Function e e eieeeeee irene eni einen 29 11 6 Synchronization Distributed Clocks eeeeeeeee reser 29 11 7 NMT Functonms e eeeekKEEEERRRKEEEERRRRKEEEEREREEEEERERKEEEERERRKEEEERR
6. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on 1 Switched on 2 Operation enabled Fault Voltage enabled Quick stop Low active Switch on disabled Warning M Manufacturer specific Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 Operation mode specific 14 Manufacturer specific Manufacturer specific Warning 2 Bit 14 unused Status word bits 12 and 13 operation mode specific are used in motion control configu rations Parameter Configuration 30 x40 only ACTIVE CUBE inverters support an external 24V supply for control logic Even if the mains are not switched on communication between the PLC and the inverter can still be established Bit 4 Voltage enabled of the Status word indicates the current state of the mains power supply Bit 4 Voltage enabled 0 signals no mains voltage and the state transition Ready to switch on gt Switched on is not possible Bit 4 Voltage enabled 1 signals mains voltage switched on and the state transi tion Ready to switch on gt Switched on is possible ACTIVE CUBE inverters and ACTIVE inverters can show different states because bit 4 of the Status word is used additionally in ACTIVE CUBE like
7. 12 Device profile objects ssssse 37 68 Disassembly Communication module 24 Distributed CIOCKS 29 E Electrical connections 16 Error ee Le CN 28 F Flying Brel vull ot iron sn 112 G Gear Fratini 96 General Information about the Documentation EU 8 H Hexadecimal format 20 HOMINO EE 112 Method ale ea 98 guts IC 91 Speeds iie e e ec dn 100 Homing FIVING ariana 112 I Index Parameter 48 Reading lai 49 Vimeo x 49 Installation anaa 16 Communication module 23 Introduction eias ir a 19 L Local Remote e 116 M Manufacturer objects 35 47 Mapping Ra Zon eegne 45 v Bonfiglioli Ib Bo 46 Modes of operation 79 Motion Control Interface MCI 106 Object and Parameter dependencies 107 Motion Control Interface MCI 21 N MIL 30 o Offset PHASING anir ariaa aaa 61 OS Synchronization saer reee 31 P Parameter access Index Parameter Reading ic aa io 49 Index Parameter Writing 49 ORT TERT 29 Position Controller eee 112 Position deviation isssseererrerrrrrrrrrrrrrra 66 R R N L ED eseu ee 26 S Safety Generali 11 SPO 28 Sequence Example Electronic Gear Slave Modera 174 Homing Position mode 154 Inter
8. 2 6 5 Recycling Symbol Meaning LAY Recycling to avoid waste collect all E amp Y materials for reuse 2 6 6 Grounding symbol Symbol Meanin Ground connection 2 6 7 ESD symbol Symbol Meaning ESD Electrostatic Discharge can damage components and assemblies 2 6 8 I nformation signs Meaning i 3 gt d Tips and information making using the frequency inverter easier 14 CM EtherCAT 04 13 v Bonfiglioli 2 7 Directives and guidelines to be adhered to by the operator The operator must follow the following directives and regulations e Ensure that the applicable workplace related accident prevention regulations as well as other ap plicable national regulation are accessible to the staff e An authorized person must ensure before using the frequency inverter that the device is used in compliance with its designated use and that all safety requirements are met e Additionally comply with the applicable laws regulations and directives of the country in which the frequency inverter is used Any additional guidelines and directives that may be required additionally shall be defined by the op erator of the machine plant considering the operating environment 2 8 Operator s general plant documentation e In addition to the user manual the operator should issue separate internal operating instructions for the frequency inverter The user manual of the frequency inve
9. Change set immediately Abs rel Fault reset Halt Change on set point 04 13 CM EtherCAT 139 Go Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 jag 1 W Ready to switch on Switched on Operation enabled gt Fault Voltage enabled gt Quick stop Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 12 Set point acknowledge 13 Following error 15 Warning 2 140 CM EtherCAT 04 13 04 13 Control word v Bonfiglioli Change on Change set New set Description set point point imme point Bit 9 diately Bit 5 Bit 4 0 0 021 Positioning shall be completed tar get reached before the next one is started X 1 021 Next position shall be started imme diately 1 0 021 Positioning with the current profile velocity up to the current set point shall be proceeded and then the next positioning shall be applied Name Value Description Abs rel 0 Target position is an absolute value Bit 6 1 Target position is a relative value Halt 0 Execute positioning Bit 8 1 Stop axle with profile deceleration if not supported with profile acceleration the inverter remains in state opera tion enabled Status word Name Value Description Tar
10. Target window t Target position reached Target window time Writing to object position window automatically generates a write command to parame ter Target Window 1165 data set 5 all data sets in RAM only If object 0x6067 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of Target Window 1165 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant 04 13 CM EtherCAT 83 GY Bonfiglioli 12 5 18 0x6068 0 Position window time Index Sub index Meaning Data type Access Map Def Val 0x6068 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes When the actual position is within the position window during the defined position win dow time given in milliseconds then the corresponding bit in the Status word bit 10 target reached is set to one This is considered in Modes that use Status Word Bit 10 Target reached as Target Position reached like Profile Positioning Mode and Table Travel Record Mode Writing to object position window time automatically generates a write command to parameter Target Window Time 1166 data set 5 all data sets in RAM only If object 0x6068 0 wa
11. CM EtherCAT 167 Go Bonfiglioli 15141312 11109 8 7 6 5 4 3 NN 1 O Ready to switch on Switched on Operation enabled 2 Fault Voltage enabled Quick stop low active Switch on disabled Warning Phasing Done Remote Target reached Internal limit active Following error m 5 Warning 2 168 CM EtherCAT 04 13 Control word v Bonfiglioli Name Value Description Start El Gear 0 Stop axle with ramp 0x6084 Bit 4 1 Start electronic gear with reference value master speed with ramp 0x6083 Direct Sync 0 Direct Synchronisation enabled Bit 6 1 Direct Synchronisation disabled Halt 0 Execute instruction of bit 4 Start Gearing Bit 8 1 Stop axle with ramp of actual motion block inverter re mains in state operation enabled Start Phasing 0 jPhasing disabled aborted Bit 9 1 Start Phasing with profile defined by Bits 12 amp 13 Phasing select n Phasing Profile n 1 0 1 Bit 12 13 Phasing select Control word Phasing select Phasing Profile Bit 13 Bit 12 0 0 1 0 1 2 1 0 3 1 1 4 Status word Name Description Phasing Done Phasing in progress or none started yet Bit 8 Phasing finished Target Target reached InGear reached InGear Bit 10 Following
12. Quick stop Low active Enable operation Fault reset Halt CM EtherCAT 135 Goo Bonfiglioli 136 15 14 13 12 11 10 9 8 7 6 5 4 jag 1 W Ready to switch on Switched on Operation enabled Fault Voltage enabled gt Quick stop Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 12 Velocity 13 Max Slippage 15 Warning 2 The Profile Velocity Mode is used to set the reference speed in user units u s The reference speed Ox60FF Target Velocity is taken over in mode operation enabled immediately 0xnn37 The acceleration and deceleration ramp are specified by ob jects 0x6083 Profile acceleration and 0x6084 Profile deceleration Setting Bit 8 Halt of the control word delays the drive with ramp 0x6084 Profile de celeration and holds the drive at standstill Resetting Bit 8 results in an acceleration with ramp 0x6083 Profile acceleration to the actual reference velocity Control word Bit 8 Halt HALT 0 gt Execute Profile Velocity Mode HALT 1 gt Halt Axis The Frequency inverter remains in state Operation enabled The actual velocity in u s can be displayed in a PLC via map able Object 0x606D Via Objects 0x606D Vel
13. Ramp Fall Time 1178 Ramp Rise Time 1176 e The Ramp Rise Fall time in Table travel record mode is defined via parameters 1205 and 1207 e The Ramp Rise Fall time in Homing mode is defined via parameter 1135 e The Ramp Rise Fall time in Ve ocity mode and in Non Motion Control configura tions is defined via parameters 430 433 e The Ramp Rise Fall times in these modes are independent of the settings of object 0x6086 04 13 CM EtherCAT 95 Goo Bonfiglioli 12 5 35 0O0x6091 n Gear ratio Index Sub index Meaning Data type Access Map Def Val 0x6091 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes Object 0x6091 gear ratio defines the ratio of motor shaft revolutions to driving shaft revolutions 0x6091 1 motor shaft revolutions 0x6091 2 ariving shaft revolutions Parameter Gear Box Motor Shaft Revolutions 1117 Parameter Gear Box Driving Shaft Revolutions 1116 Gear ratio Writing to object motor shaft revolutions automatically generates a write command to parameter Gear Box Motor Shaft Revolutions 1117 data set 5 all data sets in RAM only If object 0x6091 1 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of
14. 1247 Digital Signal 1 1248 Digital Signal 2 1260 Interrupt Event 1 1261 Int Event 1 Eval Mode 1262 Int Event 1 Next Motion Block 1263 Interrupt Event 2 1264 Int Event 2 Eval Mode 1265 Int Event 2 Next Motion Block 1343 FT instruction 1344 FT input 1 1345 FT input 2 1346 FT input 3 1347 FT input 4 1348 FT Parameter 1 1349 FT Parameter 2 1350 FT target output 1 1351 FT target output 2 1352 FT commentary 1252 Mux Input 1422 CANopen Mux Input CM EtherCAT o 1 32 0 1 32 33 34 65 33 34 65 17 18 33 18 33 1200 Write 1201 Read 1341 Write 1342 Read 1250 Write 1251 Read 1420 Write 1421 Read 04 13 wv Bonfiglioli Vectron 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 If the number of admissible writing cycles is exceeded the EEPROM is destroyed To avoid this cyclically written data can be entered exclusively into the RAM without a writing cycle taking place on the EEPROM The data are volatile i e they are lost on power off and have to be written again after power on 12 3 2 1 E
15. GY Bonfiglioli 20 In this document the hardware circuitry relevant parameters and the available ob jects are described The available objects are divided by Communication objects Ox1nnn Manufacturer objects Ox2nnn Standardized objects Ox6nnn 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 The standards referred to are available at oo EtherCAT Technology Group Headquarters Ostendstr 196 90482 Nurnberg Germany E Mail info ethercat org Phone 49 911 5 40 56 20 Web www ethercat org Fax 49 911 5 40 56 29 NOTE With the CM EtherCAT communication module it is possible to access ALL frequency inverters parameters from a controller There is no ac cess control via the control level as in the case of the KP500 manual control unit or the VPlus PC software Changing parameters the func tions of which are not known to the user can result in unintended movements and material and or personal losses as well as inoperative ness of the frequency inverter NOTE If values are to be written cyclically follow the notes in Chapter 12 3 1 Handling of data sets cyclic writing of the parameters For operation with a controller a XML is required You will find this XML file in the documentation of the product CD Hexadecimal values are marked in the following by a preceding Ox
16. Some components e g the heat sink or brake resistor may be hot even some time after the ma chine plant was shut down Don t touch any surfaces directly after shutdown Wear safety gloves where necessary The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis charged Wait for at least 3 minutes after shutdown before starting electrical or mechanical work on the frequency inverter Even after this waiting time make sure that the equipment is deener gized in accordance with the safety rules before starting the work In order to avoid accidents or damage only qualified staff and electricians may carry out the work such as installation commissioning or setup In the case of a defect of terminals and or cables immediately disconnect the frequency inverter from mains supply Persons not familiar with the operation of frequency inverters must not have access to the fre quency inverter Do not bypass nor decommission any protective facilities The frequency inverter may be connected to power supply every 60 s This must be considered when operating a mains contactor in jog operation mode For commissioning or after an emer gency stop a non recurrent direct restart is permissible After a failure and restoration of the power supply the motor may start unexpectedly if the Auto Start function is activated If staff is endangered a restart of the motor must be prevented by means of external circ
17. 0x1A02 TxPDO3 map param 0x2nnn ACU parameter access 0x3001 Digital In actual values 0x3002 Digital Out act values 0x3003 Digital Out set values 0x3004 Boolean Mux 0x3005 Boolean DeMux 0x3006 Percentage Set value 0x3007 Percentage Act value 1 0x3008 Percentage Act value 2 0x3011 Act Value Word 1 0x3012 Act Value Word 2 0x3021 Act Value Long 1 0x3022 Act Value Long 2 0x3111 Ref Value Word 1 0x3112 Ref Value Word 2 0x3121 Ref Value Long 1 0x3122 Ref Value Long 2 Ox5FFO Active motion block 0x5FF1 Motion block to resume X X Xx X X X X 0X X 0X X X X 0X 0X X X 0X 0X 0X X 0X DX 0X X X X X X X XXX 04 13 CM EtherCAT 185 GY Bonfiglioli 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 Modes of Op display 0x6064 Position actual value 0x6066 Following error timeout 0x6065 Following error window 0x6067 Position Window 0x6068 Position Window time 0x606C Velocity act
18. 64 65 66 Xx 72 73 01 02 The Actual error message can be read out by parameter access via parameter Actual Error 260 and via the Emergency Message or Object 0x1014 Parameter Actual Error 259 shows the actual error in clear text on the operator panel and the PC software tool VPlus In addition to the fault messages stated there are further fault messages described in the Operating Instructions The faults of the Motion Control Interface F14xx F15xx are described detailed in the application manual Positioning CM EtherCAT 183 GD Bonfiglioli 16 6 Conversions The speeds can be converted into other speed formats using the formulas in this chapter Frequency Hz to Speed rpm See chapter 16 6 2 Speed in user units u s See chapter 16 6 4 Speed rpm to Frequency Hz See chapter 16 6 1 Speed in user units u s See chapter 16 6 6 Speed in user units u s Speed rpm See chapter 16 6 5 Frequency Hz See chapter 16 6 3 16 6 1 Speed rpm to Frequency Hz n min x No of pole pairs P 373 f Hz ES 16 6 2 Frequency Hz to Speed rpm null f Hz x 60 SE No of pole pairs P 373 16 6 3 Speed in user units u s to Frequency Hz Hz u e No of pole pairs P 373 x Gear Box Motor Shaft Revolutions P 1117 Tes E Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 16 6 4 Frequency Hz to Speed in user units u s Feed Constan
19. 0x000F Enable Operation Reference speed 0 Status word Oxnn37 Operation enabled 6a Control word 0x001F Start Electronic Gear without Directe Syn chronisation Status word 0xn327 Operation enabled Slave not coupled yet Phasing not finished Status word 0xn337 Operation enabled Slave not coupled yet Phasing finished Status word 0xn727 Operation enabled Slave coupled Phasing not yet finished Status word 0xn737 Operation enabled Slave coupled Phasing finished 6b Control word 0x005F Start Electronic Gear with Directe Synchroni sation Status word See 6a See Da 7a Control word 0x021F Start Electronic Gear without Directe Syn chronisation and Phasing Profile 1 Status word See 6a See Da 7b Control word 0x121F Start Electronic Gear without Directe Syn chronisation and Phasing Profile 2 Status word See 6a See Da 7c Control word 0x221F Start Electronic Gear without Directe Syn chronisation and Phasing Profile 3 Status word See 6a See Da 7d Control word 0x321F Start Electronic Gear without Directe Syn chronisation and Phasing Profile 4 Status word See 6a See Da 8a Control word 0x025F Start Electronic Gear with Directe Synchro nisation and Phasing Profile 1 Status word See 6a See Da 8b Control word 0x125F Start Electronic Gear with Directe Synchro nisation and Phasing Profile 2 Status word See 6a See Da 8c Control word 0x225F Start Electronic Gear with Directe Synchro nisation and Phas
20. 15 Warning 2 Only linear interpolation is available for this object 0x60C0 0 nterpolation submode select is NOT implemented For proper operation object 0x60C1 1 interpolation data record must be sent by a synchronous RxPDO The activation of interpolated position mode is displayed by status bit 12 ip mode active With each SYNC message a new target position is transmitted to the drive by object 0x60C1 1 interpolation data record The new interpolated reference positions and an additional speed reference are calculated from the last reference position the nterpo lation data record and the time interval of the SYNC messages As shown the target position actually received will be reached at the time of the next SYNC message 148 CM EtherCAT 04 13 v Bonfiglioli e 0x6083 Profile acceleration 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 e 0x6084 Profile deceleration is used when the interpolated mode is switched off falling edge of Bit 4 enable ip mode or a HALT signal Bit 8 is set e 0x6085 Quick stop deceleration or 0x6084 Profile deceleration is used when a fault occurred This can be changed via Stopping behavior 630 Operation mode and Communication fault reaction 0x6007 0 abort connection option code e Please set the accel
21. EM S3IND 04 13 CM EtherCAT 117 GI Bonfiglioli 118 15 14 13 12 1110 9 8 7 6 5 4 3 EN 1 0 Ready to switch on Switched on Operation enabled Fault Voltage enabled 5 Quick stop Low active Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 15 Warning 2 When using the control mode control via remote digital inputs the digital inputs STOA AND STOB at X210A 3 X210B 2 must be set AND bit 0 of Contro word must be set in order to get the drive started The two control modes digital inputs and remote digital inputs are only relevant to the mode of operation velocity mode ACTIVE CUBE inverters support an external 24V supply for control logic Even if the mains are not switched on communication between the PLC and the inverter can still be established Bit 4 Voltage enabled of the Status word displays the current state of the mains power supply Bit 4 Voltage enabled 0 signals no mains voltage and drive start is disabled Bit 4 Voltage enabled 1 signals mains voltage switched on and drive start is enabled CM EtherCAT 04 13 14 1 1 04 13 v Bonfiglioli Device State machine Statemachine not ready to 1 switch on 0x00 switched on q
22. I 950 TED wordt 9 Zero RS485 RS232 zen THPDO1 Word 9 Zero CANopen DeviceNet ees dj 952 THPDO1 Word3 9 Zero Convert PDP intemal 953 TaPD01 Word EEC Bus Controller EECH Longl 764 CANopen 043121 Ref Value Long I Error Behaviour COP DEV 955 TxPDO1 Long 689 Output Postion Controller ET Gear S WI Ge Systembus 690 Index Controller Output 708 RxPDO1 Longl Basic Settings 709 RxPDO1 Long Il Master Functions 718 R PDO2 Long SYNC Identifier d 719 RxPDO2 Long2 5D01 Identifier i de ee Rx ong S002 Set Active 738 RxPDOi Long extrapolated PDO Identifier 743 Act Position User Units TxPDO Function M I Act Speed u s R PDO Funetion T Timo n 0x3121 Ref Value Lona d EE CANopen 043122 Ref Value Long2 E jects Du F PDPconv ongl TxPDO2 Objects QutF PDPconv long2 TxPDO3 Objects Output FmMax Loadestimation Synchrorization 2501 FT Dutput Frequency 1 z 2502 FT Output Frequency 2 i 2503 FT Output Frequency 3 2504 FT Dutput Frequency 4 E Default value 9 Zero D V 12 4 16 0x3122 0 Ref Value Long 2 Index Sub index Meaning Data type Access Map Def Val Via object 0x3122 it is possible to write to a Word source like parameter 7xPDOI Long 1 954 of the Systembus The value of object 0x3122 is available as source which can be chosen by the selec tion of 765 CANopen 0x3122 Ref Value from a parameters choice list
23. Index Sub index Meaning Data type Access Map Det Val 0x6040 Object 0x6040 0 Contro word is relevant to the inverter remote state machine whenev er parameter LocalRemote 412 is set to 1 remote state machine 15 14 13 12 1110 9 8 7 6 5 4132 1 0 Bit o N w A Switch on Enable voltage Quick stop Low active Enable operation vn a ER Operation mode specific Operation mode specific Operation mode specific Fault reset e m o m E m Le Halt Operation mode specific Reserved Manufacturer specific m w m Ka m a Manufacturer specific Manufacturer specific Manufacturer specific Manufacturer specific Bits 4 5 6 and 9 15 are used in motion control configurations p 30 x40 only See chapter 14 Inverter Control and 16 1 Control Word overview 04 13 CM EtherCAT 71 Goo Bonfiglioli 12 5 4 0x6041 0 Status word Index Sub index Meaning Data type Access Ma Def Val 0x6041 Object 0x6041 0 Status word displays the actual state of the inverter 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled 5 Quick stop Low active Switch on disabled Warning Manufacture
24. Operating staff The term Operating Staff covers persons instructed by the Operator of the frequency inverter and assigned the task of operating the frequency inverter Qualified staff The term Qualified Staff covers staff who is assigned special tasks by the Operator of the frequency inverter e g installation maintenance and service repair and troubleshooting Based on their qualifi cation and or know how qualified staff must be capable of identifying defects and assessing func tions Qualified electrician The term Qualified Electrician covers qualified and trained staff who has special technical know how and experience with electrical installations In addition Qualified Electricians must be familiar with the applicable standards and regulations they must be able to assess the assigned tasks properly and identify and eliminate potential hazards Instructed person The term Instructed Person covers staff who was instructed and trained about in the assigned tasks and the potential hazards that might result from inappropriate behavior In addition instructed per sons must have been instructed in the required protection provisions protective measures the appli cable directives accident prevention regulations as well as the operating conditions and verified their qualification Expert The term Expert covers qualified and trained staff who has special technical know how and experience relating to frequency inverter Experts mus
25. Ox60F8 Max Slippage CM EtherCAT 137 Goo Bonfiglioli 14 4 2 1 Example Sequence 138 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 2 Modes of Profile Velocity mode Operation Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on Control word 0x0007 Switch On Status word 0x0033 Switched On 5 3 Control word 0x0007 Enable Operation no change to previous state if already enabled The Profile Veloc 0x000F ity mode is started with reference velocity Ox60FF Target Velocity and Ramp profile 0x6084 Profile acceleration and 0x6084 Profile deceleration Changes to Target Velocity and Ramps are taken over imme diately Status word Oxnn37 Operation enabled 1 A profile consists of the following entries If a value is not changed the old value will still be active e 0x6081 Profile velocity e 0x6083 Profile acceleration e 0x6084 Profile deceleration e Ox60FF Target Velocity Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table
26. RaPDO2 Wo u f Kenniinie 717 RxPDO2 Words E Regeltunktionen 724 RxPDO3 Word E Sonderfunktionen 725 PxPDO3 Word2 Pulsweitenmodulation 726 RxPDO3 Word3 i 727 RaPDO3 Word Brems Chopper Motorschutzschalter Keiliemenueberwachung 2522 FT Ausg Prozent 2 d Drehgeberueberwachung 2522 FI usa Prozent 2 2524 FT Ausg Prozent 4 2551 FT Ausa Anwender 1 2552 FT Ausg Anwender 2 EI Softwarekonfiguration Steuerung 2553 FT Ausg Anwender 3 Frequenzsollwertkanal 2554 FT Ausg Anwender 4 Frequenziampen D Prozentsollwertkanal Prozentwertrampen Motorpoti Digitalausgaenge Technologieregler Stromgrenzwertregler Spannungsregler E Istwerte o Fehlerorotokoll Defaultwert 133 Ausg Prozentwert Rampe _ m NUM The percentage value is scaled as percent 100 e g 5678 represents 56 7896 CM EtherCAT 04 13 v Bonfiglioli 12 4 7 0x3007 0 Percentage Actual Value Source 1 Index Sub index Meaning Data type Access Map Def Val Object 0x3007 displays the value of a percentage source which is selectable via pa rameter CANopen Percentage Actual Value Source 1423 Default source is 52 Analog Input MFI1A r B VPlus 8 04 FNINV20130417 vcb elaks File Edit View SN s e Q t SS Finished Frequency Inverter Data Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 D Ma
27. Target velocity pv ing Speeds u s 1132 amp 1133 Default 816 Obj 0x60FF Target Velocit Limitation Obj 0x6046 1 amp 2 Obj 0x6046 1 amp 2 Obj 0x6046 1 amp 2 Velocity min max amount Velocity min max amount Velocity min max amount 418 amp 419 418 amp 419 418 amp 419 Acceleration 1204 Acceleration Obj 0x609A 0 1295 Acceleration Acceleration Default 804 Obj 0x6083 1134 Profile Acceleration Deceleration 1205 Deceleration Obj 0x609A 0 1296 Deceleration Acceleration Default 805 Obj 0x6084 1134 Profile Deceleration Quick Stop Obj 0x6085 0 Obj 0x6085 0 Obj 0x6085 0 Quick stop deceleration Quick stop deceleration Quick stop deceleration 1179 Emergency Ramp 1179 Emergency Ramp 1179 Emergency Ramp Motion Block Selected via Control Word Gear factor 1123 Gear Factor Numer ator Ox5F10 1 Gearfactor Numerator 1124 Gear Factor Denom inator 0x5F10 2 Gearfac tor Denominator 1125 Phasing Offset 0x5F11 1 Phasing 1 Offs 1126 Phasing Speed 0x5F11 2 Phasing 1 Speed 1127 Phasing Accelera tion 0x5F11 3 Phasing 1 Acceleration Phasing 1 Modes of Operation is selected via 1292 S Modes of Operation Default setting 801 Obj Ox6060 Modes of Operation 2 Parameters 1292 1293 1294 1295 1296 amp 1297 are used for the connection between CANopen Objects and internal functions For CANopen these do not have to be changed Please refer to chapter 13 6 for a
28. 0x1000 0 Device type Read Only Unsigned32 Nein 0x1001 0 Error register Read Only Unsigned8 Nein 0x1008 0 Manufacturer device name Read Only Visible string Nein 0x1009 0 Manufacturer hardware version Read Only Visible string Nein 0x100A 0 Manufacturer software version Read Only Visible string Nein 0x1010 Store parameters 0 Highest Sub index supported Read Only Unsigned8 Nein 1 Save all parameters Read Write Unsigned32 Nein 2 Save communication parame Read Write Unsigned32 Nein ters 3 Save application parameters Read Write Unsigned32 Nein 04 13 CM EtherCAT 33 G Bonfiglioli Index 0x1011 Subli ndex Name SDO Access Data type PDO mapping Restore default parameters 0 Highest Sub index supported Read Only Unsigned8 Nein 1 Restore all default parameters Read Write Unsigned32 Nein 2 Restore communication default Read Write Unsigned32 Nein parameters 3 Restore application default Read Write Unsigned32 Nein arameters 0x1018 Identity object 0 Highest Sub index supported Read Only Unsigned8 Nein 1 Vendor ID Read Only Unsigned32 Nein 2 Product code Read Only Unsigned32 Nein 3 Revision number Read Only Unsigned32 Nein 4 Serial number Read On Unsigned32 Nein 0x1600 RxPDO1 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write Unsigned32 Nein 3 3 mapped obj
29. 1127 can be used instead of the Ob jects The 4 data sets of the parameters correspond to the 4 Objects Usage of the Objects will write the parameters in RAM data set 6 9 Phasing 1 Offset 1125 1 Phasing Offset Phasing 2 Offset 1125 2 Phasing 3 Offset 1125 3 Phasing 4 Offset 1125 4 Phasing 1 Speed 1126 1 Phasing Speed Phasing 2 Speed 1126 2 Phasing 3 Speed 1126 3 Phasing 4 Speed 1126 4 Phasing 1 Acceleration 1127 1 Phasing Acceleration Phasing 2 Acceleration 1127 2 Phasing 3 Acceleration 1127 3 Phasing 4 Acceleration 1127 4 62 CM EtherCAT 04 13 v Bonfiglioli 12 4 19 0x5F15 0 In Gear Threshold Index Sub inde Meanin Data Access Map Def Val 0x5F15 Object works in Object doesn t work in e Motion Control e Motion Control o Table Travel record mode o Profile Positioning mode Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch o Electronic Gear Slave 00000 e Non motion Control conf x40 04 13 The Status Word Bit 10 In Gear is set if the relative deviation between master and slave position is lower than the value of 0x5F15 0 n Gear Threshold for at least 0x5F16 0 n Gear Time When 0x5F15 0 In Gear Threshold is set to zero the signal in gear is set as soon as the drive reaches the master speed The signals In Gear are reset in the following occurrences The relative deviation between master
30. 3 Manufacturer objects 0x2nnn Parameter access 12 3 1 04 13 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 Parameter number 0x2000 required data set 0 1 4 5 6 9 Index Sub index The mapping of numeric data is always in integer or long data type Values which contain decimal places are extended accordingly e g value 17 35 is transmitted as 1735 Handling of data sets cyclic writing of the parameters Access to the parameter values is carried out on the basis of the parameter number and the required data set There are parameters which only have one value data set 0 as well as parameters which have four values data sets 1 4 The latter are used for the data set change over of a parameter If parameters with four data values are set via data set 0 all four data sets are set to the same transmitted value A read access with data set 0 to such parameters is only successful if all four data sets are set to the same value If this is not the case an error is reported 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 If the number of admissible writing c
31. 9 Bonfiglioli Vectron ACTIVE CUBE EtherCAT Communication module CM EtherCAT Frequency inverter 230 V 400 V E ta E xq C13 Bonfiglioli ontrol and green solutio v Bonfiglioli Contents 1 General Information about the Documentation 1 1 20 rrrre arene eee eee 8 1 1 This document ccseseeeeeeeeeeeeeeneeeeeeeenaeeeseenaaeeseenaaeeeeeneaseesenoaseeseeoaaseesenaaseeseonanenensoas 9 1 2 Warranty and liability 200 0000 eee eee iii 9 1 3 Obligation 10 LA Copyright E E a E E E 10 1 5 Storage s ssssssssnnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnannnnnnnnnnnn nananana 10 2 General safety instructions and information on use eere eene nnns 11 REEL IIIJ h Aare E E E 11 2 2 Designated use 1 cccccseseeeeeneeeeeeeneeeeeeennaseeseenaseeseenaaeeseenaaseeeenoaseesennuseesenaaeeneaoaaees 12 Xu c 12 2 3 1 Explosion protector eo tire redet aiar 12 2 4 ResidualriskS 000 2000 eresie rire ei ieee eee irene ee iii nie iii 12 2 5 Safety and warning signs at frequency inverter 1rrs00 cer ree iene eee 12 2 6 Warning information and symbols used in the user manual 13 2 6 1 JHazard classes ii indice retreat dee reae iaia aiar 13 2 6 2 Hazard symbols etri ia 13 2 6 3 Prohibitioni Signs eed eben EP etc ee ua id a eec e Rx ood E ERR age 13 2
32. Factor Denominator 1124 Trajectory generator in gearing mode Speed sensor 1 speed m m Speed sensor 2 Resolver speed The Master Position and Velocity is multiplied with the Gear factor When a Phasing is started the Phasing Profile is added to the the Master Speed until the Phasing Offset is reached Der Getriebefaktor wird ber folgende Objecte oder Parameter definiert 0x5F10 1 Gear factor Numerator 1123 Gear Factor Numerator 0x5F10 2 Gear factor Denominator 1124 Gear Factor Denominator 0x5F10 3 Gear factor Resync on change 1142 Resync on Change of Gear Factor Das Phasing wird Uber folgende Objecte oder Parameter definiert Ox5F11 1 Phasing 1 Offset Phasing Offset Ox5F12 1 Phasing 2 Offset Ox5F13 1 Phasing 3 Offset Ox5F14 1 Phasing 4 Offset Ox5F11 2 Phasing 1 Phasing Geschwindigkeit Ox5F12 2 Phasing 2 0x5F13 2 Phasing 3 Ox5F14 2 Phasing 4 Ox5F11 3 Phasing 1 Acceleration Phasing Beschleunigung 0x5F12 3 Phasing 2 Acceleration 0x5F13 3 Phasing 3 Acceleration 0x5F14 3 Phasing 4 Acceleration Start Electronic Gear and Status bits The electronic gear is started with Bit 4 Start Electronic Gear The drive accelerates according to Object 0x6083 Profile acceleration When the Slave speed couples into the master the status word bit 10 Target reached is set The conditions for the state In Gear are set via Object
33. Gear Box Motor shaft revolutions 1117 Writing to object driving shaft revolutions automatically generates a write command to parameter Gear Box Driving Shaft Revolutions 1116 data set 5 all data sets in RAM only If object 0x6091 2 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Gear Box Driving Shaft Revolutions 1116 Sece Alternatively the parameters 1116 and 1117 can be used instead of the Objects 0x6091 1 Motor Shaft revolutions 1117 Getriebe Motorumdrehungen 0x6091 2 Driving Shaft revolutions 1116 Getriebe Wellenumdrehungen The values of Objects 0x6091 1 and 6091 2 are limited as follows Object No Min Max 65535 0x6091 1 Motor shaft revolutions 1 0x0000 FFFF ait 65535 0x6091 2 Driving shaft revolutions 0x0000 FFFF 96 CM EtherCAT 04 13 v Bonfiglioli 12 5 36 0x6092 n Feed constant Index Sub index Meaning Data type Access Map Def Val 0x6092 Object kann benutzt werden in Object kann nicht benutzt werden in e Motion Control e Nicht Motion Control o Alle Modi Konf x40 Object 0x6092 feed constant defines the feed in user units per driving shaft revolu tions 0x6092 1 feed Feed constant 0x6092 2 driving shaft revolutions Parameter Feed Cons
34. Homing can be started via a digital input bya control word via system bus or field bus automatically before the start of a motion block positioning operation 1 Extension module with system bus or field bus interface required When using an Absolute Encoder with an Absolute Encoder Module in example EM ABS 01 a Homing after power on is not necessary This is defined by parameter Operation Mode 1220 Further details of the Homing functions are described in the application manual Po sitioning 13 3 1 Start position after homing After homing Referenzfahrt P 1185 1 gt Drive remains in coast to stop position P 1185 1 gt Drive is moved actively to set position 13 3 2 Flying homing The Flying homing can be used to update the reference position during a running motion This function is described in the application manual Positioning 13 4 Position Controller The position controller evaluates the positioning operation target actual position and tries to control the drive such that it comes as close as possible to the specifica tions Further details of the Position controller are explained in chapter 12 4 21 0x5F17 n Position Controller with a description of Object Ox5F17 112 CM EtherCAT 04 13 v Bonfiglioli 13 5 Move away from Hardware limit switches 04 13 If a hardware limit switch was activated depending on parameter setting 1143 Fault reaction a fault message is tri
35. MCI Profile Ve MCI Profile Positioning without MCI Velocity Mode locity Mode Position Mode o Switch On Switch On Enable Voltage Enable Voltage Enable Voltage Enable Voltage Quick Stop Quick Stop Quick Stop Quick Stop low active i Halt lo low active W active low active low active Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation E emie New setpoint Change set immedi p Newerf Ab sire Fault reset Fault reset Fault reset Fault reset Fault reset Change on setpoint HSARA kakiki kaka Bit MCI Interpol MCI Homing MCI Table MCI Move awa MCI Electronic Position Mode Mode travel record from Limit Sw Gear Slave Mode 0 Switch On 1 Enable Voltage Enable Voltage Enable Voltage Enable Voltage Enable Voltage low active low active low active low active low active 3 Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation a Enable ip mode ces Direct Sync Fault reset Fault reset Fault reset Fault reset jsetmoenbok bert BEE SS O Jr esses Sa O femeas presna Poiesz OOo i peses lege ll 04 13 CM EtherCAT 179 Go Bonfiglioli 16 2 Status Word overview 180 The tables on this page list in an overview the funcionality of the Status Word bits Ready to Switch On Ready to Switch On Ready to Switch On witched On Switched On Switched On Operation enabled Operation
36. Object 0x606E Velocity window Time defines the time for which at least reference ve locity and Actual velocity must be similar enough to set Bit 10 Target reached of the Status word The similarity Hysteresis is defined via 0x606D Velocity Window 0x606D Velocity window defines the symmetric range around the value of Object Ox60FF Target Velocity in user units s Bit 10 Target reached is set in the Status word when the difference between Ox60FF Target Velocity and 0x606C Velocity Actual value is smaller than the 0x606D Velocity window for a longer time than 0x606E Velocity Window Time If both conditions are not met at the same time bit 10 Target reached of the Status word is reset The value range of Object 0x606E 0 Velocity Window Time is 0 65535 ms Writing to object Ox606E 0 Velocity Window Time automatically generates a write command to parameter Velocity Window Time 1277 data set 5 all data sets in RAM only If object 0x606D 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Velocity Window Time 1277 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con Stant 86 CM EtherCAT 04 13 v Bonfiglioli 12 5 22 Ox606F 0 Velocity Threshold Index Sub index
37. Piet Value Word 2 763 033121 Pei Value Long s 764 82122 Rat Vaas Lang e 755 Oe conboberd CSO Lag veloci Er NAINN Moton iiocktd KREIS 046060 modes of oper First select RxPDO after right clicking on RxPDO select Insert This will open a dialogue for object mapping Edit Pdo Entry Name interpolated data record Index hex BIC gt Sub Index 1 Data Type i gt Bit Lentgh 32 24769 From Dictionary Cancel 0x3111 0x3121 Ox6071 0x6081 0x3003 0x3005 Ox3006 03112 Ref Value Longl s 764 03122 Ox6040 Ox6042 Ox6060 target torque D 5074 profile velocity Ox6083 Ox6084 Digital Out set values Boolean DeMux Percentage set value Ref Value Word s 752 Ref Value Word2 s 763 Ref Value Long s 765 controlword target velocity modes of operation target position profile acceleration profile deceleration Object 0x60C1 is not displayed in the selection list but must be entered as shown in the illustration CM EtherCAT 103 Goo Bonfiglioli 12 5 41 Ox60F4 0 Following error actual value Index Sub index Meaning Data type Access Map Def Val 0x60F4 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes In the application manual Positioning the term Contouring error is used inste
38. Profile Velocity mode u s h Homing Mode only This Object is only used in Homing mode i Interpolated Position Mode only This Objec t is only used in Interpolated Position mode p Profile Position Mode only This Object is only used in Profile Position mode g Electronic gear slave Mode only This Object is only used in Electronisc Gear mode t Table travel record mode only This Object 36 C is only used in Table travel record mode M EtherCAT 04 13 v Bonfiglioli 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 0x6007 0 Apor connecuon Read write Integer16 No 1 3 3 p 388 option code 0x603F 0 Error code Read only Unsigned16 No 0x6040 0 Control word Read write Unsigned16 Rx p 410 0x6041 0 Status word Read only Unsigned16 Tx p 411 0x6042 0 Target velocity Read write Interger16 Rx 0 pu Target velocity de 0x6043 0 mand Read only Integer16 Tx 0x6044 0 Control effort Read only Integer16 Tx 0x6046 Velocity min max 0 Highest sub index Read only Unsigned8 No supported 1 Velocity min amount Read write Unsigned32 No 0 0 32767 p 418 2 Velocity max amount Read write Uns
39. Read write Unsigned32 Nein 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 Nein 7 7 mapped obj Read write Unsigned32 Nein 8 8 mapped obj Read write Unsigned32 Nein 0x1601 RxPDO2 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write Unsigned32 Nein 3 3 mapped obj Read write Unsigned32 Nein 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 Nein 7 7 mapped obj Read write Unsigned32 Nein 8 8 mapped obj Read write Unsigned32 Nein 0x1602 RxPDO2 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write Unsigned32 Nein 3 3 mapped obj Read write Unsigned32 Nein 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 Nein 7 7 mapped obj Read write Unsigned32 Nein 8 8 mapped obj Read write Unsigned32 Nein 0x1A00 TxPDO1 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write Unsigned32 Nein 3 3 mapped obj Read write Unsigned32 Nein 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 N
40. UP routine This parameter cannot be written when the frequency inverter is in operation No Description Unit Display range Chapter 228 Internal reference frequency Hz 1000 00 1000 00 14 3 3 249 Active data set 1 4 14 260 Current error D OXFFFF E ES 270 Warnings 0 OXFFFF 16 3 274 Application Warnings 0 OXFFFF 16 4 282 Reference bus frequency Hz 1000 00 1000 00 14 3 3 283 Reference ramp frequency Hz 1000 00 1000 00 14 3 3 1443 Node State NMT 0 127 11 7 1453 OS SyncSource Act Selection 11 8 ta 2147483647 1108 Actual Position u 2147483647 12 5 14 i 2147483647 1109 Act Contouring Error u 2147483647 12 5 41 The parameters Current error 260 Warnings 270 and Application Warnings 274 are only accessible via the communication channel of objects PPO1 and PPO2 It can not be accessed via the VPlus program or the KP500 control unit 176 CM EtherCAT 04 13 15 2 Parameter v Bonfiglioli No Description Unit Display range Chapter No 388 Bus Fault reaction Selection 1 Error 10 12 5 1 373 No
41. Value Source 52 Analog Input MFITA Positioning 1414 CANopen 033008 Perc Act Value Source2 52 Analog Input MFITA Ena Si 2 1415 CANopen 043011 Act Value Word 52 Analog Input MFITA a ona potios 1416 CANopen 043012 Act Value Word2 52 Analog Input MFI1A d 1417 CANopen 043021 Act Value Long 9 Zero Control Functions Special Functions Actual Values Error Protocol 0 2 8 3 12 Tech Controller Freq Output E ommunication 14 Sweep Output RS485 R5232 16 lLimit Output E CANopen DeviceNet 18 Electronic Gear 8 Ethernet 20 Rotor and Stator Freq Range 21 Rotor Frequency Convert PDP internal 45 FraMin Output Bus Controller 46 KeyPad Gate Output Error Behaviour COP DEV EtF 50 Reference Analog Value MFI1A Systembus 53 Reference Analog Value EM STINA 62 Reference Frequency Channel 80 Speed Sensor 1 81 Speed Sensor 2 93 Slip Compensation 109 Ude Controller 111 Slip Frequency 112 Speed Controller Control Dev 115 Fixed Frequency 5 4 m all 116 Fixed Frequency B e 4 Default value 9 Zero CM EtherCAT 57 GX Bonfiglioli 12 4 13 0x3111 0 Ref Value Word 1 Index Sub index Meaning Data type Access Map Def Val Via object 0x3111 it is possible to write to a Word source like parameter 7xPDOI Word 1 950 of the Systembus The value of object 0x3111 is available as source which can be chosen by the sele
42. Velocity Window 0x606E Velocity Wind Time gt P 1277 Velocity Window Time 0x606F Velocity Threshold gt P 1278 Velocity Threshold 0x6070 Velocity Th Time gt P 1279 Velocity Threshold Time 0x60F8 Max Slippage P 1275 Max Slippage Homing Mode 0x6098 Homing method P 1130 homing type Table Travel Record Mode Motion Block selection via Control word Bits 11 15 Electronic Gear Slave 0x5F10 Gear Factor gt P 1123 P 1124 P 1142 Gear Factor 0x5F11 0x5F14 Phasing gt P 1125 P 1126 P 1127 Phasing Velocity vl gt Velocity mode rpm Velocity pv gt Profile Velocity mode u s 110 CM EtherCAT 04 13 v Bonfiglioli Vectron 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 Motion Control Interface MCI is a defined interface of the ACU device for posi tioning control Typically this interface is used via a Field bus like CANopen 13 2 Reference system La Le 04 13 The Motion Control Interface calculates in most modes in user units The user units result through the calculation of the gear factor and the number of pole pairs Conversion between user units u and frequencies Hz f Hz H No of pole pairs 373 Gear Box Driving shaft revolutions 1116 v 5 u Feed Constant 1115 2 Gear Box Motor shaft revolutions 1117 Feed Co
43. and slave position exceeds the value of 0x5F15 0 n Gear Threshold The speed of the master drive exceeds the value of Maximum Speed Maximum speed refers to either 0x6046 2 Velocity max amount or Maximum fre quency 419 It is set either via 0x6046 2 Velocity max amount rpm or Maximum frequency 419 Hz Maximum frequency 419 is usually set up during motor commis sioning The value range of des Object 0x5F15 0 is limited as follows No Object Min Max 2147483647 0x5F15 0 In Gear Threshold EEG Ox7FFF FFFF Alternatively parameter In Gear Threshold 1168 can be used instead of the Object 0x5F15 0 n Gear Threshold 0x5F15 0 In Gear Threshold 1168 n Gear Threshold CM EtherCAT 63 Goo Bonfiglioli 12 4 20 Ox5F16 0 n Gear Time Ox5F16 Object works in Object doesn t work in Motion Control e Motion Control o Table Travel record mode o Profile Positioning mode o Electronic Gear Slave Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch 00000 e Non motion Control conf x40 64 The Status Word Bit 10 In Gear is set if the relative deviation between master and slave position is lower than the value of 0x5F15 0 n Gear Threshold for at least 0x5F16 0 n Gear Time If parameter 0x5F15 0 n Gear Threshold is set to the value zero the signal In Gear is set when the drive attains the master speed The signals I
44. area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence CM EtherCAT 04 13 v Bonfiglioli 14 4 3 Profile position mode The profile position mode is selected via object 0x6060 0 Modes of operation 1 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 Status word 0x6081 Profile velocity 0x6046 Velocity min max amount 0x6083 Profile acceleration 0x6060 Modes of operation 0x6084 Profile deceleration 0x6061 Modes of operation display 0x6085 Quick stop deceleration The Ramp Rise Fall times are set up via parameters 1176 and 1178 and object 0x6086 In profile position mode the operation mode specific bits of Control word and Status word are used as shown 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage Quick stop Low active Enable operation New set point
45. code Meaning ox0001 Warning I xt 0x0002 Warning Short Term Ixt 0x0004 Warning Long Term Ixt 0x0008 Warning Heat sink Temperature Tc 0x0010 Warning Inside Temperature Ti 0x0020 Warning Limit 0x0040 Warning Init 0x0080 Warning Motor Temperature 0x0100 Warning Mains Failure 0x0200 Warning Motor Protective Switch 10 0x0400 Warning Fmax 11 0x0800 Warning Analog Input MFI1A 12 0x1000 Warning Analog Input A2 13 0x2000 Warning System bus 14 0x4000 WarningUdc 15 0x8000 Warning Warning status application 367 The meaning of the individual warnings is described in detail in the operating instruc tions co 1 O U1 UCO R2 oO LO 04 13 CM EtherCAT 181 Goo Bonfiglioli 16 4 Warning Messages Application The Warning Message Application is an additional information to the Warning bit The Application warning messages are given via parameter Application Warnings 274 bit coded according to the following scheme Parameter Application Warnings 273 shows the warnings in clear text on the operator panel and the PC software tool VPlus Use Parameter Application Warnings 274 to access the Application warning codes via Field bus Bit No Warning Description Code Keilriemen SW Limit Switch Positive SW Limit Switch Negative HW Limit Switch Positive HW Limit Switch Negative Contouring Error Warning Absolute encoder Use
46. description 3 The limitation is always restricted by 418 Minimum frequency and 419 Maximum frequency 1118 Limitation of the Position controller in configuration x40 can result in a boost above maximum frequency since the output of the Position Controller is added to the maximum frequency 4 Quick Stop or Deceleration is used depending on Stopping behavior 630 Operation mode or Com munication fault reaction 0x6007 0 abort connection option code 5 Phasing is available with 4 profiles in objects Ox5F11 0x5F14 04 13 CM EtherCAT 109 GX Bonfiglioli Correlation of objects parameters and value conversion Speed Limit All modes 0x6046 2 Velocity max amount rpm gt P 419 Max frequency Hz 0x5F17 2 Position Controller Limitation gt P 1118 Limit Output Position Controller u s Speed Homing Mode 0x6099 1 amp 2 Homing Speeds u s gt P 1132 amp P 1133 Homing Speeds u s Velocity Mode vl 0x6042 Target Velocity rpm Internal Bus Reference Hz Profile Velocity Mode pv Ox60FF Target Velocity rpm Internal reference Hz Profile Position Mode 0x6081 Profile Velocity u s Internal reference Hz Interpolated Position Mode calculated internally Table Travel Record Mode P 1203 Speed u s Move away from Limit Switch 0x6099 2 Homing Speeds u s P 1133 Electronic Gear Slave Master x 0x5F10 Phasing gt calculated internally Dec
47. enabled Operation enabled Fault Fault Voltage enabled Voltage enabled Voltage enabled Quick Stop Quick Stop Quick Stop Quick Stop i low active low active low active low active low active Warning Warning ive Switch On Disabled Switch On Disabled SE US Homing done f Remote Remote Remote Target reached Target reached Target reached Internal limit active Internal limit active Internal limit active Set point acknowl Target Pos reached Warning 2 Warning 2 Warning 2 Ready to Switch On Ready to Switch On Switched On Switched On Operation enabled Operation enabled low active low active low active low active low active NEN UNE Target reached IP mode active Homing attained ingear y O Homingerror Folowingerror __ Following error 2 ee RES ee CM EtherCAT 04 13 v Bonfiglioli 16 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 communication module The warning messages are given via parameter Warnings 270 bit coded according to the following scheme The parameter Warnings 270 is meant to be read out by PLCs parameter Warnings 269 shows the same information with a short text description in VPlus and Keypad KP500 Bit no Warning
48. error Bit 13 04 13 Halt Control bit 8 0 Bit 10 Halt Control bit 8 1 Halt Control bit 8 0 Halt Control bit 8 1 No following error Following error CM EtherCAT 169 GW Bonfiglioli 170 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 ter Master Position Source 1122 the operation mode is selected 1 mm isken over fom encoder put L 1 Encoder 1 taken over from encoder input 1 solver taken over from encoder input 2 or resolver The current position of the master drive is taken over by the process data channel RxPDO1 Long1 of the sys tem bus Additionally the data received are extrapolat ed even for slow settings of TxPDO Time of the mas ter Depending on the application select a setting of the corresponding TxPDO Long of the master 606 Internal Act Position 16 16 mechanical position of master drive Value doesn t change if the master makes a homing RxPDO1 Longl extrapolated 620 motion profile gen Internal Ref Position reference position of master drive advantage im proved controller properties Value doesn t change if the master makes a homing 11 The settings 607 and 627 are only to be used in excep tional cases In most app
49. output value of the ramp function in RPM The object has the same notation as the object target velocity and can be read as an actual value For calculating target velocity demand the parameter No of Pole Pairs 373 is taken into account in the same way as described for object target velocity 12 5 7 0x6044 0 Control effort Index Sub index Meaning Data type Access Map Def Val Object control effort is the actual speed of the drive in RPM The object has the same notation as the object target velocity and can be read as an actual value For calculat ing control effort the parameter No of Pole Pairs 373 is taken into account in the same way as described for object target velocity 12 5 8 0x6046 n Velocity min max amount Object works in Object doesn t work in Motion Control o All modes Non motion Control conf x40 74 Object velocity min max amount comprises the sub index 1 velocity min amount and sub index 2 velocity max amount The unit of 0x6046 1 velocity min amount is in RPM positive values only Writing to object 0x6046 1 velocity min amount automatically generates a write command to pa rameter Minimum Frequency 418 into RAM data set 5 all data sets in RAM only The value of 0x6046 1 velocity min amount is converted internally to a frequency value taking into account parameter No of Pole Pairs 373 in data set 1 The unit of 0x6046 velocity max amount is in RPM posi
50. sequence sequence mode control bit 4 1 start motion block control bit 9 resume controlbit 6 motion block in progress status bit 8 target reached status bit 10 position active motion block motion block to resume 04 13 sequence motion block 4 5 6 motion block 5 interrupted CM EtherCAT 161 GO Bonfiglioli 14 4 6 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 Status word 0x0031 Ready to switch on Control word 0x0007 Switch On Status word 0x0033 Switched On a Control word 0x000F Enable Operation tus word Oxnn37 Operation enabled Control word 0x020F otion Block 1 as Single Motion Block tatus word 0xn337 Operation enabled and Positioning active atus word 0xn637 Operation enabled and Target reached ontrol word OxOAOF otion Block 2 as Single Motion Block tatus word 0xn337 Operation enabled and Positioning active tus word 0xn637 Operation enabled and Target reached trol word 0x120F otion Block 3 as Single Motion Block tus word 0xn337 Operation enabled and Positioning active tus word 0xn637 Operation enabled and Target reached ontrol word 0x021F otion Block 1 in Sequence Mode tatus word 0xn337 Op
51. set via parameter max Control deviation 549 see operating instructions Bit 11 Internal limit active indicates that an internal limit is active This can for example be the present current limit the torque limit or the over voltage limit All of these limit functions lead to the reference value being quit or not reached Bit 15 Warning 2 indicates a warning which leads to a fault switch off of the fre quency inverter within a short period of time This bit is set if there is a warning for motor temperature heat sink inside temperature Ixt monitoring or mains phase fail ure CM EtherCAT 04 13 v Bonfiglioli 14 3 Non motion control configurations 14 3 1 04 13 In non motion control configurations Parameter Configuration 30 x40 object 0x6060 modes of operation is fixed to 2 velocity mode Object 0x6061 modes o operation display is always 2 velocity mode This cannot be changed Related objects 0x6040 Control word 0x6041 Status word 0x6042 Target velocity 0x6043 Velocity demand 0x6044 Control effort 0x6046 Velocity min max amount 0x6048 Velocity acceleration 0x6049 Velocity deceleration 0x604A Velocity quick stop The Ramp Rise Fall times are set up via parameters 430 433 Behavior in quick stop In quick stop the parameters Switch off threshold 637 percent of fmax and Hold ing time 638 holding time after falling short of the swi
52. stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence D After the sequence of the first four Control word s was processed correctly the ACU is 134 CM EtherCAT 04 13 14 4 2 04 13 v Bonfiglioli Profile Velocity mode u s The profile velocity mode is selected via object 0x6060 0 Modes of operation 3 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 Velocity min max amount 0x6083 Profile acceleration 0x6060 Modes of operation 0x6084 Profile deceleration 0x6061 Modes of operation display 0x6085 Quick stop deceleration 0x606C Velocity Actual value 0x6086 Motion Profile Type 0x606D Velocity Window Ox60F8 Max Slippage 0x606E Velocity Window Time Ox60FF Target Velocity The Ramp Rise Fall times are set up via parameters 1176 and 1178 and object 0x6086 In profile position mode the operation mode specific bits of Contro word and Status word are used as shown 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage
53. the aforementioned reasons In addition to that BONFIGLIOLI VECTRON GmbH excludes any warranty liability claims for any per sonal and or material damage if such damage is due to one or more of the following causes e inappropriate use of the frequency inverter e non compliance with the instructions warnings and prohibitions contained in the documentation e unauthorized modifications of the solar inverter e insufficient monitoring of parts of the machine plant which are subject to wear e repair work at the machine plant not carried out properly or in time e catastrophes by external impact and Force Majeure 04 13 CM EtherCAT 9 GX Bonfiglioli 1 3 Obligation This user manual must be read before commissioning and complied with Anybody entrusted with tasks in connection with the e transport e assembly e installation of the frequency inverter and e operation of the frequency inverter must have read and understood the user manual and in particular the safety instructions in order to prevent personal and material losses 1 4 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 h
54. with different functions Writing load to 0x1011 3 restores all application parameters Ox6nnn Specification of write load command LSB MSB D I u o a dq 0x6C Ox6F 0x61 0x64 Writing a value other than load results in an SDO abort The restore defaults com mand is not processed 12 2 8 0x1018 n Identity Object The identity object provides information on the device manufacturer as well as the device itself The vendor ID OxD5 identifies the manufacturer Bonfiglioli Vectron GmbH This vendor ID has been assigned by the CANopen users organization CAN in Automa tion CiA in Erlangen Germany www can cia org and EtherCAT EtherCAT Tech nology Group in N rnberg Product code displays the inverter s type code Revision number displays the inverter s EtherCAT CANopen system revision Serial number displays the inverter s serial number 44 CM EtherCAT 04 13 tv Bonfiglioli Vectron 12 2 9 0x1600 n 0x1601 n 0x1602 n RxPDO Mapping Parameter 04 13 RxPDO Mapping parameters 0x1600 n RxPDO1 0x1601 n RxPDO2 0x1602 n RxPDO3 0x1600 0 0 no objects mapped 0x1600 0 1 8 sl 8 objects mapped Mapping entry MSB LSB Object index Subindex Length no of bits High byte Low byte si Il Examples Mapping of 0x6040 0 Contro word unsigned16 1044 to 1 mapped object in RxPDOL 0x1600 1 0010 Mapping of 0X
55. 0 Local Remote 412 Remote contacts gt The control Start Stop Target position change over etc is carried out typically via o Digital contacts o Remote contacts via Field bus gt Reference values result from the selected configuration Typical are o Reference speed Reference frequency o Reference target position Please refer also to the application manual Positioning MCI Motion Control I nterface Positioning via Field bus Necessary settings Configuration 30 x40 Local Remote 412 1 Statemachine gt The control Start Stop mode change over etc is carried out via 0x6040 Contro word gt Reference values result from the selected 0x6060 Modes of Operation Typical are o Reference speed via 0x6042 target velocity o Target position 0x607A target position The usage of the Motion Control Interface is described in this manual in chapter 14 4 Motion control configurations 04 13 CM EtherCAT 21 Go Bonfiglioli 3 2 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 4 First Commissioning For the first commissioning you should acquaint yourself with the following steps and the described functions 22 Installation of the Module Chapter Select the device contr
56. 0000 Disable voltage 1 Status word 0x0050 Switch On Disabled 2 Modes of Profile Positon mode Operation 3 Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on 4 Control word 0x0007 Switch On Status word 0x0033 Switched On Control word 0x0007 Enable Operation A positioning is not i started 0x000F Status word Oxnn37 Operation enabled Control word 0x0007 oder 0x000F Enable Operation start with absolute Ny a movement Profile Ox001F If a motion is already running that mo tion is finished then the new Profile will be used Status word Oxnn37 Operation enabled Control word 0x0007 oder 0x000F Enable Operation start with relative movement Profile 0x005F If a motion is already running that mo tion is finished then the new Profile will be used Status word Oxnn37 Operation enabled 6c Control word 0x0007 oder 0x000F Enable Operation start with absolute movement Profile 0x003F A running motion is changed to the new profile Oxnn37 Operation enabled Control word 0x0007 oder 0x000F Enable Operation start with relative Na 4 movement Profile 0x007F A running motion is changed to the new profile Oxnn37 Operation enabled Control word Ox01nF HALT The drive is stopped with ramp 0x6049 Velocity deceleration Status word Oxnn37 Operation enabled 1 A profile consists of the following entries If a value is not changed the old value will still be act
57. 1 Parameter dependencies in Motion Control 1 eene 107 13 2 Reference system e eeeieeeeeiieieee essei nenne anus iii 111 13 3 Homing p 112 13 3 1 Start positioni after homlngi iioc tees lidia 112 13 3 2 Flying NOMIN Jesss LEM 112 13 4 Position Controller 1 22 noo ora arazzi ana nizza iii iaia 112 13 5 Move away from Hardware limit switches 1 eeeeeee eene enne 113 13 6 Motion Control Interface for Experts 1eee eere eere ener nennen nnn 114 13 7 Motion Control Override cccccssccscssccsecsccsccnsensensensensenseensensensensensensensensennsensenses 115 14 inverter Control ni edecee census un NEEN SEENEN NENNEN a RUE aaa AEEA bE VAKEN Eana 116 14 1 Control via digital inputs remote digital inputs 117 14 1 1 Device State matchlne 2 d ee d HE ve Ra posa eges VR a 119 14 2 Control via state machine 1 1 eren enean nuu KREE KEE KE KEREN RENE KEEN 120 14 2 1 Statemachine diagram meme nennen nnns 122 14 3 Non motion control configurations e ee reee ER enne nennen nnn nana 125 14 3 1 Behavior in quick stop rre aa 125 14 3 2 Behavior in transition 5 Disable operation Hm 126 14 3 3 Reference value actual value nennen nnn nnn nnne 127 14 3 4 Example Sequence e detta cent
58. 13 14 4 4 04 13 v Bonfiglioli Interpolated position mode The interpolated position mode is selected via object 0x6060 0 Modes of opera tion 7 n interpolated position mode the inverter receives a target position at equi distant time intervals Related objects 0x6040 Control word 0x6041 Status word 0x6060 Modes of operation 0x6061 Modes of operation display 0x6083 Profile acceleration 0x6084 Profile deceleration 0x6085 Quick stop deceleration 0x60C1 Interpolation data record The Ramp Rise Fall times are set up via parameters 1176 and 1178 and object 0x6086 In interpolated position mode the operation mode specific bits of Contro word and Status word are used as shown 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit Switch on Enable voltage Quick stop Low active Enable operation Enable ip mode Fault reset Halt CM EtherCAT 147 Go Bonfiglioli 15141312 11109 8 7 6 5 4 3 2 1 0 Bit Ready to switch on 1 Switched on 2 Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Remote 10 Target reached 11 Internal limit active IP mode active
59. 14 15 Warning 2 NOTE The mode Move away from limit switch works under normal conditions with hard ware limit switches For Software limit switches the mode only works if a Software limit switch Fault Reaction 1144 with reaction error is selected If a setting with warning in example 10 Warning is selected the software limit switch is not trig gering a fault and therefore the mode Move away from limit switch won t move away from the software limit switch NOTE The mode Move away from Limit Switch must not be used after one of the follow ing error messages occurred e F1444 Pos SW Limit Switch lt Neg SW Limit Switch e F1445 Pos and Neg HW Limit Switch Simultaneously e F1446 Limit Switch Incorrect Wired If one of these faults has occurred the wiring and parameterization must be checkd before the operation is continued CM EtherCAT 04 13 v Bonfiglioli Control word Name 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 Stop axle with ramp of actual motion block inverter re mains in state operation enabled Status word Name Target reached Bit 10 Limit switch still active axle decelerates Limit switch relieved axle stopped velocity 0 Basic
60. 17 33 1 use 1422 CANopen Mux Inputs Selection 7 Off 12 4 5 CANopen Percentage Actual Selection 52 Analog Ba Value Source Input MFI1A tety 1451 OS Synctime 700 900 us 800 us 9 10 Selection 52 Analog 1452 OS_SyncSource Input MFI 1A 11 8 04 13 CM EtherCAT 177 Go Bonfiglioli No Description Unit Display range Chapter No 1454 Override Modes Of Operation Selection 0 13 7 1455 Override Target Position lu 13 7 1456 Override Profile Velocity 1 u s 13 7 1457 Override Profile Acceleration 1 u s 13 7 1458 Override Profile Deceleration 1 u s 13 7 Override Target velocity vl _ 1459 rpm 1 rpm 13 7 Override Target velocity pv _ 1460 u s 1 u s 13 7 1 Non volatile fixed Parameterization Volatile 0 All indexes in EEPROM 17 All indexes in RAM 1 16 One Index in EEPROM 18 33 One Index 1 16 in RAM EEPROM and RAM The setting 0 for CANopen Mux Input Index write 1420 changes all Data in The parameter Data set selection 414 is only accessible via the manufacturer objects Ox2nnn It cannot be accessed via the VPlus program or the KP500 control unit For Positioning and using the Motion Control Interface comply with the application manual Position ing 178 CM EtherCAT 04 13 vv Bonfiglioli 16 Annex 16 1 Control Word overview The tables on this page list in an overview the functionality of the Control Word bits Standard No
61. 3 v Bonfiglioli 12 5 17 0x6067 0 Position window I ndex Sub inde Meanin Data Access Map Def Val 0x6067 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o 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 as Tar get Position reached like Profile Positioning Mode and Table Travel Record Mode Object 0x6067 position window defines a symmetrical range of accepted positions rela tive to the target position in user units If the actual value of the position measurement device is within the position window the target position is regarded as reached Target reached is displayed in Bit 10 of the status word The actual position must be inside the position window during the time specified in Object 0x6068 position window t me If the actual position drifts outside the target window or if a new target position is set the Target reached Bit is reset until the position and time conditions are met again The valid value range of object 0x6067 0 position window is 0 OX7FFF FEEF 27 1 Writing a value of 0x8000 0000 2 OxFFFF FFFE 27 2 results in an SDO abort value range If the value of position window is set to OxFFFF FFFF 2 1 OR 0 the position window control is switched off Position Target window Target postion
62. 420 und Acceleration Coun terclockwisef 422 76 CM EtherCAT 04 13 Bonfiglioli 12 5 10 0x6049 n Velocity deceleration Index Sub index Meaning Data type Access Map Def Val 0x6049 Object works in Object doesn t work in e Motion Control e Motion Control o Velocity mode o Table Travel record mode Profile Positioning mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch Electronic Gear Slave Non motion Control conf x40 O O O Er Er O 04 13 The deceleration in velocity mode is set with object velocity deceleration The object velocity deceleration consists of delta speed in rpm and delta time in seconds The gradient of the frequency in the deceleration period is written to parameters De celeration clockwise 421 and Deceleration anti clockwise 423 data set 5 all data sets in RAM only Both parameters are set to the same value The values of p 421 and p 423 are converted internally to a frequency sec value taking into account the parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed DO 0x6049 1 Delta speed RPM L Ox7FFF Bardo speed delta speed delta time time If objects 0x6049 1 or 0x6049 2 were written and then a save parameters command object 0x1010 processed the object values are stored in non volatile m
63. 5 32 Ox6084 0 Profile deceleration Index Sub index Meaning Data type Access Map Def Val 0x6084 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Velocity mode o Profile Positioning mode o Interpolated mode o Electronic Gear Slave Homing mode Table Travel record mode Move away from limit switch O00 e Non motion Control conf x40 Object 0x6084 profile deceleration is the deceleration in u s The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant The values of Object 0x6083 are limited to 1 to Ox7FFF FFFF 2 1 No Object Min Max 2147483647 2 Vere Lao dedii il ud OX7FFF FFFF 04 13 CM EtherCAT 93 Goo Bonfiglioli 12 5 33 0x6085 0 Quick stop deceleration Index Sub index Meaning Data type Access Map Def Val 0x6085 0 Duck stop deceleration Unsigned32 rw No Object works in Object doesn t work in e Motion Control e Motion Control o Profile Positioning mode o Velocity mode o Profile Velocity mode o Homing mode e Non motion Control conf x40 o Interpolated mode o Table Travel record mode o Move away from Limit Switch o Electronic Gear Slave Object 0x6085 quick stop deceleration is the deceleration in user units per second in profile position mode for quick stop mode Control word bit 2 0 Writing to object Quick sto
64. 6 4 Personal safety equipment cr eem nnns 13 2 65 RECYCIING EE 14 2 6 0 Grounding Symbol cere tnter ona iuter ntt pni D ha e atra 14 2 67 IESD SVEDDOL Ss iecit onerum ii aa 14 2 0 8 informati n ET 14 2 7 Directives and guidelines to be adhered to by the operator 15 2 8 Operator s general plant documentation 1 2 rrrrr se reree aeree eee irene ieri 15 2 9 Operator s operating staff s responsibilities eese eren 15 2 9 1 Selection and qualification of Staff mee eem 15 2 9 2 General work safety enne nemen nennen rnnt nennen ener nnns 15 2 10 Organizational measures 2200 rrrs scese ere arie 15 2 10 1 Generali lea ilaria dicasi 15 2 10 2 Use in combination with third party products cece eee eee nett tree ee eeeaaaaetees 16 2 10 3 Transport and Storage i oie d ia 16 2 10 4 Handling and installation sss emm eee 16 2 10 5 Een lee ele OI ET 16 2 10 5 L The five safety rules usciti dere eet apt tete oa Man eat d ui deducta ds 17 2 10 6 Safe operation reale 17 2 10 7 Maintenance and service troubleshooting ee eee tear eee 18 2 10 8 Final decommissioning 1 0 0 mee memes 18 3 PMtrOCUCTION pna E 19 3 1 Supported Configurations 1 cccccseseeeccseeseeseeseseeeeenegseeseneaseeseenageeseeoeaseesenoaseesenoas 21 3 2 Initialization time eee eee ieri 22 4 First Commissioning
65. 6085 0 Obj 0x604A 0 Velocity Obj 0x6085 0 Quick stop deceleration Quick Stop Quick stop deceleration 1179 Emergency Ramp 424 amp 425 1179 Emergency Ramp Homing Obj 0x6098 0 Method Homing method 1130 1 Modes of Operation is selected via 1292 S Modes of Operation Default setting 801 Obj Ox6060 Modes of Operation 2 Parameters 1285 1292 1293 1294 1295 1296 amp 1297 are used for the connection between CANopen Objects and internal functions For CANopen these do not have to be changed 3 The limitation is always restricted by 418 Minimum frequency and 419 Maximum frequency 1118 Limitation of the Position controller in configuration x40 can result in a boost above maximum frequency since the output of the Position Controller is added to the maximum frequency 4 Quick Stop or Deceleration is used depending on Stopping behavior 630 Operation mode or Com munication fault reaction 0x6007 0 abort connection option code 04 13 CM EtherCAT 107 Goo Bonfiglioli Profile Positioning mode Modes of Operation 2 Target Posi 1293 S Target Pos tion Default 802 Obj 0x607A Target Position Speed 1294 S Profile Vel Default 803 Obj 0x6081 Profile Velocit Limitation Obj 0x6046 1 amp 2 Velocity min max amount 418 amp 419 1295 Acceleration 2 Default 804 Obj 0x6083 Profile Accelera tion 1296 Deceleration 2 Default 805 Obj 0x6084 Profile Decelera tion Obj 0x6085 0 Quic
66. 60C1 1 interpolation data record 1 integer32 20nex to 2 mapped object in RxPDO1 0x1600 2 0120 Refer to chapter 12 1 for a tabular overview of all objects and their corresponding data types Default mapping RxPDO1 0x1600 0 0x1600 1 0x1600 2 0x1600 3 8 2 0x6040 0x6042 0x00000000 Control word target velocit RxPDO2 0x1601 0 0x1601 1 8 1 No mapping RxPDO3 0x1602 0 0x1602 1 8 1 No mapping CM EtherCAT 45 GX Bonfiglioli SA 12 2 10 Ox1A00 n 0x1A01 n Ox1A02 n TxPDO Mapping Parameter 46 TxPDO Mapping parameters Ox1A00 n TxPDO1 Ox1A01 n TxPDO2 0x1A02 n TxPDO3 0x1A00 0 0 no object mapped 0x1400 021 8 1 8 objects mapped Mapping entry MSB LSB Object index Subindex Length no of bits High byte Low byte si Il Examples Mapping of 0x6041 0 Status word unsigned16 to 1 mapping object inTxPDO1 Ox1A00 1 0010 Mapping of 0x6064 0 position actual value integer32 to 2 mapping object in TxPDOI 0x1A00 2 0020 Default mapping TxPDO1 0x1A00 0 0x1A00 1 0x1A00 2 0x1A00 3 8 0x6041 Status word 0x6044 control effort 0x1A01 1 8 TxPDO2 0x1A01 0 1 TxPDO3 0x1A02 0 0x1A02 1 8 1 No mapping 0x00000000 The number of mappable objects depends on the object s length The maximum number of bytes that can be mapped is 8 CM EtherCAT 04 13 v Bonfiglioli 12
67. 7 0x6092 Feed constant Highest sub index 0 supported Read only Unsigned8 No 1 1 Feed Read write Unsigned32 No 0x0001 0000 OX7FFF FFFF p 1115 2 KEES Read write Unsigned32 No 1 1 lutions 0x6098 0 Homing method H Read write Integer8 No 0 0 35 p 1130 0x6099 Homing speeds Highest sub index e 0 supported Read only Unsigned8 No Speed during search i Li 1 for switch Read write Unsigned32 No 0x0005 0000 Ox7FFF FFFF p 1132 Speed during search i Liss 2 f r zero Read write Unsigned32 No 0x0002 0000 OX7FFF FFFF p 1133 Homing acceleration Le 0x609A 0 h Read write Unsigned32 No 0x0005 0000 Ox7FFF FFFF p 1134 Interpolation data CAIO record 0 Highest sub index Read only Unsigned8 No supported e 0x8000 0000 1 EH cata Read write Integer32 Rx 0 m Ox7FFF FFFF Ox60F4 0 d SSES Read only Integer32 Tx p 1109 0x60F8 0 Max Slippage Read write Integer32 No 0 p 1275 Ox60FF 0 Target velocity Read write Integer32 Rx v Velocity Mode only This Object is only used in Velocity mode rpm u Profile Velocity Mode only This Object is only used in Profile Velocity mode u s h Homing Mode only This Object is only used in Homing mode i Interpolated Position Mode only This Object is only used in Interpolated Position mode p Profile Position Mode only This Object is only used in Profile Position mode t Table travel record mode only This Ob
68. CM EtherCAT 04 13 v Bonfiglioli 3 1 Supported Configurations ACTIVE CUBE inverters support different types of control and reference values e Standard without Positioning functions e Positioning via contacts or remote contacts e Positioning via Motion Control Interface MCI via field bus Motion control configurations are set when parameter configuration 30 x40 in example 240 To use the full functionality of the Motion Control Interface Parameter Local Remote 412 1 Control via State machine must be set The inverter s behavior with respect to contro word status word and modes of operation modes of operation display is different in the two different types of configuration Standard Necessary settings Configuration 30 x40 Local Remote 412 Remote contacts gt The control Start Stop Frequency change over etc is carried out typically via o Digital contacts o Remote contacts via Field bus gt Reference values result from the select configuration Typical are o Reference speed Reference frequency Analogue input Fixed values from parameters 0x6042 target velocity o Percentage reference value for technology controller or Torque control Analogue input Fixed values from parameters Please refer to chapter 14 3 Non motion control configurations for the control without Positioning functionality Positioning via contacts or remote contacts Necessary settings Configuration 30 x4
69. D 0 Velocity Windouw mme 85 12 5 21 0x606E 0 Velocity Window TIME Hee 86 12 5 22 0x606F 0 Velocity Thresbhold meme 87 12 5 23 0x6070 0 Velocity Threshold Time te me 88 KO Ee RE OM e oke Le UE 89 12 5 25 0x6077 0 Torque actual value ecette n eene 89 12 5 26 0x6078 0 Current actual value emen 89 12 5 27 0x6079 0 DClink circuit voltage eH mem 90 12 5 28 0x607A 0 Target position meme 90 12 5 29 0x607C 0 Homeoffset meme nennen nennen 91 12 5 30 0x6081 0 Profile velocity U S HH 92 12 5 31 0x6083 0 Profile acceleration Hee 92 12 5 32 0x6084 0 Profile deceleration eee 93 12 5 33 0x6085 0 Quick stop deceleration Hn 94 12 5 34 0x6086 0 Motion profile type Hmmm 95 12 5 35 0x6091 n Gear ration nemen nennen nennen nen 96 12 5 36 0x6092 n Feed constant enne nnnm 97 12 5 37 0x6098 0 Homing method meer 98 12 5 38 0x6099 n Homing speedS emere 100 12 5 39 0x609A 0 Homing acceleration e 101 04 13 CM EtherCAT 5 v Bonfiglioli GW Bonfiglioli 12 5 40 0x60C1 1 Interpolation data record 102 12 5 41 0x60F4 0 Following error actual value Ree 104 12 5 42 0x60F8 0 Max Slippage U S ne 105 12 5 43 Ox60FF O0 Target Velocity u s mH 105 13 Motion Control Interface MCI eere serene 106 13
70. Map Def Val 0x603F The object error code 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 inverter and on the KP500 control unit and the error secured in object error code Inverter DS402 Error Error code FOO xx 00 00 No error has occurred Frequency inverter has been overloaded F02 Case temperature outside the temperature limits F03 xx 41 10 Inside temperature outside the temperature limits Motor temperature too high or sensor defective FO5 xx 23 40 Motor phase current above the current limit DC link voltage outside the voltage range Electronic voltage outside the voltage range Earth fault on frequency inverter output Fyy xx 10 op Other error reports If the value 1000 generic error appears as the DS402 error code then the invert er error code can be read via parameter Current error 260 unsigned16 This pa rameter contains the error code in the product internal format The assignment table of the error code can be taken from the operating instructions In the emergency message the error code of the frequency inverter is transmitted in bytes 4 7 and the DS402 error code in bytes 0 and 1 Please refer to object 0x1014 COB ID Emergency Message for further explanations 70 CM EtherCAT 04 13 12 5 3 0x6040 0 Control word v Bonfiglioli
71. Meaning Data type Access Map Def Val 0x606F Object works in Object doesn t work in Motion Control e Motion Control o Profile Velocity mode o Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave OOO Qs ei e Non motion Control conf x40 04 13 Object 0x606F Velocity Window Threshold defines a threshold to change Bit 12 Veloci ty of the Status word in Profile Velocity mode If the absolute value of the Actual Ve locity lies for the time given over 0x6070 Velocity Threshold Time above the threshold 0x606F Velocity Threshold the bit is reset If the Actual Velocity falls below the defined threshold of 0x606F Velocity Threshold bit 12 Velocity of the Status word is set The value range of Object 0x606F 0 Velocity Window Threshold is 0 65535 u s Writing to object 0x606F 0 Velocity Window Threshold automatically generates a write command to parameter Threshold Window 1278 data set 5 all data sets in RAM only n If object 0x606F 0 Velocity Threshold was written and then a save parameters com mand object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Threshold Window 1278 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed
72. No 100 0 65535 p 1278 0x6070 0 Velocity Threshold Read write Unsigned16 No 0 0 65535 p 1279 0x6071 0 Target torque Read write Integer16 Rx 0x6077 0 Torque actual value Read only Integer16 Tx p 224 0x6078 0 Current actual value Read only Integer16 Tx p 214 0x6079 0 DClink circuit voltage Read only Integer32 Tx p 222 0x8000 0000 0x607A 0 Target position P Read write Integer32 Rx 0 S p 1202 Ox7FFF FFFF 04 13 CM EtherCAT 37 Gg Bonfiglioli Index Sub Designation SDO Ac Data type PDO Factory Min Max Belong index cess map setting ing ping Param 0x8000 0000 0x607C 0 Home offset H Read write Integer32 No 0 p 1131 Ox7FFF FFFF p i u 0x6081 0 Profile velocity Read write Unsigned32 Rx 0x0005 0000 Ox7FFF FFFF Profile acceleration f ls 0x6083 0 p i u Read write Unsigned32 Rx 0x0005 0000 Ox7FEF FEFE Profile deceleration i i Lie 0x6084 0 p i u Read write Unsigned32 Rx 0x0005 0000 OX7FFF FFFF Quick stop decelera ls 0x6085 0 tion Vul Read write Unsigned32 No 0x000A 0000 OX7FFF FFFF p 1179 0x6086 0 Motion profile type Read write Integer16 No 3 0 3 0x6091 Gear ratio Highest sub index i 0 supported Read only Unsigned8 No 1 Motor revolutions Read write Unsigned32 No 1 1 65535 p 1116 2 Driving Shaft revo Read write Unsigned32 No 1 1 65535 p 111
73. REREEEEERKEEEERRERKEEEERERKKEEE aud 30 DLC NMT Statemachin calano iii 30 11 8 OS Synchronization e eeEERKEEEERRRKKEEEREERKEEEERERKEEEERERREEEEERRRKEEEERRRRKEEEERERKEEEERERKKEEEEEEN 31 11 9 Fault Reset eee eee eine iii eee iii 32 12 Objects 20rsrsssrrreeere aaa ie ee eee 33 12 1 Objectstabularoverview 111 00 0000 ceee reni 33 12 1 1 Communication objects ssssssssssesssssstiritektt ttnn rnr ENENEEEEEENEENENEEEEEENEEEEEEEEEEEEEEEEEEEEE EEEE 33 12 1 2 Manufacturer objects eH io 35 12 1 3 Device profile ObjectSs meme nennenenen nnne 37 12 2 Communication Objects Ox1nnn 1 e er ree eee ee eene enne n nnn nnn 41 12 2 1 0x1000 0 Device Type lana 41 12 2 2 0x1001 0 Error Register eene nnnm a nnn 42 12 2 3 0x1008 0 Manufacturer Device Name eee meme 43 12 2 4 0x1009 0 Manufacturer Hardware Version mmm 43 12 2 5 0x100A 0 Manufacturer Software Version meme 43 12 2 06 Q0x1010 n Store Parameters otn eror td Rada mika rante e arde ak d ua a da 43 12 2 7 0x1011 n Restore default barameters meme 44 12 2 8 O0x1018 n Identity Object ie bei e Eee bib a Ln ad ee xe ee e ep eee EE e AO NS 44 12 2 9 0x1600 n 0x1601 n 0x1602 n RxPDO Mapping Parameter 45 12 2 10 0x1A00 n Ox1A01 n 0x1A02 n TxPDO Mapping Parameter 46 12 3 Manufacturer objects Ox2nnn Parameter access
74. S shaped curve The relative Position change caused by the acceleration is not compen sated Start Positioning In Gear Speed Master speed Position As Start CM EtherCAT 04 13 v Bonfiglioli 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 sychronised 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 The relative Position change caused by the acceleration is not compensated Start Positioning In Gear l 3 Wes V Ref V Position Controller g Speed Master speed err PA Position Controller Limitation 1118 Position 5 AS Start S sivave AS Start 04 13 CM EtherCAT 173 GX Bonfiglioli 14 4 8 1 Sequence Example Um den Electronic Gear Slave mode zu starten muss die korrekte Sequenz von der SPS gesendet werden 1 Control word 0x0000 Disable voltage 1 Status word 0x0050 Switch On Disabled 2 Modes of Operation 3 Electronic Gear Slave mode 3 Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on 4 Control word 0x0007 Switch On Status word 0x0033 Switched On 5 Control word
75. Sub index Meaning Data type Access Map Def Val Object works in o e Motion Control Homing mode o o o 0000 O Object doesn t work in Motion Control Table Travel record mode Profile Positioning mode Velocity mode Profile Velocity mode I nterpolated mode Move away from Limit Switch Electronic Gear Slave Non motion Control conf x40 Object 0x607C home offset defines the offset between the zero position of the position measurement device found during homing and the zero position of the application All subsequent movements are in relation to the application zero position cc Writing to object home offset automatically generates a write command to parameter Home Offset 1131 data set 5 all data sets in RAM only If object 0x607C 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Home Offset 1131 stant c 04 13 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con CM EtherCAT 91 Goo Bonfiglioli 12 5 30 0x6081 0 Profile velocity u s Index Sub index Meaning Data type Access Map Def Val 0x6081 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Profile Positionin
76. Synchronization cycle Should show aum set SYNC time or TxPDO time of the sending master _ SysBus SYNC position 1ms Shows the Synchronization time inside 1 ms Task us Should remain constant with small fluctuations B Sync 1 Synchronization OS to CANopen OK 854 OS lt gt CANopen EtherCAT 0 Synchronization OS to CANopen not OK Ok Task us Should remain constant with small fluctuations 949 CANopen SYNC position 1ms Shows the Synchronization time inside 1 ms Task us Should remain constant with small fluctuations 11 9 Fault Reset Depending on the settings and the operating status of the device a fault reset can be done like described e When using control via parameter Local Remote 412 Statemachine Set bit 7 in 0x6040 Control word 0x0080 e Via the Stop key of the operator panel A reset via the STOP key can only be executed if Parameter Local Remote 412 al lows the control via keypad e via parameter Error Acknowledgement 103 which is assigned a logic signal or a digital input A reset via a digital input can only be executed if Parameter Local Remote 412 al lows that control or if a physical input with the suffix Hardware is selected Some faults might re occur after a fault reset In these cases a certain action might be necessary in example move away from a limit switch in the non locked direction 32 CM EtherCAT 04 13 12 Objects v Bonfiglioli The available objects are marke
77. Threshold 1105 data set 5 all data sets in RAM only If object 0x6065 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of Warning Threshold 1105 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant CM EtherCAT 81 Go Bonfiglioli 12 5 16 0x6066 0 Following error time out 82 Index Sub index Meaning Data type Access Map Def Val 0x6066 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes When a following error Object 0x6065 following error window occurs longer than the defined value of object 0x6066 following error time out given in milliseconds the corre sponding bit in the Status word bit 13 following error is set to one No device fault is triggered Writing to object following error time out automatically generates a write command to parameter Contouring Error Time 1119 data set 5 all data sets in RAM only If object 0x6066 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of Contouring Error Time 1119 2 CM EtherCAT 04 1
78. ace The target position 1 u cannot be used as target position because 1455 Override Target Position 1 deactivates the Override Function 04 13 CM EtherCAT 115 GW Bonfiglioli 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 Lo cal Remote 412 No Description Max Fact sett 412 Local Remote cr For operation with CANopen only the settings 0 1 and 2 are relevant The remain ing settings relate to the possibilities of control via the KP500 control unit Control via digital in The Start and Stop command as well as the statement 0 puts of the direction of rotation are via digital input signals cha Control via The inverter is controlled by the Contro word 1 state machine Only in this control mode are the motion control chapters 14 2 14 3 functions supported by Contro word and mode 14 4 of operation as defined with CANopen DS402 Control via The Start and Stop command as well as the statement 2 remote digital inputs of the direction of rotation are via digital input signals chapter 14 1 emulated by the bits of the Contro word Parameter Local Remote 412 is data set change over capable Thus it is possible to switch over between the various control modes via the data set selection The data set change over can be carried out locally on the frequency
79. ad of the CANopen term Following error Object 0x60F4 shows the following error actual value The value is the same like stat ed in parameter Actual Contouring error 1109 The allowed following error is defined by object 0x6065 Following error window The Contouring error can be monitored internally to trigger a device fault if a set threshold was reached Please refer to the Application manual Positioning for details concerning the parameters Fault reaction 1120 Warning threshold 1105 Error Threshold 1106 and Contouring error Time 1119 104 CM EtherCAT 04 13 v Bonfiglioli 12 5 42 Ox60F8 0 Max Slippage u s I ndex Sub index Meaning Data type Access Map Def Val der Sue nde png Pata type Access Map Deve Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Table Travel record mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Move away from Limit Switch Electronic Gear Slave O O OO Q O Q e Non motion Control conf x40 Object 0x60F8 0 Max Slippage can be used to trigger a warning in bit 13 maximum slip fault in the status word when a too high slip occurs When the difference of sta tor frequency and actual speed exceeds the value set in 0x60F8 Max Slippage Bit 13 Max Slippage of the Status word is set otherwise reset Writing to object 0x60F8 Max Slippage automatically ge
80. ad write access by SDO transfer only Please refer to chapter 12 3 1 Handling of data sets cyclic writing of the parameters 0x3001 O Digital In actual values Read only_ Unsignedt6 Tx values 0x3003 0 Digital Out set values Read write Unsignedt6 Rx 0 Log 0x3004 0 BooleanMux Read only Unsignedt6 Tx 0x3005 0 Boolean Demux Read write Unsigned16 Rx 0 0 0xFFFF 0x7530 0x3007 Percentage actual Read only Unsigned16 Tx value 2 Ox3011 0 Act value Word 1 Read only Unsignedt6 Rx TI 0x3012 O0 Act value word Read only Unsignedt6 Rx 0x3021 0 Je valueLong1 Read only Unsigned32 Rx 0x3022 0 Act valueLong2 Read only Unsigned32 Rx 0x3111 0 Ref value Word 1 Read write Unsignedi6 Tx 0o 0 OxFFFF 0x3112 0 Ref value Word 2 Read write Unsigned16 Tx 0o 0 OxFFFF 0x3121 pum Ref value Long 1 Read write Unsigned32 liege OxFFFF FFFF OxFFFF FFFF Ic x5F10 Highest sub index Read only Unsigned8 supported 7 Unsigned32 No 0x0005 0000 p 126 DS1 04 13 Gear factor Highest sub index Read only Unsigned8 NEN uM UNE TT Resync on Change Ingel No 1 0 1 Phasing 1 2 T 0x0001 0000 0x8000 0000 p 112 Ox7FFF FFFF CM EtherCAT 5 DS1 35 GD Bonfiglioli Index Designation EN a te Hig
81. and 2 Ramp still there is a change of state from Operation enabled to Switched on Setting operation mode 1 DC brake is only possible in applications with V f charac teristic e g configuration 110 as other applications do not know such an operation mode If the frequency inverter is operated with a configuration which does not know the DC braking operation mode e g configuration 210 field orientation speed controlled value 1 cannot be set It is also not offered in the selection menus of the KP500 control unit or the VPlus program The default value for parameter State transition 5 392 is operation mode 2 Ramp For configurations with torque control the default value is operation mode 0 Coast to stop If the configuration is changed the value set for State transition 5 392 is also altered if necessary Behavior in transition 5 is only relevant for non motion control configurations Pa rameter Configuration 30 x40 If transition 5 has been triggered with State transition 5 392 1 DC brake a new control word is only accepted after the completion of the transition process The change of state from Operation enabled to Ready is carried out after the time pa rameterized for the DC brake Braking time 632 has expired If the parameter State transition 5 392 2 Ramp has been set the Control wora can be set back to Enable operation during the stoppage of the drive In this way the drive
82. applicable national and international regulations laws on work on electrical equipment plants of the country when the frequency inverter is used The cables connected to the frequency inverters may not be subjected to high voltage insulation tests unless appropriate circuitry measures are taken before Only connect the frequency inverter to suitable supply mains CM EtherCAT 04 13 2 v Bonfiglioli 10 5 1 The five safety rules When working on in electrical plants always follow the five safety rules 1 2 3 4 5 2 Isolate Secure to prevent restarting Check isolation Earth and short circuit Cover or shield neighboring live parts 10 6 Safe operation During operation of the frequency inverter always comply with the applicable national and inter national regulations laws on work on electrical equipment plants Before commissioning and the start of the operation make sure to fix all covers and check the terminals Check the additional monitoring and protective devices according to the applicable na tional and international safety directives During operation never open the machine plant Do not connect disconnect any components equipment during operation The machine plant holds high voltage levels during operation is equipped with rotating parts fan and has hot surfaces Any unauthorized removal of covers improper use wrong installation or operation may result in serious injuries or material damage
83. ardcopy or electronically shall be forbidden unless permitted expressly Any non compliance will constitute an offense against the copyright law dated 09 September 1965 the law against unfair competition and the Civil Code and may result in claims for damages All rights relating to patent utility model or design registration reserved 1 5 Storage The documentation form an integral part of the frequency inverter It must be stored such that it is accessible to operating staff at all times In case the frequency inverter is sold to other users this user manual must also be handed over 10 CM EtherCAT 04 13 v Bonfiglioli 2 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 2 1 Terminology According to the documentation different activities must be performed by certain persons with certain qualifications The groups of persons with the required qualification are defined as follows Operator This is the entrepreneur company who which operates the frequency inverter and uses it as per the specifications or has it operated by qualified and instructed staff
84. ate 0xnn33 Definition Motion Control For the full function of the Motion Control Interface you will have to set Local Remote 412 1 Control via state machine In all other operation modes of parameter Lo cal Remote 412 there are major restrictions The descriptions in this chapter and of all objects used are based on the setting Local Remote 412 1 Control via state ma chine Settings Local Remote 412 1 are described in the Positioning application manual The function of the state machine describes the basic operating behavior of the fre quency inverter in configurations with position control Configuration 30 x40 The objects contro word and status word described above support the bits marked as operation mode specific These bits and bit Target reached has different meanings in the different position control operation modes defined by 0x6060 modes of operation The following chap ters describe the application of the operation mode specific bits in the contro wora and status word depending on the different position control operation modes Default value 0x6060 modes of operation 2 velocity mode Basic functions The state machine must be set to operation enabled before the position command can be issued via the operation mode specific bits of the contro word Once a mode of operation has been set by the PLC no commands will be accepted for this operation mode until this operation mode is displ
85. ation and deceleration in user units per second during homing The set value is also used as reference acceleration and deceleration value in Move away from Limit Switch mode Writing to object homing acceleration automatically generates a write command to pa rameter Acceleration 1134 data set 5 all data sets in RAM only If object 0x609A 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Acceleration 1134 The dimension of the user units is set via objects 0x6091 Gear ratio and 0x6092 Feea constant The values of Object 0x609A 1 are limited as follows No Object Min Max 2147483647 CM EtherCAT 101 Goo Bonfiglioli 12 5 40 Ox60C1 1 Interpolation data record Index Sub index Meaning Data type Access Map Def Val Object works in Object doesn t work in e Motion Control e Motion Control o Interpolated mode o Table Travel record mode o Profile Positioning mode o Profile Velocity mode o Velocity mode o Homing mode o Move away from Limit Switch o Electronic Gear Slave e Non motion Control conf x40 102 Object 0x60C1 1 nterpolation data record 1 is the target position in user units used in interpolation position mode Always ensure that a valid position is stor
86. ax Fact sett 1454 Override Modes Of Operation Selection 1455 Override Target Position 2 1 2 1 u lu 1456 Override Profile Velocity 1 2 1u s us 1457 Override Acceleration Lues 1u s 1458 Override Deceleration 1 2 1u s Fus 1459 Override Target Velocity v rpm 32768 32767 rpm 1rpm 1460 Override Target Velocity pv u s 2 1 1 2 1 u s 1 u s Based on the standard settings of the Motion Control Interface Parameters 1292 1297 the following cross reference results between Override Parameters and CANopen Objects 1454 Override Modes Of Operation or 0x6060 Modes of Operation 1455 Override Target Position or 0x607A Target Position 1456 Override Profile Velocity or 0x6081 Profile Velocity 1457 Override Acceleration or 0x6083 Profile Acceleration 1458 Override Deceleration or 0x6084 Profile Deceleration 1459 Override Target Velocity vl rpm or 0x6042 Target Velocity 1460 Override Target Velocity pv u s or 0x60FF Target Velocity The default setting 1 in Parameters 1455 1460 and 0 in Parameter 1454 Over ride Modes of Operation results that the value of the Motion Control Interface links of Parameters 1292 1297 are used Settings deviating from the factory setting will re sult in the usage of the individual parameter It is possible to set certain aspects of the trajectory via the Override function and other values via the Motion Control Interf
87. ayed in the modes of operation display object The bits in the contro word and status word marked as operation mode specific are only supported in configurations with position control Configuration 30 x40 CM EtherCAT 129 GY Bonfiglioli 14 4 1 Velocity mode rpm The velocity mode is selected via object 0x6060 0 Modes of operation 2 In velocity mode the operation mode specific bits of the Contro word control the ramp function generator rfg The function is explained in the block diagram Related objects 0x6040 Control word 0x6041 Status word 0x6042 Target velocity 0x6043 Velocity demand 0x6044 Control effort 0x6046 Velocity min max amount 0x6048 Velocity acceleration 0x6049 Velocity deceleration 0x604A Velocity quick stop 0x6060 Modes of operation 0x6061 Modes of operation display The Ramp Rise Fall times are set up via parameters 430 433 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0OBit 0 Switch on 1 Enable voltage Quick stop Low active Enable operation Rfg enable Rfg unlock Rfg use ref Fault reset Halt 130 CM EtherCAT 04 13 v Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on i Switched on 2 Operation e
88. c tion of 762 CANopen 0x3111 Ref Value from a parameters choice list r R VPlus 8 04 FNINV20130417 vcb I S File Edit View GH e CV cS D D 0 Finished E Control Inputs Outputs Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 E Control Functions j 946 TXPDO1 Boolean 7 FALSE E Special Functions 2 947 T PDO1 Boolean2 7 FALSE Acua values 9 948 T PDO1 Booleand 7 FALSE S pia pcd 349 T PDO1 Booleand 7 FALSE municati E WEE WI Zeen Ven Wordi 762 CANopen 0x3111 Ref Value Word v I CANopen DeviceNet IB 3951 T 4PD01 Word2 726 RxPDO3 Word3 2 Stage M 352 TD Words 727 RaPDO3 Word 40 Remote Control Word d Convert PDP intemal 980 nero wot 741 Remote State Word Bus Controller 9 954 T PDO1 Long 742 MCI Modes of Operation Error Behaviour COP DEV 27 955 TxPDO1 Long2 Cl Act Speed El Systembus Basic Settings Master Functions PDP R m s current PDP active current SYNC Identifier uc ero 5 late Error State SOO denter 776 OutF PDPconv word1 SD02 Set Active 777 OutF PDPcony word2 PDO Identifier 801 Obj 0x6060 Modes of Operation TxPDO Function 808 Obj 5071 Target Torque E RxPDO Function 815 Obj 3006 Reference Percentage 1 879 Actual Motion Block Timeout 880 Actual Motion Mode TxPDO1 Objects 899 Motion Block to Resume TxPDO2 Objects 900 Control Status TxPDO3 Objects 901 S
89. cc emen 63 12 420 Ox5F16 0 m Gear Time eicere tiene slices Reuben ede he EE PRO URS 64 12 4 21 Ox5F17 n Position Controller cece emen 65 12 4 22 0x5FFO 0 Active motion DIOCK Hee meme 67 12 4 23 0x5FF1 0 Motion block to resume 00 meme 67 12 5 Device Profile Objects Ox6nnn eee ee erneuern nennen nennen nnne 68 12 5 1 0x6007 0 Abort Connection option code 68 12 5 2 0X603F 0 Error e ciuitati eua dus tu aru eda ie cun arthur 70 12 5 3 0X6040 0 Control e e EE 71 12 54 0x6041 0 Status WOFQ i TEEN 72 12 5 5 0x6042 0 Target velocity rpm 73 12 5 6 0x6043 0 Target velocity demand Trpom 74 12 5 7 0x6044 0 Control ettort emen nennen 74 12 5 8 0x6046 n Velocity min max amount ii 74 12 5 9 0x6048 n Velocity acceleration enter etree ee anette reese saan nee eeeteee ania 76 12 5 10 0x6049 n Velocity deceleration Hee 77 12 5 11 0x604A n Velocity quick stop 78 12 5 12 0x6060 0 Modes of operation eee 79 12 5 13 0x6061 0 Modes of operation display nrnna 80 12 5 14 0x6064 0 Position actual value Hee 80 12 5 15 0x6065 0 Following error window e 81 12 5 16 0x6066 0 Following error time out Hee 82 12 5 17 0x6067 0 Position WindoW ct n emen 83 12 5 18 0x6068 0 Position window time eee 84 12 5 19 0x606C 0 Velocity actual value u s HH 84 12 5 20 0x606
90. ch Homing to negative HW limit switch 18 Pos Limit Switch Homing to positive HW limit switch Homing to positive home switch Home position is at EE the left of the edge of the home switch signal Homing to positive home switch Home position is at the right of the edge of the home switch signal Homing to negative home switch Home position is EE at the right of the edge of the home switch signal Homing to negative home switch Home position is 225 NEOs Homessw 1EM OF Euge at the left of the edge of the home switch signal 23 Pos Lim Sw left of left Edge of Homing to home switch Homing direction positive 20 Pos Home Sw right of Edge Home Sw clockwise Reversal of direction of rotation when 24 Pos Lim Sw right of left Edge positive HW limit switch is reached of Home Sw Home position is at the left or right of the left or 2 Pos Lim Sw left of right Edge right edge of the home switch signal gt of Home Sw 26 Pos Lim Sw right of right Edge of Home Sw 7 Neg Lim Sw right of right Homing to home switch Homing direction negative Edge of Home Sw anticlockwise Reversal of direction of rotation 28 Neg Lim Sw left of right Edge when negative HW limit switch is reached of Home Sw Home position is at the left or right of the left or 2 Neg Lim Sw right of left Edge right edge of the home switch signal of Home Sw Neg Lim Sw left of left E
91. ch off b e voltage and changes to state switch on dis abled Device state machine 3 Quick stop Device state machine processes command quick changes to state stop and changes to state switch on disabled fault immediately Device state machine processes command disa ble operation and changes to state fault after the drive is stopped Operating point is maintained Ramp stop Minus 1 Error 2 No reaction Minus 2 NOTE The object abort connection option code corresponds to the inverter parameter Bus Error behavior 388 The settings of Bus Error behavior 388 2 3 are evaluated depending on pa rameter Local Remote 412 68 CM EtherCAT 04 13 04 13 v Bonfiglioli Vectron 0x6007 0 Abort Connection option code 2 0xFFFE Bus Error behavior 388 0x6007 Ui AQ NHd B role o Nm L Oo Writing Bus Error behavior 388 or writing object 0x6007 has the same effect If object 0x6007 was written and then a save parameters command object 0x1010 processed the value of 0x6007 is stored in non volatile memory After the next power on of the inverter the previously set value for 0x6007 is reactivated and overwrites the setting of Bus Error behavior 388 Occurring errors are described in detail in chapter 16 5 Fault messages CM EtherCAT 69 GI Bonfiglioli 12 5 2 0x603F OError code Index Sub index Meaning Data type Access
92. chine Data j 385 CAN Baud Rate 6 250 kBit s System Data EI 387 CAN Node Number 1 Operational Behaviour SCENE SI Sa E Positioning 9 mp de 1414 CANopen 03008 Perc Act Value Source 6 abb te a 9 1415 CANopen 043011 Act Value Word j 1416 CANopen 0x3012 Act Value Word2 PWM Input E Control Inputs Dutputs Reference Percentage 1 E Gol Fahne 4 1417 CANopen 043021 Act Value Longi Reference Percentage 2 Special Functions 1418 CANopen 043022 Act Value Lona Reference Percentage 3 fad Reference Percentage 4 Eh Actual Values Reference Percentage RAM Error Protocol Ramp Percentage Output Communication Ref Percent Channel Output R5485 R6232 Act Percent Channel Output CANopen DeviceNet Actual Percentage Ramp ES R PDO1 Word eme RXPDO1 Word2 Convert PDP intemal RXPDO1 Word3 Bus Controller RxPDO1 Word4 Error Behaviour COP DEV EW neos E Systembus RxPDO2 Word3 RXPDO2 Wordd RxPDO3 Word 4 UD H 4 bi D D n Li Default value 52 Analog Input MFILA Las M _ The percentage value is scaled as percent 100 e g 5678 represents 56 78 12 4 8 0x3008 0 Percentage Actual Value Source 2 Index Sub index Meaning Data type Access Map Def Val Object 0x3008 displays the value of a percentage source which is selectable via pa rameter CANopen Percentage Actual Value Source 2 1414 Default source is 52 Analog Input MFI1A
93. ck Sequence of motion blocks Start motion block motion block select Aler Start motion block last active motion block Execute instruction of bit 4 sequence mode Stop axle with ramp of actual motion block inverter remains in state operation enabled Stop axle with ramp of actual motion block 021 Start execution of motion block s Start motion block 2 n 1 Control word Motion block select Sta Halt Res Seq 4 3 2 1 0 Motion block select 3 1 resulting start motion block 4 2 0 0 0 0 1 0 1 1 Status word Name Value Description Motion block in pro 0 Single motion block motion block completed gress Sequence of motion blocks sequence completed Bit 8 d Single motion block sequence of motion blocks active Target reached Halt 0 target position not reached yet motion blocks Bit 10 0 with positioning only Halt 1 axle decelerates Halt 0 target position reached motion blocks with posi 1 tioning only Halt 1 axle has velocity 0 In gear 0 Electronic gear not coupled Bit 12 1 Electronic gear coupled Following error 0 No following error Bit 13 1 Following error 04 13 CM EtherCAT 157 Go Bonfiglioli 158 Basic functions The control bit sequence mode decides between execution of one single motion block sequence mode 0 and executio
94. con stant CM EtherCAT 87 GS Bonfiglioli 12 88 5 23 0x6070 0 Velocity Threshold Time Index Sub index Meaning Data type Access Map Def Val 0x6070 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave o o 0000 O e Non motion Control conf x40 If the absolute value of the Actual Velocity lies for the time given over 0x6070 Velocity Threshold Time above the threshold 0x606F Velocity Threshold the bit is reset If the Actual Velocity falls below the defined threshold of 0x606F Velocity Threshold bit 12 Velocity of the Status word is set The value range of Object 0x6070 0 Velocity Window Time is 0 65535 ms Writing to object 0x606F 0 Velocity Window Threshold automatically generates a write command to parameter Threshold Window Time 1279 data set 5 all data sets in RAM only If object 0x606F 0 Velocity Threshold was written and then a save parameters com mand object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Threshold Window Time 1279 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con s
95. ct bits to the outputs is arbitrary Example Op Mode Digi 532 0 OFF tal Output 3 1 Ready or Standby Signal 2 Run Signal 43 External Fan 90 Obj 0x3003 Digout 1 91 Obj 0x3003 Digout 2 92 Obj 0x3003 Digout 3 93 Obj 0x3003 Digout 4 94 Obj 0x3003 Digout 5 143 inv External Fan 190 inv Obj 0x3003 Digout 1 191 inv Obj 0x3003 Digout 2 192 inv Obj 0x3003 Digout 3 193 inv Obj 0x3003 Digout 4 194 inv Obj 0x3003 Digout 5 The sources can be chosen directly by the selection of 810 814 Obj 0x3003 DigOut 1 5 from the parameters choice list This can be used e g for direct setting of Bool ean inputs 04 13 CM EtherCAT 51 GS Bonfiglioli 12 4 4 0x3004 0 Boolean Mux 52 Index Sub index D 0x3004 Meaning Data type Access Map Def Val 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 Bit number 0 15 corresponds with index number 1 16 The sources for the 16 bits can be chosen from a choice list via the index parameter CANopen Mux Input 1422 Parameters 1420 and 1421 are the associated write and read parameters which you have to set prior to writing reading parameter 1422 By using VTable this process is easier and more clearly laid out For writing and reading index parameters refer to c
96. d to parameter Fast Speed 1132 into RAM data set 5 all data sets in RAM only If object 0x6099 1 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Fast speed 1133 Writing to object speed during search for zero automatically generates a write com mand to parameter Creep speed 1133 into RAM data set 5 all data sets in RAM on ly If object 0x6099 2 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Creep speed 1133 The dimension of the user units is set via objects 0x6091 Gear ratio and 0x6092 Feea constant CM EtherCAT 04 13 v Bonfiglioli 12 5 39 0x609A 0 Homing acceleration Index Sub index Meaning Data type Access Map Def Val 0x609A Object works in Object doesn t work in e Motion Control e Motion Control o Homing mode o Profile Positioning mode Profile Velocity mode Velocity mode Interpolated mode Table Travel record mode Electronic Gear Slave o Move away from Limit Switch 0000 0 e Non motion Control conf x40 acc 04 13 Object 0x609A 0 homing acceleration defines acceler
97. d via Index Subindex and are to be addressed via this identification This chapter describes all available objects EtherCAT offers the possibility to use CANopen Objets via CoE CANopen over EtherCAT The list of the CANopen manual contains at certain points additional objects that are required for using CANopen as Field bus system These objects are not described here 12 1 Objects tabular overview D The objects are displayed in the next tables The following definitions apply Read only The PLC is only allowed to read the data from the ACU Read write The PLC is granted full access read and write to the ACU data Unsigned32 32 Bit value 0 2 1 Unsigned16 16 Bit value 0 65535 0 0x FFFF Unsigned8 wa 0 255 Integer32 Signed 32 Bit value 2 2 Integer16 i i 27 1 32768 32767 0x8000 0x7FFF Integer8 Signed 8 Bit value 2 2 1 128 127 eee CS 0x80 0x7F Visible string String up to 99 characters long Transmission via Segment ed Transfer No This object cannot be used for PDO exchange only SDO is applicable Tx This object can be transmitted as PDO from ACU Rx This object can be transmitted as PDO to ACU Highest Sub index supported displays the highest Sub index that is supported by this object 12 1 1 Communication objects Index Subli ndex Name SDO Access Data PDO mappin
98. described above CM EtherCAT 121 GO Bonfiglioli 14 2 1 122 Statemachine diagram Statemachine oo Enable operation from all states Entry in state machine 13 0 Fault reaction 7 active Not ready to OE 1 switch on 0x00 14 1 Fault reset 0x80 Switch on 1 2 disabled 0x50 or 0x40 isabl Shutdown 27 pipi mie 0x06 or Quick stop 0x02 Ready to 3 switch on Disable voltage 0x31 or 0x21 0x00 or Quick stop 9 Disable 0x02 10 voltage Switch on 3 6 Shutdown 0x00 0x00 or internal 12 0x07 Switched on 0x33 Enable 4 operation OxOF Operation 5 enabled 0x37 MCI Starting Signal Table Retord Mode Profile Positioning Mode Velocity Mode Homing Shutdown 8 5 Disable operation 0x07 Quick stop 0x02 11 Quick stop active 0x07 CM EtherCAT 04 13 oo 04 13 v Bonfiglioli Control word The device control commands are triggered by the following bit pattern in the Controi word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Enable Quick Enable command LS E S T rast Shutdown DR 1 o 253 Switch on X o a 141 1 3 Switch on xX 1 af 1 1 3 Disable voltage X ile cede E ee Quick stop x X o 1 X 7101 Disable operation x o 1 11 11 5 Enable operation Pat ante 3x ae 4 Fault reset o21 x x x x 15 Bits marked X are irrelevant State transiti
99. dge of 30 Home Sw 33 Ref Signal left of act pos Home position is the first encoder ref signal in neg ative operation mode 33 or positive operation mode 34 direction Current position is home position Home offset Pa 35 Current Position rameter Home Offset 1131 is taken over as actual osition value 34 Ref Signal right of act pos 04 13 CM EtherCAT 99 Go Bonfiglioli 12 5 38 0x6099 n Homing speeds Object works in Object doesn t work in e Motion Control e Motion Control x40 o Homing mode o Profile Positioning mode Profile Velocity mode Velocity mode Interpolated mode Table Travel record mode Electronic Gear Slave o Move away from Limit Switch o o 000 e Non motion Control conf x40 Seq eg 10 o Object 0x6099 1 speed during search for switch defines the speed in user units per second during search for switch Object 0x6099 2 speed during search for zero defines the speed in user units per se cond during search for zero This speed is also used as reference value in the Move away from Limit Switch mode The values of Object 0x6099 1 and 6099 2 are limited as follows No Object Min Max 2147483647 0x6099 1 speed during search for switch Ox7FFF FFFF 2147483647 0x6099 2 speed during search for zero Ox7FFF FFFF Writing to object speed during search for switch automatically generates a write com man
100. e edebat geed ea Ta uiv duo edu ED d ade 128 14 4 Motion control configurations Leere eren e eene eene iii 129 14 4 1 Velocity mode rpm 5 iiie eere xe tete e Re ke PR ERSTE deeded TAY Fa SUR 130 14 4 11 Example Sequence nner er eee arene dnt tere nennen nnns 133 14 4 2 Profile Velocity mode U S HH 135 14 4 2 1 Example Sequerice ice iii ke Pea i c rte 138 14 4 3 Profile position mode meme nennen nenne 139 14 4 3 1 Example Sequence niece ed ae p Re ER CE Re EE eens d RR o RR td 145 14 4 4 Interpolated position mode 147 14 4 4 1 Example Geguence tect eter eee emen nennen rne nene nnn 151 14 4 5 Homing mode 152 14 4 5 1 Example Sequence i 154 14 4 6 Table travel record FahrSsatz emen 155 14 4 6 1 Example Sequence meme ener ener nennen nne 162 14 4 7 Move away from Limit awitches memes 163 14 4 7 1 Example Sequence i 166 14 4 8 Electronic Gear Slaves ier reet a 167 14 44 8 1 Sequence Example osten redeat dug ted asa daas e eat 174 15 Param ter TC eiu erra ariani iii ari AL 176 15 1 Actualvalues ivvrssiiiinni tina ani iii ricrea 176 15 2 lu RE 177 16 EEN cie eco REENEN NEEN Cu nina nadia nici 179 16 1 Control Word overview e eene anna nnn KKK KE KEREN RENE KEE Rusa Rua suas Ran RR a Ran 179 16 2 Status Word overview scssccsccnccnecnsensecsccnsnsensensensensensessensensensense
101. e of operation control commands and error reaction to communication errors see object 0x6007 0 abort connection option code The following tables contain an overview of the different used objects and parameters The first mentioned object or parameter mentioned in a cell is usually used If an object relates to a parameter this parameter is mentioned Parameters 1292 Modes of Operation and following 1293 1294 1295 1296 amp 1297 and 1285 S Target velocity pv u s are used to link internal functions to CANo pen objects Usually these need not to be changed when using CANopen Homing Velocity Mode Profile Velocity Mode Modes of 6 2 3 Operation Target Posi tion Speed Obj 0x6099 1 amp 2 Hom 1297 S Target velocity 1285 S Target velocity pv ing Speeds Default 806 Obj u s 1132 amp 1133 0x6042 Target Velocity Default 816 Obj Ox60FF Target Velocit Limitation Obj 0x6046 1 amp 2 Obj 0x6046 1 amp 2 Obj 0x6046 1 amp 2 Velocity min max amount Velocity min max amount Velocity min max amount 418 amp 419 418 amp 419 418 amp 419 Acceleration Obj 0x609A 0 Obj 0x6048 0 1295 Acceleration Acceleration Velocity acceleration Default 804 Obj 0x6083 1134 420 amp 422 Profile Acceleration Deceleration Obj 0x609A 0 Obj 0x6049 0 1296 Deceleration Acceleration Velocity deceleration Default 805 Obj 0x6084 1134 421 amp 423 Profile Deceleration Quick Stop Obj 0x
102. e of the digital inputs and of the multifunctional input 1 if in Operation mode 452 digital input as de scribed in parameter Digital Inputs 250 12 4 2 0x3002 O0 Digital Out actual value Index Sub index Meaning Data type Access Map Def Val Object 0x3002 Digital Out actual value displays the current state of the up to 4 de pending on optional hardware digital outputs and of the multifunctional output 1 if in Operation mode 550 digital as described in parameter Digital Outputs 254 The amount of digital output depends on the installed optional extension modules 50 CM EtherCAT 04 13 v Bonfiglioli 12 4 3 0x3003 0 Digital Out set values Index Sub index Meaning Data type Access Map Def Val 0x3003 Via object 0x3003 there are 5 digital sources available for use with parameters which require digital values Bit Source no Source name Operation mode Digital output 0 810 Obj 0x3003 Digout 1 90 190 1 811 Obj 0x3003 Digout 2 91 191 2 812 Obj 0x3003 Digout 3 92 192 3 813 Obj 0x3003 Digout 4 93 193 4 814 Obj 0x3003 Digout 5 94 194 The value of object 0x3003 is limited from 0 to 31 0x3003 0 Digital Out set values 0 31 Ox1F Digital outputs use these sources as operation mode 90 94 Obj 0x3003 DigOut 1 5 respectively inverted as 190 194 nv Obj 0x3003 DigOut 1 5 see e g parameter Op Mode Digital Output 1 530 The mapping of this obje
103. e plant must not be operated e byuninstructed staff e while it is not in perfect condition e without protection enclosure e g covers e without safety equipment or with safety equipment deactivated The manufacturer shall not be held liable for any damage resulting from such misuse The sole risk shall be borne by the operator 2 3 1 Explosion protection The frequency inverter is an IP 20 protection class device For this reason use of the device in explo sive atmospheres is not permitted 2 4 Residual risks Residual risks are special hazards involved in handling of the frequency inverter which cannot be elim inated despite the safety compliant design of the device Residual risks are not obviously identifiable and can be a potential source of injury or health hazard Typical residual hazards include Electrical hazard Danger of contact with energized components due to a defect opened covers or enclosures or im proper working on electrical equipment Danger of contact with energized components inside of the frequency inverter if no external discon nection device was installed by the operator Electrostatic charging Touching electronic components bears the risk of electrostatic discharges Thermal hazards Risk of accidents by hot machine plant surfaces e g heat sink transformer fuse or sine filter Charged capacitors in DC link The DC link may have dangerous voltage levels even up to three minutes after shutdow
104. e plastic elements Sort and dispose of other component materials Electric scrap electronic components lubricants and other utility materials must be treated as special waste and may only be disposed of by specialized companies Gr In any case comply with any applicable national disposal regulations as regards envi ronmentally compatible disposal of the frequency inverter For more details contact the competent local authorities CM EtherCAT 04 13 tv Bonfiglioli Vectron 3 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 e Please refer to chapter 16 7 Object support in the Software versions and XML for 1 information on the required objects and XML files D This manual is not to be understood as providing general basic information on Ether 1 CAT It requires basic knowledge of the methods and effects of EtherCAT on the user s side In some chapters setting and display options via the PC software VPlus are described as an alternative to the KP500 control unit Use of a PCs running the VPlus software requires an optional interface adapter KP232 or EoE modules in the PLC for a direct Ethernet connection from the PC VPlus to the frequency inverter Inv 1 EtherCAT 04 13 CM EtherCAT 19
105. e speed 0 Status word Oxnn37 Operation enabled Control word 0x002F 1299 Q Special Function Generator 9 Zero gt Starts Velocity mode with reference value 0 1299 Q Special Function Generator unequal 9 Zero Starts with reference value from source from 1299 Q Special Function Generator Oxnn37 Operation enabled Control word 0x005F Start Velocity mode with actual speed a ramping process is cancelled Status word Oxnn37 Disable voltage 1299 Q Special Function Generator 9 Zero gt Starts Velocity mode with actual speed a running ramp is interrupted 1299 Q Special Function Generator unequal 9 Zero Starts with reference value from source from 1299 Q Special Function Generator Status word Oxnn37 Operation enabled Control word 0x01xx HALT The drive is stopped with ramp 0x6049 Velocity deceleration Status word Oxnn37 Operation enabled 04 13 CM EtherCAT 133 Goo Bonfiglioli Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is
106. e stored in dry rooms which are protected against dust and moisture and are exposed to little temperature deviations only The requirements of DIN EN 60721 3 1 for storage DIN EN 60721 3 2 for transport and labeling on the packaging must be met The duration of storage without connection to the permissible nominal voltage may not exceed one year 2 10 4 Handling and installation Do not commission any damaged or destroyed components Prevent any mechanical overloading of the frequency inverter Do not bend any components and never change the isolation distances Do not touch any electronic construction elements and contacts The frequency inverter is equipped with components which are sensitive to electrostatic energy and can be damaged if handled improperly Any use of damaged or destroyed components will endanger the ma chine plant safety and shall be considered as a non compliance with the applicable standards Only install the frequency inverter in a suitable operating environment The frequency inverter is exclusively designed for installation in industrial environments If seals are removed from the case this can result in the warranty becoming null and void 2 10 5 Electrical connections 16 The five safety rules must be complied with Never touch live terminals The DC link may have dangerous voltage levels even up to three minutes after shutdown When performing any work on with the frequency inverter always comply with the
107. e table If an error occurs in reading or writing the server SDO of the frequency inverter re plies with the SDO abort message Abort code Abort code Description to CANo Product specific allocation high low pen 0x0601 0x0000 Unsupported access to an Parameter cannot be writ object ten or read 0x0602 0x0000 Object does not exist Parameter does not exist 0x0604 pus Data sets differ patibility in the device harware error Read write checksum 0x0607 puc ce nace Parameter has a different data type 0x0607 0x0012 Data type does not match Parameter has a different data TH egli levi ee type or telegram length not gram too big correct 0x0607 0x0013 Data type does not match Parameter has a different data PH egli of cee type or telegram length not gram too small correct 0x0609 0x0011 Subindex does not exist Data set does not exist 0x0609 ee mem Parameter value too large exceeded or too small 0x0609 NM n dl Parameter value too large too high 0x0609 Ru I Parameter value too small too low 0x0800 Ead di Invalid value for operation ted or saved 0x0800 0x0021 Data cannot be trans parameter cannot be writ ferred because of local ten in operation control 28 CM EtherCAT 04 13 v Bonfiglioli 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 comm
108. ect is overwritten 1 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus 2 Setting of CANopen object 0x6046 1140 rpm equivalent to 38 Hz 3 Power OFF and ON 4 Parameter value of KP500 VPlus overwrites the value of the CANopen object The value of KP500 VPlus is active 48 Hz C Save command The value of the CANopen object is stored 1 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus 2 Setting of CANopen object 0x6046 1140 rpm equivalent to 38 Hz 3 Save command via CANopen object 0x1010 4 PowerOFF and ON 5 The value of CANopen object 0x6046 is active 38 Hz D Save command The value of the CANopen object is stored even if the corresponding parameter value has been changed after the save command 1 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus Setting of CANopen object 0x6046 1140 rpm equivalent to 38 Hz Save command via CANopen object 0x1010 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus Power OFF and ON Value of CANopen object 0x6046 overwrites the parameter value The value of CANopen object 0x6046 is active 38 Hz OU BW h2 Internal conversion to a frequency value taking into account the No of Pole Pairs 373 In this example the number of pole pairs is two four pole machine NOTE There are inverter parameters calculated from CANopen objects which require the no of pole pairs
109. ed in the Interpolated Data Record It is recommended to copy the actual position to the Data Record before starting the Interpolated mode Interpolation position mode uses synchronous RxPDOs The last received value for ob ject 0x60C1 1 is activated with the next SYNC The dimension of the user units is set via objects 0x6091 Gear ratio and 0x6092 Feea constant CM EtherCAT 04 13 04 13 Bonfiglioli Vectron Mapping of object 0x60C1 1 interpolation data record 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 Mapping of object 0x60C1 1 interpolation data record 1 is done manually lt Tent MCI tym TwinCAT System Manager CX 09E922 X Dre 9 cue DE Ad Sav te R i A Qs wit ren Gamal Dat OC Process Dei Statp Spre Mare POD Lat SM Sim Type Fag ien Sie N Mid dato 70 1 246 Min Defi 40 2 W Ow nef 00 3 N v nen 50 Ka 8o eu an FOG Astigar DCL coeno Ein OE Nome Toy zu om TOO 1 3 THO 3 H WR 3 H ROOT o ReOD2 H R 003 2 H UH rherpatation dota cond Dataa os rietpolaled dala secon Len Ance Ie e BES conce Lead PDO io hem ze Sub Index 1 ganr oi CI Ba Lentghi From Diction 03003 Dagtal Out set vues a 02005 Dootean DeMux DS Percentage set value 113 Ret Vakan Wind s TRO NEI gt
110. ein 7 7 mapped obj Read wri in 8 8 mapped obj Read wri in 34 CM EtherCAT 04 13 vv Bonfiglioli Index Subli ndex Name SDO Access Data type PDO mapping Ox1A01 TxPDO2 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write Unsigned32 Nein 3 3 mapped obj Read write Unsigned32 Nein 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 Nein 7 7 mapped obj Read write Unsigned32 Nein 8 8 mapped obj Read write Unsigned32 Nein 0x1A02 TxPDO3 mapping parameter 0 No of mapped objects Read Write Unsigned8 Nein 1 1 mapped obj Read write Unsigned32 Nein 2 2 mapped obj Read write n 3 3 mapped obj Read write n 4 4 mapped obj Read write Unsigned32 Nein 5 5 mapped obj Read write Unsigned32 Nein 6 6 mapped obj Read write Unsigned32 Nein 7 7 mapped obj Read wri in 8 8 mapped obj Read wri n 12 1 2 Manufacturer objects Index Sub Designation SDO Ac Datatype PDO Factory Min Max Belonging index cess map setting Param ping Manufacturer specific Ox2nnn 0 1 9 Direct access to inverter parameters Re
111. eleration Ramp Homing Mode 0x609A Acceleration u s P 1134 Acceleration u s Velocity Mode vl 0x6049 Velocity Deceleration rpm s P 421 amp P 423 Hz s Profile Velocity Mode pv 0x6084 Profile deceleration u s Internal Reference Profile Position Mode 0x6084 Profile deceleration u s Internal Reference Interpolated Position Mode 0x6084 Profile deceleration u s Internal Reference Table Travel Record Mode P 1206 Deceleration Hz s Move away from Limit Switch 0x609A Acceleration u s P 1134 Acceleration u s Electronic Gear Slave 0x6084 Profile deceleration u s Internal Reference Acceldration Ram Homing Mode 0x609A Acceleration u s P 1134 Acceleration u s Velocity Mode vl 0x6048 Velocity Acceleration rpm s P 420 amp P 422 Hz s Profile Velocity Mode pv 0x6083 Profile acceleration u s Internal Reference Profile Position Mode 0x6083 Profile acceleration u s Internal Reference Interpolated Position Mode 0x6083 Profile acceleration u s Internal Reference Table Travel Record Mode P 1204 Acceleration Hz s Move away from Limit Switch 0x609A Acceleration u s P 1134 Acceleration u s Electronic Gear Slave 0x6083 Profile acceleration u s Internal Reference Quick Stop Ramp Emergency Ramp Homing Mode 0x6085 Quick stop deceleration u s P 1179 Emergenc
112. emory After the next power on of the inverter the previously set values are reactivated and over write the settings of parameters Deceleration Clockwise 421 und Deceleration Coun terclockwisef 423 CM EtherCAT 77 Goo Bonfiglioli 12 5 11 0Ox6044A n Velocity quick stop Index Sub index Meaning Data type Access Map Def Val 0x604A Object works in Object doesn t work in e Motion Control e Motion Control o Velocity mode o Table Travel record mode o Profile Positioning mode e Non motion Control conf o Profile Velocity mode x40 o Homing mode o Interpolated mode o Move away from Limit Switch o Electronic Gear Slave The quick stop deceleration in velocity mode is set with object ve ocity quick stop Ob ject velocity quick stop consists of delta speed in RPM and delta time in seconds The gradient of the frequency in the deceleration period is written to parameters Emergency Stop clockwise 424 and Emergency Stop anti clockwise 425 data set 5 all data sets in RAM only Both parameters are set to the same value The values of p 424 and p 425 are converted internally to a frequency sec value taking into account the parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed T 0x604A 1 Delta speed min pot Ox7FFF E speed delta speed delta time time If objects 0x604A 1 or 0x604A 2 were
113. equence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence 154 CM EtherCAT 04 13 v Bonfiglioli 14 4 6 Table travel record Fahrsatz 04 13 The table travel record mode is selected via object 0x6060 0 Modes of opera tion OxFF 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 Several sets of motion blocks may be defined For an exact description of table travel record mode options refer to the application manual Positioning Related objects 0x6040 Control word 0x6064 Position actual value 0x6041 Status word 0x6065 Following error window 0x6046 Velocity min max amount 0x6066 Following error time 0x6060 Modes of operation 0x6067 Position window 0x6061 Modes of operation display 0x6068 Position wind
114. er by contactor The se motors may have a different no of pole pairs The entry in No of Pole Pairs 373 is then different in the four data sets After change over of the motor the object target velocity must be written at least once in order to recalculate the internal reference fre quency of the inverter using the correct no of pole pairs No Object Min Max 0x6042 Target velocity LI 32768 32767 In Non motion Control configurations conf x40 the target velocity reference value is product internally connected to the Reference line value This reference value is combined with the internal reference frequency value from the frequency reference value channel in the input of the ramp function see chapter 14 3 3 Reference value actual value Ramp Generator Speed Controller 0x6042 0 Target Velocity SEO Refernce speed Ref Line value 0x6043 0 Reference 0x6042 0 current Target Velocity Target velocity deman op depending on 0x6048 0 SE Velocity Acceleration Sonia speed Internal Ref value 0x6049 0 0x6044 0 Ref Freq Source Velocity Deceleration Control effort via P 475 0x604A 0 Velocity Quick Stop 04 13 CM EtherCAT 73 Goo Bonfiglioli 12 5 6 0x6043 0 Target velocity demand rpm Index Sub index Meaning Data type Access Map Def Val 0x6043 Object target velocity demand is the
115. eration enabled and Positioning active tus word 0xn637 Operation enabled and Target reached ontrol word Resume last Motion Block as Single Motion Block tus word 0xn337 Operation enabled and Positioning active tus word 0xn637 Operation enabled and Target reached Control word 0x005F Resume last Motion Block in Sequence Mode tus word 0xn337 Operation enabled and Positioning active tus word 0xn637 Operation enabled and Target reached DI a AANANM CO ola or EAR LO LO or ct o C Cc C O 59 Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence 162 CM Et
116. eration values big enough so that for switching on and switching off of the IP mode the motion is synchronized with the PLC Control word Name Value Description Enable IP 0 Interpolated position mode inactive mode 1 Interpolated position mode active Bit 4 Halt 0 Execute the instruction of bit 4 enable ip mode Bit 8 1 Stop axle inverter remains in state operation enabled 0x6084 Profile deceleration is used for deceleration Status word Name Value Description Target 0 Halt Control word bit 8 0 position not yet reached reached Halt Control word bit 8 1 axle decelerates Bit 10 1 Halt Control word bit 8 0 position reached Halt Control word bit 8 1 axle has velocity 0 IP mode ac 0 Interpolated position mode inactive tive 1 Interpolated position mode active Bit 12 04 13 CM EtherCAT 149 Go Bonfiglioli Sync 4 ms Enable ip mode Ip mode active Ref Position Interpolation data record Initial pur d SN LE LLL drive pos l i Interpolated positions 150 CM EtherCAT 04 13 tv Bonfiglioli Vectron 14 4 4 1 Example Sequence 04 13 To start the Interpolated position mode the correct sequence has to be sent from the PLC 1 Status word 0x0050 Switch On Disabled Status word 0x0031 Ready to switch on Status word 0x0033 Switched On Status word 0xnn37 Operation enabled Control word 0x001F E
117. erved E Manufacturer dependent error 42 CM EtherCAT 04 13 v Bonfiglioli 12 2 3 0x1003 0 Manufacturer Device Name Index Sub index Meaning Data type Access Map Def Val 0x1008 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 Access Map Def Val 0x1009 The device version is displayed as a sequence of ASCII characters Example ACU 400 512 344 12 2 5 Ox100A 0 Manufacturer Software Version Index Sub index Meaning Data Access Map Def Val 0x100A The software version is displayed as a sequence of ASCII characters Example 5 3 0 12 2 6 Ox1010 n Store Parameters With object 0x1010 n parameter object settings can be stored to non volatile memory This object supports 3 sub indexes with different functions Writing save to 0x1010 3 stores all application parameters 0x6nnn to non volatile memory Specification of write save command LSB MSB D s a y u e 0x73 0x61 0x76 0x65 Writing a value other than save results in an SDO abort The store command is not processed 04 13 CM EtherCAT 43 GI Bonfiglioli 12 2 7 Ox1011l n Restore default Parameters Meaning With object Ox1011 n parameters objects can be set to their default values This ob ject supports 3 sub indexes
118. et Velocity u s The figure below shows the parameters P and sources S that are defined in the Motion Control Interface For CANopen the settings have not to be changed The source outputs are linked to the Trajectory generator by default and also need not be changed in standard applications Homing function P 1288 S Ext Homing S 639 MCI Start Homing P 1289 S Homing Done Int homing A P 412 Local Remote 1 P 1286 S Ref Position S 632 MCI Target Position 7 gt gt P 1287 S Act Position S 633 MCI Velocity Ref EN S 634 MCI Acceleration P MCI S 635 MCI Ramp Rise Time gt S 636 MCI Deceleration Ga S 637 MCI Ramp Fall Time 3 S 638 MCI Interpolated Position nm S 746 MCI Ramp Param Switch Over Trajectory generator P 1298 S Interpolation Data Globals MPG control word MPG status word MCI control word MCI status word CANopen data interface 114 CM EtherCAT 04 13 v Bonfiglioli 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 This function can also be used as a simulation mode The Function Motion Control Override does not support Interpolated Mode No Description Min M
119. eters 1123 1124 and 1142 can be used instead of the Ob jects Usage of the Objects will write the parameters in RAM data set 5 Ox5F10 1 Gear factor Numerator 1123 Gear Factor Numerator 0x5F10 2 Gear factor Denominator 1124 Gear Factor Denominator 0x5F10 3 Gear factor Resync on change 1142 Resync on Change of Gear Factor CM EtherCAT 04 13 v Bonfiglioli 12 4 18 0x5F11 n 0x5F14 n Phasing 1 4 Index Sub inde i Data type Access Map Def Val Object works in Object doesn t work in e Motion Control e Motion Control o Electronic Gear Slave o Profile Positioning mode o Table Travel Record Velocity mode mode Electronic Gear operation Profile Velocity mode Homing mode Interpolated mode Table Travel Record mode Move away from Limit Switch o o 000 O e Non motion Control conf x40 Objects Ox5F11 Phasing 1 0x5F12 Phasing 2 0x5F13 Phasing 3 and Ox5F14 Phas ing 4 active motion block is available in Electronic Gear Slave mode in motion control configurations P 30 x40 The table travel record mode is activated by object 0x6060 modes of operation set to 3 For better readability in the following section Object Ox5F11 is used For Objects 0x5F12 0x5F13 und 0x5F14 the descriptions apply analogously With the phasing function the slave position is offset from the received position of the master by the value entered in Ox5F11 1 Phasing 1 Of
120. ew set point is validated by control bit new set point rising edge the new set point is processed immediately new set point control bit 4 PLC target position set point current target Drive position processed set point acknowledge status bit 12 target reached status bit 10 actual speed 04 13 CM EtherCAT 143 GY Bonfiglioli 144 Example set of set points control bit change on set point 0 1 control bit change set immediately 0 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 Change on set point 1 The current target position will be driven to in current speed As soon as the position is reached the new set point is taken over The grey line in segment actual speed shows the actual speed behavior if control bit change of set point is set 1 new set point control bit 4 PLC target position set point current target Drive position processed H gt t set point acknowledge status bit 12 target reached status bit 10 actual speed change on set point 0 change on set point 1 CM EtherCAT 04 13 v Bonfiglioli 14 4 3 1 Example Sequence 04 13 To start the Profile position mode the correct sequence has to be sent from the PLC 1 Control word 0x
121. ex Sub index Meaning Data type Access Map Def Val 0x6078 Object 0x6078 Current actual value displays the current actual value see parameter R m s current 211 A value of Ox3E8 21000 corresponds to the rated motor current 100 0 96 The rated motor current is set during the commissioning in parameter Rated Current 371 04 13 CM EtherCAT 89 Goo Bonfiglioli 12 5 27 0x6079 0 DClink circuit voltage Index Sub index Meaning Data type Access Map Def Val 0x6079 Object 0x6079 DC ink circuit voltage displays the actual value of the DC link voltage in mV see parameter DC Link Voltage 222 A value of 0x0001 86A0 100 000 corresponds to 100 000 V three decimal points 12 5 28 0x607A 0 Target position I ndex Sub index Meanin Data Access Map Def Val 0x607A Object works in Object doesn t work in e Motion Control e Motion Control o Profile Positioning mode o Table Travel record mode o o 000 0 e Non motion Control conf x40 Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch Electronic Gear Slave Object 0x607A target position defines the position in user units that the drive should move to in profile position mode The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant 90 CM EtherCAT 04 13 v Bonfiglioli 12 5 29 0x607C 0 Home offset 0x607C Index
122. file used by the frequency in verter is portrayed as device profile number 402 The additional information specifies the device functionality of the frequency inverter Device Profile Number 402 drives and motion control Type 42 servo drive Mode bits 0 unused Up to Firmware 5 2 0 including Type depends on the setting of parameter Con figuration 30 A motion control configuration Configuration 30 x40 sets type 42 servo drive Other configurations set type 41 frequency converter Firmware 5 3 0 always sets type 42 servo drive 04 13 CM EtherCAT 41 Goo Bonfiglioli 12 2 2 0x1001 0 Error Register Index Sub index Meaning Data type Access Map Def Val 0x1001 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 rameter Actual Error 259 and 260 via EtherCAT see chapter 16 5 Fault messag es Also the emergency message contains additional information which can be evaluat ed by the PLC see chapters 11 5 Emergency Function and 12 5 2 0x603F 0 Error code 7 6 5 4 3 2 1 0 Bit General error o m Current n Voltage w Temperature A Communication error Uu Device profile dependent error o Res
123. for calculating the corresponding value for inverter parameters e g deceleration or acceleration parameters These calculations always use the no of pole pairs from data set 1 If the no of pole pairs is different in the data sets the result of this operation will not be clear for the user To avoid confusion it is recom mended to write the inverter parameters via the SDO channel using the 0x2nnn manufacturer objects and not to use the CANopen objects This way inconsist encies are avoided All CANopen DS402 objects with corresponding inverter parameters are pointed out in this manual 40 CM EtherCAT 04 13 v Bonfiglioli 12 2 Communication Objects Ox1nnn The communication objects Ox1nnn 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 color Used abbreviations Access Access type r w Read Write ro Read only wo Write only Map Mapping Def Val Default value of object The headings are displayed in the format ndex Subindex Objectname 12 2 1 0x1000 O0 Device Type The device identification is carried out during the start of the network The infor mation on the device type and the functionality type are prescribed by the CANo pen standards Additional Information Device Profile Number Mode Bits Type The Drives and Motion Control standard device pro
124. fset The function can is started via Bit 9 of the Control Word After start 0x5F11 2 Phas ing 1 Speed and 0x5F11 3 Phasing 1 Acceleration are used until the slave position is offset from the master position by Phasing 1 Offset During Phasing the Status word bit 8 Phasing Done is set to Low As soon as the Phasing is finished or cancelled the Bit is set to High After first switch on or after a device reset the Phasing Done bit is also Low The values of Objects Ox5F11 n 0x5F14 n are limited as follows No Max 0x5F11 1 0x5F12 1 2147483647 2147483647 0x5F13 1 Phasing Offset 0x8000 0000 Ox7FFF FFFF OxSF14 1 0x5F11 2 0x5F12 2 2147483647 QxsE13 2 Masing spaad Ox7FFF FFFF 0x5F14 2 0x5F11 3 0x5F12 3 lo 2147483647 0x5F13 3 Phasing Acceleration OxTFFF FFFF 0x5F14 3 04 13 CM EtherCAT 6l Go Bonfiglioli Start Phasing Phasing done Speed Phasing Speed 4 CA Phasing Acceleration Vmaster Master position evaluated by the slave N Position Phasing Offset geit l physical master position 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 0 0 1 0x5F11 0 1 2 0x5F12 1 0 3 0x5F13 1 1 4 Ox5F14 Alternatively the parameters 1125 1126 and
125. functions In mode 2 Move away from limit switch the axle is automatically moved out of the range of a triggered hardware or software limit switch The sense of rotation results from the active limit switch if the positive limit switch was triggered the drive is moved in negative direction and vice versa The Moving away procedure is started by Control Word bit 4 Move away from limit switch in state operation enabled The axle is accelerated to Object 0x6099 Homing speeds Subindex 2 Homing Speed 2 search for zero using the ramp defined by Object 0x609A Homing acceleration As soon as the active software or hardware limit switch is released the drive is stopped After reaching zero speed status bit 10 tar get reached is set If both senses of rotation are blocked in example after pos and neg hardware limit switch were triggered simultaneously the error message F1449 Both Directions Locked is generated In this case the function Move away from limit switch cannot be used NOTE During the phase of moving away from the hardware limit switch the hysteresis de fined by parameter 1149 is active After detecting the edge of the limit switch the axle is moved for at least the defined hysteris distance Setting Halt to 1 interrupts the actual Move away from Limit switch movement The axle is stopped When reaching velocity 0 status bit target reached is set to 1 The drive remains in state operation enabled Resetting Ha
126. g mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave O 0 O O O OG e Non motion Control conf x40 Object 0x6081 profile velocity is the velocity in user units per second at the end of the acceleration ramp in profile position mode The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant The values of Object 0x6081 are limited to 1 to Ox7FFF FFFF No Object Min Max 2147483647 0x6081 0 Profile velocity u s Ox7FFF FFFF 12 5 31 Ox6083 0 Profile acceleration Index Sub index Meanin Data Access Map Def Val 0x6083 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Velocity mode o Profile Positioning mode o Interpolated mode o Electronic Gear Slave Homing mode Table Travel record mode Move away from limit switch o oo e Non motion Control conf x40 Object 0x6083 profile acceleration is the acceleration in user units per second u s in profile position mode The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant The values of Object 0x6083 are limited to 1 to Ox7FFF FFFF 2 1 No Object Min Max 2147483647 j 0x6083 0 Profile acceleration u s 1 Ox7FFF FFFF 92 CM EtherCAT 04 13 tv Bonfiglioli 12
127. g repair cost and downtimes and increasing the reliability and service live of the frequency inverter For this reason make sure you read the user manual carefully EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany cy inverter BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage Compliance with the documentation is required to ensure safe operation of the frequen caused by any non compliance with the documentation In case any problems occur which are not covered by the documentation sufficiently 1 please contact the manufacturer 1 2 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 These contractual warranty provisions are neither extended nor limited by the specifications contained in this documentation The manufacturer reserves the right to correct or amend the specifications product information and omissions in these operating instructions without notice The manufacturer shall not be liable for any damage injuries or costs which may be caused by
128. get reached 0 Halt Control word bit 8 0 target position not reached Bit 10 Halt Control word bit 8 1 axle decelerates 1 Halt Control word bit 8 0 target position reached Halt Control word bit 8 1 velocity of axle is 0 Set point 0 Trajectory generator has not assumed the positioning value acknowledge yet Bit 12 1 Trajectory generator has assumed the positioning value Following error 0 No following error Bit 13 1 Following error CM EtherCAT 141 Goo Bonfiglioli Example single set point control bit change on set point 0 control bit change set immediately 0 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 in the Control word The drive answers by setting bit set point acknowledge and starts moving to the new target position After that the control device clears the bit new set point and the drive also clears the bit set point acknowledge After clearing the bit set point acknowledge the drive is able to accept a new target position a new set point control bit 4 PLC target position T set point J t current target Drive position processed set point acknowledge status bit 12 target reached status bit 10 actual speed 142 CM EtherCAT 04 13 v Bonfiglioli Example single set point control bit change on set point 0 control bit change set immediately 1 When a set point is in progress and a n
129. ggered and the direction of rotation is disabled 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 As long as the limit switch is still triggered the limit switch warning in the status word and in the actual parameters 269 Warnings 273 Warnings Application und 275 Controller status remains set As soon as the limit switch is free the warning in the status word and the actual parameters is reset For an easy Moving away from a Limit switch the mode 2 Move away from limit switch can be used see chapter 14 4 7 Move away from Limit switches CM EtherCAT 113 GX Bonfiglioli 13 6 Motion Control I nterface 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 No Description Min Max Default setting 1292 801 Obj 0x6060 Modes of Operation 1293 802 Obj 0x607A Target Position 1294 803 Obj 0x6081 Profile Velocit 1295 804 Obj 0x6083 Profile Acceleration 1296 805 Obj 0x6084 Profile Deceleration 1297 806 Obj 0x6042 Target Velocity 1299 S Special Function eee pee Generator 1285 S Target Velocity pv EE ai Obj 0x6042 Targ
130. hapter 12 3 2 Handling of index parameters cyclic writing 7 VTable 8 03 COM3 115200 1 603 206 000 07107024 ci LEI mtm Datei Ansicht m Mux DeMux Index 0 Index 1 Index 2 Index 3 Index 4 Index 5 Index 6 Index 7 9 1252 Mux Eingaenge 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus H m Index 0 Index 1 Index 2 Index 3 Index 4 Index 5 Index 6 Index 7 9 1422 CANopen Mux Eingaenge 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus 7 Aus H m Index 0 Index 1 Index 2 Index 3 Index 4 amp 1379 FT Eingangspuffer Frequenz 9 Null 9 Null 9 Null 9 Null 9 1300 FT Eingangspuffer Strom 9 Null 9 Null 9 Null 9 Null Default value is 7 Off CM EtherCAT 04 13 v Bonfiglioli 12 4 5 0x3005 0 Boolean DeMux Index Sub index Meaning Data type Access Map Def Val 0x3005 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 832 847 Obj 0x3005 Demux Out 1 16 from a parameters choice list Bit no Source No Source name 0 832 Obj 0x3005 Demux Out 1 1 833 Obj 0x3005 Demux Out 2 2 834 Obj 0x3005 Demux Out 3 3 835 Obj 0x3005 Demux Out 4 4 836 Obj 0x3005 Demux Out 5 5 837 Obj 0x3005 Demux Out 6 6 838 Obj 0x3005 Demux Out 7 7 839 Ob
131. he 0x606D Velocity Window for a longer time than 0x606E Velocity Window Time The value range of Object 0x606D 0 Velocity Window is 0 65535 u s If the value of 0x606D 0 Velocity Window is set to 0 bit 10 Target reached of the Status word is only set with the exact equality of actual speed and reference speed It is recommended to set the value large enough to get a reliable status information of Bit 10 Target reached Writing to object 0x606D 0 Velocity Window automatically generates a write command to parameter Velocity Window 1276 data set 5 all data sets in RAM only If object 0x606D 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Velocity Window 1276 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant CM EtherCAT 85 GY Bonfiglioli 12 5 21 Ox606E 0 Velocity Window Time Index Sub index Meaning Data type Access Map Def Val 0x606E Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave o o 0000 O e Non motion Control conf x40
132. he first en coder ref signal to the right of the edge of the home switch signal Homing to negative home switch with detection of encoder ref signal Home position is the first en coder ref signal to the left of the edge of the home switch signal CM EtherCAT 04 13 v Bonfiglioli 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 8 Pos Lim Sw Ref Sig right of Reversal of direction of rotation when positive HW left Edge of Home Sw limit switch is reached Pos Lim Sw Ref Sig left of Home position is the first encoder ref signal to the P right Edge of Home Sw left or right of the left or right edge of the home 19 Pos Lim Sw Ref Sig right of switch signal right Edge of Home Sw 11 Neg Lim Sw Ref Sig right of Homing to home switch with detection of encoder right Edge of Home Sw ref signal Homing direction negative anticlock 12 Neg Lim Sw Ref Sig left of wise Reversal of direction of rotation when nega right Edge of Home Sw tive HW limit switch is reached Neg Lim Sw Ref Sig right of Home position is the first encoder ref signal to the GH left Edge of Home Sw left or right of the left or right edge of the home 14 Neg Lim Sw Ref Sig left of switch signal left Edge of Home Sw 17 30 like 1 14 but without encoder ref signal 17 Neg Limit Swit
133. herCAT 04 13 v Bonfiglioli 14 4 7 Move away from Limit switches The Move away from Limit switches mode is selected via object 0x6060 0 Modes of operation OxFE 2 In the Move away from Limit switches mode the drive moves independently from a triggered limit switch back into the valid Travel area Zugeh rige Objecte 0x6040 Control word 0x6085 Quick stop deceleration 0x6041 Status word 0x6099 2 Homing Creep Speed 0x6046 Velocity min max amount 0x609A Homing Acceleration 0x6060 Modes of operation 0x6085 Quick stop deceleration 0x6061 Modes of operation display In table travel mode the operation mode specific and manufacturer specific bits of Control word and Status word are used as shown 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage Quick stop Low active Enable operation 4 Move away from limit switch Fault reset Halt 04 13 CM EtherCAT 163 GW Bonfiglioli 164 15 14 13 12 11 10 9 8 7 6 5 4 3 NN 1 O Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 12 13
134. hest sub index Read only supported EE 1 te Ox5F14 Phasing 4 2 Highest sub index Read only supported Highest sub index Read only supported EAM te te te In Gear Threshold Read wri In Gear Time Position Controller Y P 9 Highest sub index Read only supported Time Constant ms Read write Read write Limitation Ox5FFO Active motion block H Ox5EF1 Motion block to re Read only sume Ox7FFF FFFF 0x0005 0000 Li Ox7FFF FFFF 0x0001 0000 0x8000 0000 Ox7FFF FFFF 0x0005 0000 I 0x7FFF FFFF 0x0005 0000 Lisi Ox7FFF FFFF 0x0001 0000 0x8000 0000 Ox7FFF FFFF 0x0005 0000 1 Ox7FFF FFFF 0x0005 0000 1 Ox7FFF FFFF 0x0001 0000 0x8000 0000 Ox7FFF FFFF 0x0005 0000 Lisi Ox7FFF FFFF 0x0005 0000 Li Ox7FFF FFFF Unsigned32 0 Ox7FFF FFFF Unsigned16 No 10 1 0xFFFF Integer32 No 10 0 1 00 300 00 Unsigned8 Integer32 Unsigned32 Unsigned32 Unsigned8 Integer32 Unsigned32 Unsigned32 Unsigned8 Integer32 Unsigned32 Unsigned32 Unsigned32 327680 0 Ox7FFF FFFF SECHER s 2 Unsigned8 Tx TX TX Unsigned8 Belonging Param p 1127 DS1 p 1125 DS2 p 1126 DS2 p 1127 DS2 p 1125 DS3 p 1126 DS3 p 1127 DS3 p 1125 DS4 p 1126 DS4 p 1127 DS4 p 1168 v Velocity Mode only This Object is only used in Velocity mode rpm u Profile Velocity Mode only This Object is only used in
135. i XXIII 7 A fax 39 051 647 3126 40012 Lippo di Calderara di Reno bonfiglioli bonfiglioli com Bologna Italy www bonfiglioli com
136. ier d 777 Du F PDPconv word2 SD Identifier 801 Obi 046060 Modes of Operation SDO2 Set Acti Obj 046071 Target Torque ic 815 Obj 0x3006 Reference Percentage heien 879 Actual Mation Block T4PDO Funetion 880 Actual Motion Mode RxPDO Function 899 Motion Block to Resume Timeout 900 Control Status Sg 901 Software Status E TxPDO1 Objects Sen MONA T PDO2 Objects 2511 FT Dutput Current 1 TxPDO3 Objects 2512 FT Qutput Current 2 Il Synchronization E 3 FT Output Current 3 A sd 2514 ET Ater Ci IT m cen G Default value 9 Zero 58 CM EtherCAT 04 13 vv Bonfiglioli Vectron 12 4 15 0x3121 0 Ref Value Long 1 Index Sub index Meaning Data type Access Map Def Val Via object 0x3121 it is possible to write to a Word source like parameter 7xPDOI Long 1 954 of the Systembus The value of object 0x3121 is available as source which can be chosen by the selec tion of 764 CANopen 0x3121 Ref Value from a parameters choice list 8 d B VPlus 8 04 FUNV20130417 vcb 2 e LB File Edit View 2 qa L IRIA o t A ios Finished Control Inputs Dutputs Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 Control Functions amp 946 TxPDO1 Boolean 7 FALSE Special Functions j 947 T4PDO1 Boolean 7 FALSE Weg Werer 9 948 TXPDO1 Boolean3 7 FALSE E en EI 49 T4PDO1 Booleand 7 FALSE ld ecm
137. igned32 No 32767 0 32767 p 419 0x6048 aay acceleration _ _ _ 0 HERR Read only Unsigned8 No supported 1 Delta speed Read write Unsigned32 No 150 1 32767 p 420 amp 2 Delta time Read write Unsigned16 No 1 1 65535 p 422 0x6049 velocity deceleration 0 Highest sub index Read only Unsigned8 No supported 1 Delta speed Read write Unsigned32 No 150 1 32767 p 421 amp 2 Delta time Read write Unsigned16 No 1 1 65535 p 423 0x604A Velocity quick stop 0 ENER Read only Unsigned8 No supported 1 Delta speed Read write Unsigned32 No 150 1 32767 p 424 amp 2 Delta time Read write Unsigned16 No 1 1 65535 p 425 0x6060 0 Modes of operation Write only Integer8 Rx 2 3 7 0x6061 0 oe of operation Read only Integer8 Tx 2 display kb 0x8000 0000 0x6064 0 Position actual value Read only Integer32 Tx og p 1108 Ox7FFF FFFF Following error win 0 0x6065 0 dow Read write Unsigned32 No OxFFFF FFFF OXFFFF FFFF p 1105 0x6066 0 eee error time Read write Unsigned16 No 10 0 65535 p 1119 0x6067 0 Position window Read write Unsigned32 No OxFFFF FFFF OXFFFF FFFF p 1165 0x6068 0 Position window time Read write Unsigned16 No 10 0 65535 p 1166 0x606C 0 velocity Actual value Ragg Integer32 Tx 0x606D 0 Velocity Window Read write Unsigned16 No 1000 0 65535 p 1276 Ox606E 0 ees Read write Unsigned16 No 0 0 65535 p 1277 Ox606F 0 Velocity Threshold Read write Unsigned16
138. ing Profile 3 Status word See 6a See Da 8b Control word 0x325F Start Electronic Gear with Directe Synchro nisation and Phasing Profile 4 Status word See 6a Disable voltage 174 CM EtherCAT 04 13 04 13 W Bonfiglioli Vectron Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence CM EtherCAT 175 GY Bonfiglioli 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 15 1 Actual values E The parameter is available in the four data sets d The parameter value is set by the SET
139. ingute Outpate f 1416 CANopen 033012 Act Value Word2 52 Analog Input MFITA E Control Functions zail 9 Zero El d Special Functions f 1418 CANopen 033022 Act Value Long2 3 280 Stator Frequency E Actual Value 12 Tech Controller Freq Output f Error Protocol 14 Sweep Output Communication 16 Let Output A RS485 RS232 18 Electronic Gear RI CANopen DeviceNet SE m eid Freq Range Ethernet 45 FraMin Output Convert PDP intemal 46 KeyPad Gate Output Bus Controller 50 Reference Analog Value MFITA Error Behaviour COP DEV Ett 53 Reference Analog Value EM STINA 62 Reference Frequency Channel 80 Speed Sensor 1 81 Speed Sensor 2 93 Slip Compensation 109 Ude Controller 111 Slip Frequency 112 Speed Controller Control Dev 115 Fixed Frequency 5 Systembus 12 4 12 0x3022 0 Actual Value Long 2 Index Sub index Meaning Data type Access Map Def Val Object 0x3022 displays the value of a Long source which is selectable via parameter CANopen Actual Value Long 2 1418 Default source is 9 Zero Ri VPlus 8 04 FNINV20130417 vcb BI Sex geg File Edit View SM e a b BrlBla t INA fp Finished Frequency Inverter Data Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 P Machine Data Z 385 CAN Baud Rate 6 250 kBit s System Data j 387 CAN Node Number 4 Operational Behaviour 1423 CANopen 03007 Perc Act
140. inverter via digi tal inputs or via the bus For data set change over via the bus parameter Data set selection 414 is used Descri ption Min Max Fact sett dia Data serene 4 With Data set selection 414 0 the data set change over via digital inputs is active If Data set selection 414 has been set to 1 2 3 or 4 the corresponding data set is activated Data set change over via the digital inputs is then disabled Via parameter Active data set 249 the currently selected data set can be read out Active data set 249 states the activated data set with the value 1 2 3 or 4 This is independent of whether the data set change over was carried out via digital inputs or via Data set selection 414 116 CM EtherCAT 04 13 v Bonfiglioli 14 1 Control via digital inputs remote digital inputs In the operation mode Control via Contacts or Control via Remote Contacts parame ter Local Remote 412 0 or 2 the frequency inverter is controlled via the digital inputs S1IND STOA AND STOB S2IND to EM S3IND directly or by digital input emulation with help of the individual bits in the Contro word The meaning of these inputs can be taken from the operating instructions 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit S1IND STOA and STOB S2IND S3IND S4IND S5IND S6IND MFI1D 4EM S1IND EM S2IND gt
141. ion inverter remains in state operation enabled 04 13 CM EtherCAT 153 GW Bonfiglioli Status word Name Value Description Target 0 Halt 0 home position not reached reached Halt 1 axle decelerates Bit 10 1 Halt 0 home position reached Halt 1 axle has velocity 0 Homing at 0 Homing not yet completed tained 1 Homing mode carried out successfully Bit 12 Homing error 0 No homing error Bit 13 1 Homing error occurred Homing mode carried out unsuccessfull For an exact description of the various homing modes refer to the application manual Positioning 14 4 5 1 Example Sequence To start the Homing mode the correct sequence has to be sent from the PLC 1 Control word 0x0000 Disable voltage 1 Status word 0x0050 Switch On Disabled uS of Operation 6 Homing 3 Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on Control word 0x0007 Switch On Status word 0x0033 Switched On Be word 0x000F Enable Operation Status word Oxnn37 Operation enabled p word 0x001F Enable Operation and start Homing Status word 0x1n37 Operation enabled and homing attained Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the s
142. ion Controller Time Constant 300 00 ms 2147483647 0x5F17 2 Position Controller Limitation Ox7FFF FFFF Alternatively the parameters 1104 and 1118 can be used instead of the Objects 0x5F17 1 Position Controller Time Constant 1104 Time Constant 0x5F17 2 Position Controller Limitation 1118 Limitation 04 13 CM EtherCAT 65 Goo Bonfiglioli 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 the position deviation Parameter Limitation 1118 must be set accordingly Controller block diagram Acceleration Pre Controller Ian Speed Controller Limitation Speed Controller Trajectory generator Limitation Position Position Controller Sha Controller In order to avoid oscillations of the drive while it is at standstill amplification is re duced to 50 of the parameterized value for small position deviations Amplification 100 50 Control deviation 0 50 0 25 0 00 0 25 0 50 of position The following behavior may indicate that the controller parameters are not config ured properly drive is very loud drive vibrates frequent contouring errors inexact control For the setting options of other control parameters e g speed controller and accel eration pilot control refer to the operating instructions of the frequency inverter Optimize the setti
143. is not required The EtherCat master will set an unambiguous singular 16 bit address for each device upon startup 10 Operational behavior on bus failure The operational behavior if the EtherCAT system fails can be parameterized The required behavior is set with parameter Bus Error Behavior 388 0 No Reaction Operating point is maintained rms Dez state machine changes immediately to state fault factory setting 2 Switch of D state machine processes command disable voltage and changes to state switch on disabled 3 Quick stop peice state machine processes command quick stop and changes to state switch on disabled Device state machine processes command disable op eration and changes to state fault after the drive is stopped Device state machine processes command quick stop and changes to state fault after the drive is stopped NOTE The parameter settings CAN Error Behavior 388 2 5 are evaluated depending of parameter Local Remote 412 5 Quick Stop Error The error and warning behavior of the frequency inverter can be parameterized in various ways Occurring errors are described in detail in chapter 16 5 Fault messag n es 26 CM EtherCAT 04 13 v Bonfiglioli 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 s
144. ive e 0x607A Target Position e 0x6081 Profile velocity e 0x6083 Profile acceleration e 0x6084 Profile deceleration CM EtherCAT 145 146 D Goo Bonfiglioli A Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence To start a new Position Profile it is not necessary to change the Control word to 0x0007 first and switch to OxnnnF After a position profile is finished a new Profile can be started from Control word OxnnnF by using the New Setpoint Bit Bit 4 While a position profile is active using the Change Setpoint immediately Bit 5 and New Setpoint Bit 4 will start a new profile without stopping CM EtherCAT 04
145. j 0x3005 Demux Out 8 8 840 Obj 0x3005 Demux Out 9 9 841 Obj 0x3005 Demux Out 10 10 842 Obj 0x3005 Demux Out 11 11 843 Obj 0x3005 Demux Out 12 12 844 Obj 0x3005 Demux Out 13 13 845 Obj 0x3005 Demux Out 14 14 846 Obj 0x3005 Demux Out 15 15 847 Obj 0x3005 Demux Out 16 04 13 CM EtherCAT 53 GW Bonfiglioli 12 4 6 0x3006 0 Percentage set value 54 Index Sub index Meaning Data type Access Map Def Val Via object 0x3006 it is possible to write to a percentage source like parameter S Ref erence Value 056 The value of object 0x3006 is available as source which can be chosen by the selec tion of 815 Obj 0x3006 Reference Percentage from a parameters choice list The value of object 0x3006 is limited to 30000 to 30000 corresponds to percentage values 300 00 96 300 00 95 0x3006 0 Percentage set value 30000 30000 0x8ADO 0x7530 Example Technology controller parameter S Reference Value 056 fi VPlus 8 03 COM3 115200 1 603 206 000 07107024 Jd w H aJ Y camry Datei Bearbeiten Ansicht USE SIP M A O E OD amp C s Beendet Umrichterdaten Parameter D Satz 0 D Satz 1 E Maschinendaten 5 CERTES 815 Obj 0x3006 Prozenisollwet v Agendan 057 Q Istwert 705 BDO Word2 E Betriebsverhaken 054 0 Techno Stop 706 RxPDO1 Word3 Stoer Wamverhalten 707 RxPDO1 Words E Sollwerte 714 RxPDO2 Word E Steuerein ausgaenge 715
146. ject is only used in Table travel record mode I Move away from limit switch Mode only This Object is only used in Move away from limit switch mode The Modes Homing Interpolated Position Profile Position Profile Velocity and Table travel record Move away from limit switch and Electronic gear switch require a configuration capable of Positioning Check chapter 14 4 Motion control configurations for details 38 CM EtherCAT 04 13 tv Bonfiglioli Vectron 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 command see object 0x1010 the writ ten value is stored to non volatile memory of the inverter After the next power on of the inverter these CANopen object values are restored again and overwrite the inverter parameter values Be careful when using this method If a CANopen object was written and saved and then the corresponding inverter parameter was set by e g VPlus the next power on cycle overwrites the value set by VPlus with the value stored by the save com mand Effect of the save command Object 0x1010 sequences of writing parameters and objects examples
147. k stop deceleration 1179 Emergency Ramp Acceleration Deceleration Quick Stop 0x60C1 1 interpolation data record Obj 0x6046 1 amp 2 Velocity min max amount 418 amp 419 1295 Acceleration 2 Default 804 Obj 0x6083 Profile Accelera tion 1296 Deceleration Default 805 Obj 0x6084 Profile Decelera tion Obj 0x6085 0 Quick stop deceleration 1179 Emergency Ramp 1 Modes of Operation is selected via 1292 S Modes of Operation Default setting 801 Obj Ox6060 Modes of Operation 2 Parameters 1292 1293 1294 1295 1296 amp 1297 are used for the connection between CANopen Objects and internal functions For CANopen these do not have to be changed Please refer to chapter 13 6 for a description 3 The limitation is always restricted by 418 Minimum frequency and 419 Maximum frequency 1118 Limitation of the Position controller in configuration x40 can result in a boost above maximum frequency since the output of the Position Controller is added to the maximum frequency 4 Quick Stop or Deceleration is used depending on Stopping behavior 630 Operation mode or Com munication fault reaction 0x6007 0 abort connection option code 108 CM EtherCAT 04 13 v Bonfiglioli Table Travel Record Move away from Limit Electronic Gear Slave mode switches Modes of 1 2 3 Operation Target Posi 1202 Target Position tion Speed 1203 Target Speed Obj 0x6099 1 amp 2 Hom 1285 S
148. lications sources 606 and 620 are more useful In setting 11 RxPDO1 Long1 extrapolated of parameter Master Position Source 1122 the system bus synchronization must be set to 1 or 10 to ensure a reliable function of Operation Mode 1180 1 f the error message F1453 Systembus Synchronization not activated is dis played when the slave drive is started one of the operation modes 1 2 3 or 10 must be selected 2 Synchronization of processing with data telegram or cyclic sending of SYNC tele gram Not recommended for el gear because no extrapolation done CM EtherCAT 04 13 v Bonfiglioli The synchronization of several drives needs high refresh rates to assure optimum results Set the corresponding time i e TxPDO1 Time 931 at the transmit side to a low value For the usage of the sync function at the system bus set SYNC Time 919 to a low value The bus load of the system bus must have sufficient reserves for proper operation The system bus is described in the manuals of the extension modules with system bus interface Block diagram electronic gear and phasing function Master Position Source 1122 RxPDO1 Long1 master position Speed sensor 1 position Sphasing Speed sensor 2 Resolver position Gear Factor Numerator 1123 Phasing Offset 1125 Phasing Speed 1126 Phasing Acceleration 1127 Phasing Gear
149. limited The parameter settings of the position controller determine how quick and to what extent position deviations are to be compensated Via the Position Controller Time Constant you can define the maximum time in which the position deviation is to be compensated Via parameter Position Controller Limitation you can define to which value the speed is limited for compensation of the position deviation NOTE The Output of the Position Controller is not limited by 0x6046 2 Velocity max amount or Maximum frequency 419 The Maximum speed limits the value of the Motion Profile generation Caused by the addition of the Profile generator reference speed and the output of the Position Controller higher frequencies than Maximum speed can occur Maximum speed and Limitation 1118 must be set for fitting values during the com missioning Chapter 16 6 contains conversion formulas between Hz rpm and u s Bonfiglioli Vectron recommends e Set Maximum speed to 90 96 of the mechanical rated speed and the Limitation 1118 of the Position Controller to the value corresponding to 10 96 of the Maximum frequency Maximum speed refers to either 0x6046 2 Velocity max amount or Maximum fre quency 419 It is set either via 0x6046 2 Velocity max amount rpm or Maximum frequency 419 Hz Maximum frequency 419 is usually set up during motor commis sioning The values of Objects 0x5F17 n are limited as follows Object Min Max mi Posit
150. locity acceleration Index Sub index Meaning Data type Access Map Def Val 0x6048 Object works in Object doesn t work in e Motion Control e Motion Control o Velocity mode o Table Travel record mode o Profile Positioning mode e Non motion Control conf o Profile Velocity mode x40 o Homing mode o Interpolated mode o Move away from Limit Switch o Electronic Gear Slave The acceleration in velocity mode is set with object velocity acceleration The object velocity acceleration consists of delta speed in RPM and delta time in seconds The gradient of the frequency in the acceleration period is written to parameters Accel eration clockwise 420 and Acceleration anti clockwise 422 data set 5 all data sets in RAM only Both parameters are set to the same value The values of p 420 and p 422 are converted internally to a frequency sec value taking into account parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed 32767 0x6048 1 Delta speed RPM Ox7FFF Es speed delta speed delta time time If objects 0x6048 1 or 0x6048 2 were written and then a save parameters command object 0x1010 processed the object values are stored in non volatile memory After the next power on of the inverter the previously set values are reactivated and over write the settings of parameters Acceleration Clockwise
151. lt to 0 restarts processing of the Move away from Limit switch movement and status bit target reached is set to 0 04 13 CM EtherCAT 165 GO Bonfiglioli 14 4 7 1 Example Sequence To move away from the limit switch the correct sequence has to be sent from the PLC 0x0000 Disable voltage 0x0050 Switch On Disabled Move away from limit switch 0x0006 Shutdown 0x0031 Ready to switch on Control word 0x0007 Switch On Status word 0x0033 Switched On Control word 0x000F Enable Operation Status word Oxnn37 Operation enabled Control word Move away from limit switch Status word Oxn2B7 Operation enabled and Positioning active Status word 0xn637 Operation enabled and Limit switch no long er active Target reached Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the m
152. me ters and the configuration of the software of the frequency inverter User manual The user manual documents the complete functionality of the frequency inverter The parameters required for special purposes for adjustment to the application and the numerous additional functions are described in detail Separate user manuals are supplied for optional components for the frequency inverter These manu als complement the operating instructions and the Quick Start Guide for the frequency inverter Application manual The application manual complements the documentation to ensure goal directed installation and commissioning of the frequency inverter Information on various topics in connection with the use of the frequency inverter are described in context with the specific application Installation instructions The installation manual describes the installation and use of devices complementing the Quick Start Guide and the user manual 8 CM EtherCAT 04 13 v Bonfiglioli Vectron 1 1 This document The present user manual of the CM EtherCAT communication module complements the user manual and the Quick Start Guide for the frequency inverters of the ACU 201 and ACU 401 device series The user manual contains important information on the installation and use of the EtherCAT com munication module CM EtherCAT in its specified application range Compliance with this user manual contributes to avoiding risks minimizin
153. n Danger of equipment falling down over e g during transport Center of gravity is not the middle of the electric cabinet modules 2 5 Safety and warning signs at frequency inverter e Comply with all safety instructions and danger information provided on the frequency inverter e Safety information and warnings on the frequency inverter must not be removed 12 CM EtherCAT 04 13 Bonfiglioli Vectron 2 6 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 Identification of immediate threat holding a high risk of death or serious injury if not N avoided Identification of immediate threat holding a medium risk of death or serious injury if not avoided Identification of immediate threat holding a low risk of minor or moderate physical inju ry if not avoided NOTE Identification of a threat holding a risk of material damage if not avoided 2 6 2 Hazard symbols Symbol Meaning Symbol Meaning Electrical voltage Hot surfaces General hazard A Suspended load 2 6 3 Prohibition signs Symbol Meaning No switching it is forbidden to switch the machine plant assembly on 2 6 4 Personal safety equipment Symbol Meaning Q Wear body protection 04 13 CM EtherCAT 13 GY Bonfiglioli
154. n p 30 x40 or 412 Local Remote 1 Control via Statemachine 2 velocity mode The inverter in non motion control configuration ignores all settings other than 2 When accessing via SDO an SDO fault message is generated that prompts the invalid value For further information see chapter 14 Inverter Control CM EtherCAT 79 Goo Bonfiglioli 12 5 13 0x6061 0 Modes of operation display Index 0x6061 Sub index Meaning Data type Access Map Def Val Object works in Motion Control o All modes Object doesn t work in e Non motion Control conf x40 Value always 2 Object 0x6061 modes of operation display acknowledges the previously set value of modes of operation by displaying the same value as modes of operation After setting 0x6060 modes of operation the PLC must wait for this acknowledgement before sending any other command to the inverter For further information see chapter 14 Inverter Control 12 5 14 0x6064 0 Position actual value 0x6064 Index Sub inded Meaning Datatype Access Map Def Val Object works in Motion Control o All modes Object doesn t work in e Non motion Control conf x40 80 Object 0x6064 position actual value represents the actual value of the position meas urement device in user units The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stan
155. n Gear are reset in the following occurrences The relative deviation between master and slave position exceeds the value of 0x5F15 0 n Gear Threshold The speed of the master drive exceeds the value of Maximum Speed Maximum speed refers to either 0x6046 2 Velocity max amount or Maximum fre quency 419 It is set either via 0x6046 2 Velocity max amount rpm or Maximum frequency 419 Hz Maximum frequency 419 is usually set up during motor commis sioning The Position Controller 0x5F17 Position Controller can cause a higher overall speed than Maximum speed However the Position Controller doesn t affect the Signal In Gear The value range of des Object 0x5F16 0 is limited as follows Alternatively parameter In Gear Time 1169 can be used instead of the Object 0x5F16 0 n Gear Time 0x5F16 0 In Gear Time 1169 Gear Time CM EtherCAT 04 13 v Bonfiglioli 12 4 21 0x5F17 n Position Controller Meaning Data type Access Map Def Val Object works in Object doesn t work in e Motion Control o All modes e Non motion Control conf x40 The position controller evaluates the positioning operation target actual position and tries to control the drive such that it comes as close as possible to the specifications For this purpose an additional frequency is calculated for compensation of position deviations By setting the corresponding parameter this frequency can be
156. n of a sequence of motion blocks sequence mode I 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 culating the motion block number from motion block select with the rising edge of start motion block While the selected motion block or motion block sequence is processed motion block in progress is set to 1 Motion block in progress remains 1 until the motion block pro cessing is finished When using a single motion block motion block in progress is set to 0 with completion of the single motion block Otherwise when using a motion block sequence motion block in progress is set to 0 when reaching a next motion block set ting of 0 end of motion block or 1 error 2 stop and error or 3 quick stop and error While processing a motion block sequence the actual processed motion block is dis played by object Ox5FFO active motion block If motion block processing is interrupted by setting start motion block to 0 the axle stops with the ramp defined by the actual motion block The interrupted motion block motion block sequence can be restarted again by setting resume and a rising edge of start motion block If resume is set to 1 and there is no valid motion block available the motion block defined by motion block select will be used A valid motion block is displayed by ob ject Ox5FF1 motion block to resume Motion block t
157. nable Operation and start Interpolated Mode IP Status word i 0x1n37 Operation enabled p word 0x000F Enable Operation Dangerous state due to new mode e When 0x6060 Modes of Operation is changed during operation Control word OxnnnF a dangerous state can occur in the new mode e Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU is enabled dark marked table area In Operation enabled state OxnnnF the Motion Control states can be changed white marked area in table With the control word transition from OxnnnF to 0x0007 the velocity mode is stopped After that it is possible to start again with OxnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence Always ensure that a valid Position is contained in Interpolated Data Record It is recommended to copy the Actual Position into the Data Record before starting the Interpolated Mode CM EtherCAT 151 Goo Bonfiglioli 14 4 5 Homing mode The homing mode is selected via object 0x6060 0 Modes of operation 6 In homing mode the inverter moves the drive to a reference position The method used for this movement is defined by object 0x6098 homing me
158. nabled Fault Voltage enabled Quick stop low active Switch on disabled Warning Remote 10 Target reached not used 11 Internal limit active 15 Warning 2 Block diagram Bit 5 rfg unlock I li Run_RFG O H O 7 Lock Output O Bit 6 rfg use ref 0 d Bit 4 rfg enable l i R Refe i l i am ererence 1 j AR O 4 am unction Generator o O B Special Function Generator 04 13 CM EtherCAT 131 GX Bonfiglioli 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 Special Function Genera tor is set unequal to 9 Zero If 1299 Q Special Function Generator is set to 9 Zero the value of the ramp out put is always used If Special function generator 1299 Q Special Function Generator is set unequal to 9 Zero the reference value from the ramp output is also used when Bit 4 rfg ena ble 1 and when Bit 4 rfg enable 0 the reference value is used from the source set in 1299 Q Special Function Generator i 1299 Q Special Function Genera 1299 Q Special Function Genera tor unequal to 9 Zero tor 9 Zero Bit 4 rfg enable 0 Reference value from Special func ti
159. nerates a write command to parameter Max Slippage 1275 data set 5 all data sets in RAM only If object 0x60F8 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Max Slippage 1275 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feea constant 12 5 43 Ox60FF 0 Target Velocity u s Index Sub index Meanin Data Access Map Def Val 0x60F8 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Profile Positioning mode o Velocity mode o Homing mode o Interpolated mode o Table Travel record mode o Move away from Limit Switch o Electronic Gear Slave e Non motion Control conf x40 Object Ox60FF Target Velocity defines the reference velocity in Profile velocity mode in user units per seconds u s 04 13 CM EtherCAT 105 Go Bonfiglioli 13 Motion Control I nterface MCI 106 The Motion Control Interface MCI is a defined interface of the ACU device for posi tioning control via Field bus Typically this interface is used via a Field bus like CANo pen The Motion Control Interface allows the direct access for a Field bus to change a Position Profile which usually consists of Target Position Speed Acceleration Deceler ati
160. ngs in actual operating conditions as control parameters for speed controller and acceleration pilot control depend on actual load Optimize with differ ent load types to obtain a good control behavior in all situations 66 CM EtherCAT 04 13 v Bonfiglioli 12 4 22 OXx5FFO O Active motion block Index Sub index Meaning Data type Access Map Def Val Ox5FFO Object works in Object doesn t work in e Motion Control e Motion Control o Table Travel record mode o Profile Positioning mode Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch Electronic Gear Slave 000000 e Non motion Control conf x40 Object Ox5FFO active motion block is only available in table travel record mode in mo tion control configurations P 30 x40 The table travel record mode is activated by object 0x6060 modes of operation set to 1 The data of active motion block displays the active motion block number in table trav el record mode The Object refers to parameter Actual motion block 1246 Refer to the application manual Positioning for the usage of the motion blocks 12 4 23 Ox5FF1 0 Motion block to resume Index Sub inde Meanin Data Access Map Def Val Ox5FF1 Object works in Object doesn t work in e Motion Control e Motion Control o Table Travel record mode o Profile Positioning mode o Velocity mode o Profile Velocity mode o Homing mode o Inte
161. nsensenssensensensens 180 6 CM EtherCAT 04 13 16 3 16 4 16 5 16 6 16 6 1 16 6 2 16 6 3 16 6 4 16 6 5 16 6 6 16 7 04 13 v Bonfiglioli Warning messages 1 cececneseeeeeeneeeeeenenueeseennaeeesenoasseeenonaseusenoaueeseauausesssnoaseesenoas 181 Warning Messages Application e eeeeiee eee e eee iene iii 182 Fault messages 183 CONVELSIONS m 184 Speed rpm to Frequency HZ i 184 Frequency Hz to Speed rpm eee 184 Speed in user units u s to Frequency IHSl 184 Frequency Hz to Speed in user units u s esse 184 Speed in user units u s to Speed rpm em 184 Speed rpm to Speed in user units Tuisl 184 Object support in the Software versions and XML files 185 M 187 CM EtherCAT 7 Go Bonfiglioli 1 GeneralInformation 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 describes the basic steps required for mechanical and electrical installation of the frequency inverter The guided commissioning supports you in the selection of necessary para
162. nstant 1115 2 Gear Box Motor shaft revolutions 1117 u v f Hz s No of pole pairs 373 Gear Box Driving shaft revolutions 1116 Feed Constant 1115 0x6092 1 feed Vorschub Gear Box Motor shaft revolutions 1116 0x6091 1 motor shaft revolutions Gear Box Driving shaft revolutions 1117 0x6091 2 driving shaft revolutions The same formulas can be used for the conversion from acceleration a Hz s to a u s and vice versa Replace in the formulas the velocities f Hz and v u s with a Hz s and a Hz s Further details to the reference systems are described in the application manual Posi tioning CM EtherCAT 111 GS Bonfiglioli 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 The limit switches limit the motion path The direction of movement search direction at the start of the homing operation is defined by the homing mode Additional the reaching of a limit switch will change the direction of the drive dependent on the homing mode The limit switches can also be used as the point of reference Relative positioning and velocity operations are possible without homing
163. o eliminate phase deviations of the CPUs between master and slave devices so that calculations are done at the same time The synchronization time must be natural number as multiplier from 1 ms Operation mode Punkten 0 Auto The synchronization source is selected automatically by the inverter 1 CANopen The OS is synchronized via CANopen Factory setting 2 Systembus The OS is synchronized via Systembus 3 Ind Ethernet The OS is synchronized via Ethernet Module Module 4 Synchronised The OS is synchronized vie snchr Ethernet Module Ind Ethernet e g EtherCAT Module 99 Off The OS is not synchronized with other devices Operation mode Auto The selection is done via this decision table gt Synchronisation via EtherCAT Ve gt Synchronization via Systembus No Nes No No No Synchronization activated 1453 OS SyncSource Act shows the active Synchronization source The parameter 1451 OS Synctime can be used to shift the point of the synchroniza tion inside of 1 ms When you experience noises from a motor shifting the CANopen OS Synctime can result in a better behavior Description Min Max Fact sett No 14510S Syntim 700us 900us 800us 04 13 CM EtherCAT 31 Goo Bonfiglioli For the VPlus Scope Function the following sources are available for diagnosis 1 Synchronization OS to Systembus OK 0 Synchronization OS to Systembus not OK SysBus SYNC time us Shows the
164. o resume displays 1 in case there is no valid motion block or the last motion block motion block sequence was not inter rupted Target reached is set by motion blocks with absolute or relative positioning when the actual position reaches the position window In gearis set when the function electronic gear is used and the gear is coupled Setting Ha tto 1 interrupts an actual processed motion block The axle is stopped with the ramp defined by the actual motion block When reaching velocity 0 target reached is set to 1 The drive remains in state operation enabled Resetting Ha t to 0 restarts processing of the interrupted motion block CM EtherCAT 04 13 v Bonfiglioli Examples single motion block sequence mode control bit 4 0 2 motion blocks 7 10 start motion block control bit 9 PLC Drive motion block in progress status bit 8 target reached status bit 10 position active motionblock 0 7 o 10 0 04 13 CM EtherCAT 159 GX Bonfiglioli LAS 160 motion block sequence sequence mode control bit 4 1 start motion block control bit 9 motion block in progress status bit 8 target reached status bit 10 position active motion block sequence motion block 4 5 6 PLC Drive CM EtherCAT 04 13 v Bonfiglioli interrupted motion block
165. o settings have to be made on the frequency purchase side In the Interpolated position mode operation mode DCs must be used for exact and equal time control The DC Sync Time synchronization time must be set in steps of 1 ms Minimum is 1 ms maximum 20 ms 04 13 CM EtherCAT 29 GS Bonfiglioli 11 7 NMT Functions The NMT Network management function describes the NMT state machine and NMT error control functions The NMT State is displayed via the actual value parameter NMTNode State 1443 11 7 1 NMT Statemachine On start up each EtherCAT slave passes through the NMT state machine Possible NMT state changes Pre Operational Safe Operational Operational Init Initialising e No SDO Communication e No PDO Communication Pre Operational Fieldbus active e SDO Communication e No PDO Communication Safe Operational Fieldbus active e SDO Communication e PDO Communication o IN data TxPDO s from inverter application send to PLC master o OUT data RxPDO s blocked not transferred to application in inverter Operational Fieldbus active e SDO Communication e Full PDO Communication OUT und IN RXPDO s TxPDO 5 30 CM EtherCAT 04 13 v Bonfiglioli 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 t
166. ocity Window and 0x606E Velocity Window time Bit 10 Target reached of the status word is set CM EtherCAT 04 13 04 13 v Bonfiglioli Via Objects 0x606F Velocity Threshold and 0x6070 Velocity Threshold time Bit 12 Velocity of the status word is set Via Object 0x60F8 Max Slippage a slip monitoring via Bit 13 Max Slippage of the status word can be set up Status word Bit 10 Target reached Target reached O gt The actual velocity doesn t match the reference velocity Target reached 1 Status word Bit 12 Velocity 0 Velocity 1 Status word Bit 13 Maximum Slippage 0 Maximum Slippage 1 gt The actual velocity matches the reference velocity The actual velocity differs at least from the defined time peri od in object 0x606E Velocity Window time up to the defined amount us in Object 0x606D Velocity Window Velocity gt The Actual Velocity matches the comparison speed The Actual Velocity has exceeded for a defined time Object 0x6070 Velocity Threshold time a defined Velocity in user units per seconds u s Object 0x606F Velocity Threshold gt The Actual Velocity doesn t match the Comparison Velocity Maximum Slippage gt The actual Slippage speed is smaller than defined The comparison value oft he slippage speed is defined Object 0x60F8 Max Slippage gt The actual Slippage speed is bigger than defined The comparison value oft he slippage speed is defined Object
167. odes of operation without any danger After changing 0x6060 modes of operation to another value you can start the new operation mode with the according sequence 166 CM EtherCAT 04 13 14 4 8 04 13 Electronic Gear Slave The Electronic Gear Slave mode is selected via Object 0x6060 0 modes of operation OxFD 3 v Bonfiglioli In 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 Following error window 0x6060 Modes of operation 0x6066 Following error time 0x6046 Velocity min max amount 0x6067 Position window 0x6061 Modes of operation display 0x6068 Position window time Ox5F10 Electronic Gear Gear factor 0x6085 Quick stop deceleration Ox5F11 Electronic Gear Phasing 1 0x5F14 Electronic Gear Phasing 4 In Electronic Gear Slave mode the operation mode specific and manufacturer specific bits of Contro word and Status word are used as shown 15 14 13 12 11109 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage Quick stop low active Enable operation Start Electronic Gear 6 Direct Sync Fault reset Halt Start Phasing 12 Phasing switch over 0 Phasing switch over 1
168. of Pole Pairs 1 24 2 12 5 392 State transition 5 Selection 2 Ramp 14 3 2 44 Gri 412 Local Remote Selection Cont KP Dir 14 Cont KP 414 Data set selection 0 4 0 14 420 Acceleration Clockwise Hz s 0 00 9999 99 5 00 12 5 9 421 Deceleration Clockwise Hz s 0 01 9999 99 5 00 12 5 11 422 Acceleration Anticlockwise Hz s 0 01 9999 99 0 01 12 5 9 423 Deceleration Anticlockwise Hz s 0 01 9999 99 0 01 12 5 11 12 5 11 424 9 Hz s 0 01 9999 99 5 00 14 31 12 5 11 Sdi Emergency stop anticlockwise HAS 0 01 9999 99 5 00 14 3 1 3 Internal 434 Ramp set point Selection Line Setpoint 14 3 3 549 Max Control deviation 0 01 20 00 5 00 14 1 14 2 14 3 1 0 0 100 0 1 0 14 32 14 3 1 0 0 200 0 1 0 14 32 1122 Source Master Position Selection 0 Off 14 4 8 11 0 Synchronization Selection 0 Off 14 4 8 1285 S Target velocity pv u s Selection 816 Ox60FF 13 6 1292 S Modes of Operation Selection 801 0x6060 13 6 1293 S Target Position Selection 802 0x607A 13 6 1294 S Profile Velocity Selection 803 0x6081 13 6 1295 S Acceleration Selection 804 0x6083 13 6 1296 S Deceleration Selection 805 0x6084 13 6 1297 S Target Velocity vl rpm Selection 806 0x6042 13 6 S Special Function Generator Selection 13 6 CANopen Mux Eingang Index EEPROM 0 16 1 12 e 4 1420 Write 2 RAM 17 33 3 CANopen Mux Eingang Index EEPROM 0 16 1421 Read 1 RAM
169. oftware Status E Lao MLM TL Synchronization E m CH m Default value 9 Zero 12 4 14 0x3112 0 Ref Value Word 2 Index Sub index Meaning Data type Access Map Def Val Via object 0x3112 it is possible to write to a Word source like parameter 7xPDOI Word 1 950 of the Systembus The value of object 0x3112 is available as source which can be chosen by the selec tion of 763 CANopen 0x3112 Ref Value from a parameters choice list r B VPlus 8 04 FUNV20130417 vcb if 2 Le LEI tie File Edit View 2 ge S QE RA Finished Control Inputs Outputs Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 Control Functions 346 T PDO1 Booleant 7 FALSE Specks Functions 9 947 TxPD01 Boolean2 7 FALSE DA Valet j 948 T PDO1 Boolean3 7 FALSE su pere j 949 TsPDO1 Booleand 7 FALSE B piero 4 950 TxPDO1 Wordt 9 Zero CANopen DeviceNet ET 763 CANopen 043112 Ref Value Word2 v ima 3 952 TxPOO1 Word3 742 MCI Modes of Operation S Convert PDP intemal j 953 TxPDO1 Words 744 MCI Act Speed rpm f 954 T PDO1 Longi 762 CANopen 03111 Ref Value Word Bus Controller 3 CANopen 043112 Ref Value Word Error Behaviour COP DEV Ban T PDO1 Long 770 PDP R m s current Systembus 771 PDP active current Basic Settings Eee earns sae Master Functions 776 Dut F PDPconv word SYNCdentif
170. ol Local Remote 412 Chapter Commission the device function via PLC o PDO Mapping Chapter o Fault reaction Chapter Fault reset Chapter Setting Reference value o Diagnosis Speed setting in speed controlled configura Chapter tion x10 x11 x15 x16 x30 x60 Reference value in Positioning configuration Chapter x40 Velocity Mode Chapter Profile Velocity Mode Chapter Profile Position Mode Chapter Interpolated Position Mode Chapter Homing Mode Chapter Table Travel record Mode Chapter Change of Mode Chapter Chapter CM EtherCAT 5 1 14 12 2 9 12 2 10 10 12 5 1 16 5 11 9 13 and 14 4 1 14 4 2 14 4 3 14 4 4 14 4 5 14 4 6 12 5 12 15 16 04 13 v Bonfiglioli 5 Installation Disassembly of the communication module 5 1 I nstallation The communication module CM CAN is pre assembled in a case Additionally a PE spring is enclosed for PE connection shield Danger of desytroying the frequency inverter and or the communication module e The frequency inverter must be disconnected from the power supply before A installation of the communication module Assembly under voltage is not permissible e Do not touch the PCB visible on the back of the module otherwise compo nents may be damaged Work steps e Disconnect the frequency inverter from the mains voltage and protect it against being energized unintentionally e Remove covers 1 and 2 of the frequency inverter Sl
171. oli com cn Bonfiglioli Deutschland Sperberweg 12 41468 Neuss Tel 49 02131 2988 0 Fax 49 02131 2988 100 www bonfiglioli de info bonfiglioli de Bonfiglioli Espa a TECNOTRANS BONFIGLIOLI S A Pol Ind Zona Franca sector C calle F n 6 08040 Barcelona Tel 34 93 4478400 Fax 34 93 3360402 www tecnotrans com tecnotrans tecnotrans com Bonfiglioli France 14 Rue Eug ne Pottier BP 19 Zone Industrielle de Moimont II 95670 Marly la Ville Tel 33 1 34474510 Fax 33 1 34688800 www bonfiglioli fr btf bonfiglioli fr Bonfiglioli India PLOT AC7 AC11 Sidco Industrial Estate Thirumudivakkam Chennai 600 044 Tel 91 0 44 24781035 24781036 24781037 Fax 91 0 44 24780091 24781904 www bonfiglioliindia com bonfigGvsnl com Bonfiglioli Italia Via Sandro Pertini lotto 7b 20080 Carpiano Milano Tel 39 02 985081 Fax 39 02 985085817 www bonfiglioli it customerservice italia bonfiglioli it Bonfiglioli New Zealand 88 Hastie Avenue Mangere Bridge Auckland 2022 New Zealand PO Box 11795 Ellerslie Tel 64 09 634 6441 Fax 64 09 634 6445 npollington bonfiglioli com au Bonfiglioli Osterreich Molkereistr 4 A 2700 Wiener Neustadt Tel 43 02622 22400 Fax 43 02622 22386 www bonfiglioli at info bonfiglioli at Bonfiglioli South East Asia No 21 Woodlands indusrial park E1 02 03 Singapore 757720 Tel 65 6893 6346 7 Fax 65 6893 6342 www bonfiglioli com a
172. on Quick Stop and mode depending additional information The Motion Control interface uses object 0x6060 Modes of Operation to change be tween the different modes The supported modes according to CANopen standard DS402 are e 1 Profile Position mode 2 Velocity mode rpm 3 Profile Velocity mode u s 6 Homing 7 Interpolated mode Bonfiglioli Vectron defined modes e 1 or OxFF Table Travel record mode e 2 or OxFE Move Away from Limit Switch e 3 or OxFD Electronic Gear Slave The actual mode is displayed in 0x6061 Modes of Operation Display Changing between the Modes of Operation is possible in every operation point of the ACU It is recommended stopping a running operation by the PLC first then changing 0x6060 Modes of Operation and starting again the new mode To use the Motion Control Interface set 412 Local Remote 1 Control via State machine In configurations without Position control Configuration 30 x40 only the velocity mode is available For the description of the positioning parameters please refer to the Application manu al Positioning CM EtherCAT 04 13 v Bonfiglioli 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 mod
173. on 3 command Switch on 0x07 is only processed if bit no 4 Volt age enabled of the Status word is set State transition 4 command Enable operation 0x0F is only processed if the re lease is set via hardware contacts STO If the hardware release via STO is not set the frequency inverter remains in state Switched On 0x33 until the hardware release is set via STO If in state Operation enable 0x37 the STO hardware release is reset the state is switched internally into state Switched On 0x33 In configurations with motion control Parameter Configuration 30 x40 consider the following points e State transition 4 is not available e In status 5 Operation enabled 0x37 an additional start signale has to be set via the High Byte of the control word to start a motion of the motor The start signal of this Motion Control Interface MCI is described in chap ter 14 4 To change into another MCI operation mode Object 0x6060 Modes of Operation can be used e The controller release STOA and STOB must be set Start clockwise and start anticlockwise have no function in motion control configurations In configurations without motion control Parameter Configuration 30 x40 con sider the following points e State transition 4 is available and is only processed if bit no 4 Voltage ena bled of the Status word is set This function is for downward compatibility to older software versions e The in
174. on Reference value from ramp output Bit 4 rfg enable 1 Reference value from ramp output 132 Bit 5 rfg unlock Rfg unlock 0 The last speed value is hold and used Rfg unlock 1 The ramp function is active and will change the speed according to the setpoint and the ramp Bit 6 rfg use ref Rfg use ref 0 The setpoint 0 is used Rfg use ref 1 The setpoint of 0x6042 Target Velocity is used Bit 8 Halt HALT 0 gt execute motion HALT 1 gt stop axle inverter remains in state operation enabled CM EtherCAT 04 13 v Bonfiglioli 14 4 1 1 Example Sequence To start the velocity mode the correct sequence has to be sent from the PLC Status word 0x0050 Switch On Disabled Status word 0x0031 Ready to switch on Status word 0x0033 Switched On Control word 0x000F Enable Operation no change to previous state if already enabled Status word Oxnn37 Operation enabled Control word 0x007F Start Velocity mode with Reference speed from object 0x6042 Target velocity Status word Oxnn37 Operation enabled Control word 1299 Q Special Function Generator 9 7ero gt Starts Velocity mode with reference value from Object 0x6042 Target veloci ty 1299 Q Special Function Generator unequal 9 Zero Starts with reference value from source from 1299 Q Special Function Generator Status word Oxnn37 Operation enabled 6c Control word 0x003F Start Velocity mode with Referenc
175. or Protocol 64 Reference Percentage 2 E E Communication 65 Reference Percentage 3 R5485 RS232 66 Reference Percentage 4 67 Reference Percentage RAM CANopen DeviceNet 78 Contact Word d Ethernet 79 Contact Word Hardware Convert PDP intemal 82 Position Speed Sensor 1 Bus Conall 83 Position Speed Sensor2 Error Behaviour COP DEV Etk HA Fasion Udinut Y otage Systembus 91 Filtered Absolute Current 32 Filtered Reference Voltage V f 119 lalpha 120 Ude 121 la 122 1b 123 lc D Im LI H Im Li D m H Default value 52 Analog Input MFILA L 56 CM EtherCAT 04 13 wW Bonfiglioli ctron 12 4 11 0x3021 0 Actual Value Long 1 Index Sub index Meaning Data type Access Map Def Val Object 0x3021 displays the value of a Long source which is selectable via parameter CANopen Actual Value Long 1 1417 Default source is 9 Zero 8 fi VPlus 8 04 FNINV20130417 vcb Eel I P x Er File Edit View H amp A I Q D d A e ty 2 Finished Frequency Inverter Data Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 E Machine Data j 385 CAN Baud Rate 6 250 kBit s System Data 9 387 CAN Node Number E a ipa Nec f 1423 CANopen 03007 Perc Act Value Source 52 Analog Input MFITA T a be fj 1414 CANopen 043008 Perc Act Value Source 52 Analog Input MFITA ieee 9 1415 CANopen 043011 Act Value Wordi 52 Analog Input MFIT B Consol
176. ot B 4 for the com munication module is now accessible eA i B Slot A a Km A J e Mount the supplied PE spring 5 using the M4 screw 6 in the unit The spring must be aligned centrally e Insert the communication module in slot B 4 until it engages audibly e Fix the communication module by screwing the M2 screw 7 of the module to the PE spring 5 T S re E H Na ol M4 e In the upper cover 1 break out the pre punched cutout 3 for the plug X310 8 e Mount the two covers 1 and 2 04 13 CM EtherCAT 23 GX Bonfiglioli 5 2 Disassembly e Disconnect the frequency inverter from mains voltage and protect it against being energized unintentionally e Remove covers 1 and 2 of the frequency inverter e Loosen the M2 screw 7 on the communication module e Unplug the communication module from Slot B 4 by unlocking the locking hooks 9 on the right and left hand side of the module from the case of the frequency inverter using a small screwdriver The looking hooks 9 are located at the place where the looking hooks 10 for the upper cover 1 project from the case of the frequency inverter e To do this carefully insert the screwdriver in the gap between the case of
177. ow time Ox5FFO Active motion block 0x6085 Quick stop deceleration Ox5FF1 Motion block to resume In table travel mode the operation mode specific and manufacturer specific bits of Control word and Status word are used as shown 15 14 13 12 11 10 9 BABE 2 1 0 Bit 0 Switch on 1 Enable voltage gt Quick stop Low active Enable operation Sequence mode gt Not used Resume Fault reset Halt Start motion block 11 Motion block select 0 m 2 Motion block select 1 13 Motion block select 2 14 Motion block select 3 15 Motion block select 4 CM EtherCAT 155 Go Bonfiglioli 15141312 11109 8 7 6 5 4 3 NN 1 RO Ready to switch on Switched on Operation enabled 2 Fault Voltage enabled Quick stop Switch on disabled Warning Motion block in progress Remote 10 Target reached Internal limit active In gear Following error m 5 156 CM EtherCAT Warning 2 04 13 Control word Name Sequence mode Bit 4 Resume Bit 6 Halt Bit 8 Start motion block Bit 9 Motion block select 0 4 Bit 11 15 Motion block select v Bonfiglioli Value Description Single motion blo
178. p deceleration automatically generates a write command to parameter Emergency Ramp 1179 data set 5 all data sets in RAM only If object 0x6085 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of pa rameter Emergency Ramp 1179 The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant 0 Es The values of Object 0x6085 are limited to 1 to Ox7FFF FFFF 272 1 Object Max No j Min f 2147483647 2 idi vo d DN d dd Ox7FFF FFFF 94 CM EtherCAT 04 13 v Bonfiglioli 12 5 34 0x6086 0 Motion profile type Index Sub index Meaning Data type Access Map Def Val 0x6086 Object works in Object doesn t work in e Motion Control e Motion Control o Profile Positioning mode o Table Travel record mode o Profile Velocity mode o Velocity mode o Interpolated mode o Homing mode o Move away from Limit Switch o Electronic Gear Slave e Non motion Control conf x40 Object 0x6086 motion profile type defines the ramp behavior for accelera tion deceleration Supported values for motion profile type 0 linear ramp 3 jerk limited ramp In mode 3 jerk limited ramp the ramp uses the parameters Ramp Rise Time 1176 Ramp Fall Time 1178 Acceleration Deceleration
179. peed Sensor2 een B4 Position Output Voltage us Controller 90 Filtered Active Current Error Behaviour COP DEV Ett 31 Filtered Absolute Current Systembus 92 Filtered Reference Voltage V f 119 lalpha 120 Ude 121 la 122 Ib 123 lc CH La Di Hi lt w D D m Li Default value 52 Analog Input MFILA t 12 4 10 0x3012 0 Actual Value Word 2 Index Sub index Meaning Data type Access Map Def Val Object 0x3012 displays the value of a word source which is selectable via parameter CANopen Actual Value Word 2 1416 Default source is 52 Analog Input MFI1A n R VPlus 8 04 FAINV20130417 vcb I T LEI File Edit View deut I Q t i y 8 9 Finished Frequency Inverter Data Parameter Data Set Data Set 1 Data Set 2 Data Set 3 D Machine Data j 305 CAN Baud Rate 6 250 kBit s Spem Data 367 CAN Node Number 1 R SR 6 1423 CANopen 03007 Perc Act Value Sourcel 52 Analog Input MEA Li Sepe T fj 1414 CANopen 03008 Perc Act Value Source2 52 Analog Input MFIT deste 4 1415 CANopen 043011 Act Value Word 52 Analog Input MFA D Reference Values ET E e Control Inputs Outputs ie 52 Analog Input MFIT M I ia Contol Functions e 1417 CANopen 0x3021 Act Value Long 52 m Input NOS Hl e Special Functions 1418 CANopen 043022 Act Value Long2 55 Analog a EM STINA IS Actual Values 63 Reference Percentage 1 E Err
180. polated Position mode 151 Profile Position MOde 145 Profile Velocity mode 138 Table travel record mode 162 166 Velocity mode 133 Without Positioning Control 128 Kl 18 State machine Device Control 120 Status WOrdh rare aaa 72 IT EE 180 Kl E 16 T Target velocity pM 73 Brill EE 126 Transport d 16 V Verrundungszeit i 95 W Warning messages ee ee eee 181 Warning Messages Application 182 Warranty and liability 9 04 13 CM EtherCAT 187 CW Bonfiglioli Bonfiglioli worldwide network Bonfiglioli Australia 2 Cox Place Glendenning NSW 2761 Locked Bag 1000 Plumpton NSW 2761 Tel 61 2 8811 8000 Fax 61 2 9675 6605 www bonfiglioli com au sales bonfiglioli com au Bonfiglioli Brazil Travessa Cl udio Armando 171 Bloco 3 CEP 09861 730 Bairro Assun o S o Bernardo do Campo S o Paulo Tel 55 11 4344 1900 Fax 55 11 4344 1906 www bonfigliolidobrasil com br bonfigliolidobrasil bonfiglioli com Bonfiglioli Canada 2 7941 Jane Street Concord Ontario L4K 4L6 Tel 1 905 7384466 Fax 1 905 7389833 www bonfigliolicanada com sales bonfigliolicanada com Bonfiglioli China 19D No 360 Pu Dong Nan Road New Shanghai International Tower 200120 Shanghai Tel 86 21 5054 3357 Fax 86 21 5970 2957 www bonfiglioli cn bdssales bonfigli
181. quency value channel in the input of the ramp function Reference frequency value channel see operating instructions Ramp set point Ramp setpoint 434 I reference I I line value o ge Aer I I I I I I please read the note 0x6042 Target Velocity p frequency ramp aae ef internal reference frequency as fmax SES The internal reference value from the reference frequency value channel and the ref erence line value can be fed to the ramp individually or as an added variable Setting is carried out via the data set change over capable parameter Ramp setpoint 434 No Description TI Min Max Fact sett 1 Internal reference Reference value from the sources of the reference fre frequency value quency value channel 2 Reference line value Reference value via a communication interface Internal reference Sum of internal reference frequency value and reference 3 frequency value line value reference line value This function is only relevant for non motion control configurations Parameter Con figuration 30 x40 04 13 CM EtherCAT 127 Goo Bonfiglioli If Ramp set point 434 2 only reference line value then this reference line value is 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 z 0 After Power On the reference line value is limited to fmin For Ramp
182. r Warning 1 User Warning 2 15 0x8000 reserved co O U1 CO R2 2 oO RIP IR IRIE lo DsWwWINP o The warnings are described in detail in the operating instructions or the application manual Positioning respectively The Warning Bit 6 Absolute encoder can be read out via Parameter 1274 in VPlus or 1273 via field bus The Absolute encoder warnings are described in detail in the Exten sion manual EM ABS 01 Gd 182 CM EtherCAT 04 13 v Bonfiglioli 16 5 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 Code Meaning as FO4 04 Control Deviation Position Controller F14 Pos SW Limit Switch Motion Control Interface EtherCAT 04 13 F15 F27 43 45 46 47 5 5 53 6 6 63 64 6 ul Neg HW Lim Switch Input disabled by PWM FF Input Neg HW Lim Switch Input disabled by Encoder 2 HW Lim Switch Wrong Op Mode for EM S1I OD XX User Defined Error in Motion Block xx 1 x xx x 32 No Homing Done Homing Encoder Mode w o Z Impulse 72 Both Directions Locked 73 No Touch Probe Signal Detected 01 CRC Error in communication EtherCAT Module inverter 02 Timeout Error in communication EtherCAT Module inverter Communication loss to PLC mn 43 44 45 46 47 48 53 60 63
183. r specific Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 Operation mode specific 14 Manufacturer specific s Manufacturer specific Warning2 Bits 8 12 13 and 14 are used in motion control configurations p 30 x40 only See chapter 14 Inverter Control and 16 2 Status Word overview m 72 CM EtherCAT 04 13 v Bonfiglioli 12 5 5 0x6042 0 Target velocity rpm Index Sub index Meaning Data type Access Map Def Val 0x6042 Object works in Object doesn t work in e Motion Control e Motion Control o Velocity mode o Table Travel record mode o Profile Positioning mode e Non motion Control conf x40 o Profile Velocity mode o Homing mode o Interpolated mode o Move away from Limit Switch o Electronic Gear Slave Object target velocity is the speed reference value for the frequency inverter Target velocity is interpreted as a speed with the unit RPM The inverter s internal reference frequency is calculated from the target velocity in RPM taking into account parameter No of Pole Pairs 373 The parameter No of Pole Pairs 373 has four different data sets In motion control applications configuration x40 only the data set 1 is used Non motion control applications configuration x40 sometimes have more than one motor connected to the inverter only one at a time switched ov
184. resents 56 78 04 13 CM EtherCAT 55 Goo Bonfiglioli 12 4 9 0x3011 O0 Actual Value Word 1 Index Sub index Meaning Data type Access Map Def Val Object 0x3011 displays the value of a word source which is selectable via parameter CANopen Actual Value Word 1 1415 Default source is 52 Analog Input MFI1A r Ai VPlus 8 04 F INV20130417 veb ix l Se File Edit View SH e 3 a t i d y 8 Finished Frequency Inverter Data Parameter Data Set 0 Data Set 1 Data Set 2 Data Set 3 E Machine Data j 385 CAN Baud Rate 6 250 kBit s System Data j 387 CAN Node Number 1 8 Parii a f 1423 CANopen 03007 Perc Act Value Source 52 Analog Input MFITA Br eris T 9 1414 CANopen 043008 Perc Act Value Source2 52 Analog Input MFITA d oe ia t IDEE 52 Analog Input MFI1A X E Reference Values a 1416 CANopen 03012 Act Value Word2 amp Control Inputs Ouiputs di Control Functions 1417 CANopen 043021 Act Value Long 5 Analog Input EM STINA 57 npu Ill 1 Special Functions 9 1418 CANopen 043022 Act Value Long2 d heel Percentage 1 E Actual Values 64 Reference Percentage 2 E Error Protocol 65 Reference Percentage 3 na i 66 Reference Percentage 4 Er ene 67 Reference Percentage RAM R5485 R5232 78 Contact Word CANopen DeviceNet 79 Contact Word Hardware Ethernet 82 Position Speed Sensor 1 83 Position S
185. retrofits e Only use the frequency inverter if the rated connection and setup values specified by the manu facturer are met e Provide appropriate tools as may be required for performing all work on the frequency inverter properly 2 10 Organizational measures 2 10 1 General e Train your staff in the handling and use of the frequency inverter and the machine plant as well as the risks involved e Use of any individual parts or components of the frequency inverter in other parts of the opera tor s machine plant is prohibited e Optional components for the frequency inverter must be used in accordance with their designated use and in compliance with the relevant documentation 04 13 CM EtherCAT 15 Goo Bonfiglioli 2 10 2 Use in combination with third party products Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility with third party products e g motors cables or filters In order to enable optimum system compatibility BONFIGLIOLI VECTRON GmbH office compo nents facilitating commissioning and providing optimum synchronization of the machine plant parts in operation If you use the frequency inverter in combination with third party products you do this at your own risk 2 10 3 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 b
186. ritten and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory Writing to object homing method automatically generates a write command to parame ter Homing Mode 1130 data set 5 all data sets in RAM only After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Homing Mode 1130 0 No Homing 1 Neg Limit Switch amp Ref Signal 2 Pos Limit Switch amp Ref Signal Pos Home Sw Ref Signal left of Edge 4 Pos Home Sw Ref Signal right of Edge e Neg Home Sw Ref Signal right of Edge 6 Neg Home Sw Ref Signal left of Edge Factory setting No homing the current position value is not changed The current position value is the value saved upon the last disconnection of the ower supply Homing to negative HW limit switch with detection of encoder ref signal Homing to positive HW limit switch with detection of encoder ref signal Homing to positive home switch with detection of encoder ref signal Home position is the first en coder ref signal to the left of the edge of the home switch signal Homing to positive home switch with detection of encoder ref signal Home position is the first en coder ref signal to the right of the edge of the home switch signal Homing to negative home switch with detection of encoder ref signal Home position is t
187. rpolated mode e Non motion Control conf x40 04 13 Object Ox5FF1 motion block to resume is only available in table travel record mode in motion control configurations P 30 x40 The table travel record mode is activated by object 0x6060 modes of operation set to 1 The data of motion block to resume displays the motion block to resume number in table travel record mode The Object refers to parameter Motion block to re sume 1249 Refer to the application manual Positioning for the usage of the motion blocks CM EtherCAT 67 GX Bonfiglioli 12 5 Device Profile Objects Ox6nnn 12 5 1 0x6007 0 Abort Connection option code Index Sub index Meaning Data type Access Map Def Val 0x6007 Object abort connection option code specifies the operational behavior 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 Depending on the setting of parameter Local Remote 412 the reaction of the setting of Object 0x6007 changes like displayed in the next table Operation mode Function with Function with Control via Statemachine Control via Con tacts 6 Na reaction Operating point is maintained Operating point is maintained Error Device state machine changes to state fault 1 factory immediately setting swear Dess state machine processes command disa 2 Swit
188. rter must be included in the user manual of the whole plant 2 9 Operator s operating staff s responsibilities 2 9 1 Selection and qualification of staff e Any work on the frequency inverter may only be carried out by qualified technical staff The staff must not be under the influence of any drugs Note the minimum age required by law Define the staff s responsibility in connection with all work on the frequency inverter clearly e Work on the electrical components may only be performed by a qualified electrician according to the applicable rules of electrical engineering e The operating staff must be trained for the relevant work to be performed 2 9 2 General work safety e In addition to the user manual of the machine plant any applicable legal or other regulations relating to accident prevention and environmental protection must be complied with The staff must be instructed accordingly Such regulations and or requirements may include for example handling of hazardous media and materials or provision use of personal protective equipment e In addition to this user manual issue any additional directives that may be required to meet spe cific operating requirements including supervision and reporting requirements e g directives re lating to work organization workflow and employed staff e Unless approved of expressly by the manufacturer do not modify the frequency inverter in any way including addition of attachments or
189. runs back up to its set reference value and remains in the state Operation enabled The change of state from Operation enabled to Switched on is carried out after the set switch off threshold has been reached and the set holding time equivalent to the behavior in a quick stop has expired In this the parameters Switch off thresh old 637 percentage of Maximum Frequency 419 and Holding time 638 holding time after switch off threshold reached are relevant 126 CM EtherCAT 04 13 Bonfiglioli 14 3 3 Reference value actual value The PLC gives its reference value to the frequency inverter via object 0x6042 0 target velocity in the RxPDO used and receives the information on its actual value back via object 0x6044 0 control effort in the TxPDO used The use of the reference actual value channel depends on the set configuration con trol system The actual value is generated from the appropriate source depending on the control system used 0x6044 0 contro effort are interpreted in the notation RPM Conversion into a fre quency reference value or from a frequency actual value is carried out in the fre quency inverter The reference value in object 0x6042 0 target velocity and the actual value in object The reference value for the frequency inverter from object 0x6042 0 target velocity is connected to the reference line value This reference value is combined with the in ternal reference value from the reference fre
190. s Ox5F15 n gear threshold and Ox5F16 n gear time Target reached is set when the function of the electronic gear is used and the syn chronized speed is reached 04 13 CM EtherCAT 171 GO Bonfiglioli 172 The setting of Ha t 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 eration enabled By resetting Ha t to 0 the interrupted movemet is continued The bit Target reached is set at the beginning of the acceleration to 0 and is set to 1 when the conditions for In Gear set up in Objecte 0x5F15 n gear threshold und 0x5F16 n gear time are reached Phasing The Phasing function shifts the Slave Position in relation to the Master Position by the value of the Phasing Position Function without Directe Synchronisation Standard Synchronication The drive accelerates the master speed at the ramps parameterized in the motion block As soon as the master speed is reached for the first time the drive is synchro nized with the master drive The slave is engaged at the current position and operates at a synchronous angle with the master In the case of a relative positioning opera tion this engaging position is used as the start position The acceleration and deceleration for synchronization occurs according to the charac teristic of an
191. s written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of Target Window Time 1166 cc 12 5 19 Ox606C O Velocity actual value u s Index Sub index Meanin Data Access Ma Def Val 0x606C Object doesn t work in e Non motion Control conf x40 Object works in e Motion Control o Al modes The actual velocity value in u s is displayed 84 CM EtherCAT 04 13 v Bonfiglioli 12 5 20 0x606D 0 Velocity Window Index Sub index Meaning Data type Access Map Def Val 0x606D Object works in Object doesn t work in e Motion Control e Motion Control o Profile Velocity mode o Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave o o 0000 O e Non motion Control conf x40 0 eo 04 13 Object 0x606D Velocity window is used to define the threshold of Bit 10 Target reached of the Status word in Profile Velocity mode Object 0x606D Velocity window defines the symmetric range around the value of Ob ject Ox60FF Target Velocity in user units s Bit 10 Target reached is set in the Status word when the difference between Ox60FF Target Velocity and 0x606C Velocity Actual value is smaller than t
192. set point 434 3 the sign in front of the overall reference value results from the sum of the internal reference frequency value and the reference line value The reference values can be read out from the frequency inverter with the help of the KP500 control unit or VPlus operating software Internal reference fre nternal reference value from the frequency xxx xx sonnet quency 228 reference value channel Reference bus frequen Reference line value from the CANopen bus xxx xx Hz cy 282 Reference ramp frequen Sum of internal reference line value cy 283 14 3 4 Example Sequence To start the drive without Position control Configuration 30 x40 the correct se quence has to be sent from the PLC 1 0x0000 2 Control word 0x0006 S Control word 0x0007 5 Control word OR I1 Control word 0x0000 Disable voltage 5 Control word 0x000F Enable Operation In non motion control configurations Parameter Configuration 30 x40 the second shortened sequence can be used because state transition 4 is available in these configurations 128 CM EtherCAT 04 13 tv Bonfiglioli Vectron 14 4 Motion control configurations gt 04 13 Dangerous state due to new mode If 0x6060 modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing 0x6060 modes of operation check the status word e g for st
193. t P 1115 Gear Box Driving Shaft Revolutions P 1116 u Hz x X g Fi f He No of pole pairs P 373 Gear Box Motor Shaft Revolutions P 1117 16 6 5 Speed in user units u s to Speed rpm j 60 Gear Box Motor Shaft Revolutions P 1117 n pmi VIS 4 Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 16 6 6 Speed rpm to Speed in user units u s u Feed constant P 1115 Gear Box Driving Shaft Revolutions P 1116 v H n rpm x x HA E WW OI e S 60 Gear Box Motor Shaft Revolutions P 1117 184 CM EtherCAT 04 13 v Bonfiglioli 16 7 Object support in the Software versions and XML files Die Unterst tzung von EtherCAT wurde in verschiedenen Schritten in der Firmware erweitert 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 EtherCAT Objects that were added or where changes were made are marked in light blue color Long Object names are shortened sensible in the table to maintain the overview 0x1000 Device Type 0x1001 Error register 0x1008 Manuf Device name 0x1009 Manuf Hardw Vers 0x100A Manuf Softw Vers 0x1010 Store parameters 0x1011 Restore parameters 0x1018 Identity object 0x1600 RxPDO1 map param 0x1601 RxPDO2 map param 0x1602 RxPDO3 map param 0x1A00 TxPDO1 map param 0x1A01 TxPDO2 map param
194. t The value is the same like stated in parameter Actual Position 1108 CM EtherCAT 04 13 v Bonfiglioli 12 5 15 0x6065 0 Following error window Index Sub index Meanin Data Access Map Def Val 0x6065 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes acc 04 13 Object 0x6065 following error window is used to set the threshold of a device warning when the following error becomes too big In the application manual Positioning the term Contouring error is used instead of the CANopen term Following error Object 0x6065 following error window defines a range of tolerated position values symmetrical to the position demand value defined in user units The valid value range of object 0x6065 0 following error window is 0 OX7FFF FFFF 23 1 Writing a value of 0x8000 0000 2 OxFFFF EFFE 27 2 results in an SDO abort value range If the value of the following error window is set to OxFFFF FFFF 2 1 OR 0 the fol lowing error window is switched off The actual following error is displayed in object Ox60F4 Following error actual value The warning is triggered if the Following error window was exceeded for the time speci fied in Object 0x6066 following error time out No device fault is triggered Writing to object following error window automatically generates a write command to contouring error parameter Warning
195. t be familiar with the applicable government work safety directives accident prevention regulations guidelines and generally accepted rules of technology in order to assess the operationally safe condition of the frequency inverter 04 13 CM EtherCAT 11 Goo Bonfiglioli 2 2 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 The frequency inverters meet the requirements of the low voltage directive 2006 95 EEC and DIN EN 61800 5 1 CE labeling is based on these standards Responsibility for compliance with the EMC Directive 2004 108 EC lies with the operator Frequency inverters are only available at specialized dealers and are exclusively intended for commercial use as per EN 61000 3 2 No capacitive loads may be connected to the frequency inverter The technical data connection specifications and information on ambient conditions are indicated on the rating plate and in the documentation and must be complied with in any case 2 3 Misuse Any use other than that described in Designated use shall not be permissible and shall be consid ered as misuse For example the machin
196. tandard DS402 drives and motion control drives and positioning controls This standard describes and defines the required objects and functions for positioning controllers Each EtherCAT device includes an object library containing all support objects The objects can be divided into main groups communication objects and application objects The objects are addressed by their index Oxnnnn 16 bit and subindex Oxnn 8 bit 11 1 Communication Objects The communication objects are located in the index range Ox1nnn They describe the communication behavior of a CANopen device Some of the communication objects comprise device information e g manufacturer s vendor id or inverter serial number With the help of communi cation objects the application objects for device control are mapped to the PDO mes Sages 11 2 Application Objects 04 13 The application objects are divided into two groups again The index range 0x2000 Ox5FFF is reserved for manufacturer specific objects and the index range Ox6nnn is reserved for device profile specific objects Device profile specific objects Ox6nnn are defined by DS402 drives and motion control They are used for controlling the device application start stop speed motion control functions CM EtherCAT 27 GD Bonfiglioli 11 3 Funktion SDO The SDO Service Data Objects messages are used for reading and writing the objects located in the object dictionary 11 3 1 Error cod
197. tant Sco CM EtherCAT 04 13 v Bonfiglioli 12 5 24 0x6071 0 Target Torque Index Sub index Meaning Data type Access Map Def Val 0x6071 o TargetTorque Integert6 rw Rx 0 The value transmitted via Object 0x6071 is selectable as source 808 for various param eters e g FT Input buffer percentage 1381 It is also available as operation mode 95 or inverted as 195 e g for parameter Refer ence Percentage Source 476 in configurations with torque control p 30 x30 A value of Ox3E8 21000 corresponds to rated motor torque 100 0 96 By default the object 0x6071 is not connected to a device function To use the object 0x6071 at least one device function has to be linked to the object by parameterization The values of Object 0x6071 is limited to 3000 to 3000 2 300 0 300 0 96 No Object Min Max 0x6071 0 Target Torque 3000 3000 2 OxF448 0x0BB8 Hexadecimal value 0x6071 Decimal value 0x6071 Percentage of Target Torque 0x03E8 100 0 0x0064 10 0 0x0001 0 1 OxFF18 100 0 OxFF9C 10 0 OxFFFF 0 1 12 5 25 0x6077 0 Torque actual value Index Sub index Meaning Data type Access Map Def Val Object 0x6077 Torque actual value displays the torque actual value see parameter Torque 224 A value of Ox3E8 21000 corresponds to rated motor torque 100 0 96 Please refer as well to Object 0x6071 12 5 26 0x6078 0 Current actual value Ind
198. tant 1115 i 1 The allowed value for 0x6092 2 ariving shaft revolutions is 1 only Writing values other than 1 results in an SDO abort response Writing to object feed or driving shaft revolutions automatically generates a write command to parameter Feed Constant 1115 data set 5 all data sets in RAM only If object 0x6092 1 or 0x6092 2 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and overwrites the setting of parameter Feed constant 1115 The values of Object 0x6092 1 and 6092 2 are limited as follows Max 65535 0x6092 2 Driving shaft revolutions e 010000 FFF 04 13 CM EtherCAT 97 Goo Bonfiglioli 12 5 37 0x6098 0 Homing method 98 Index Sub index Meaning 0x6098 Data type Access Map Def Val Object works in e Motion Control x40 o Homing mode Object doesn t work in e Motion Control x40 o Profile Positioning mode Profile Velocity mode Velocity mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear Slave o o 00 0 0 e Non motion Control conf x40 Object 0x6098 0 homing method determines the method that will be used during hom ing For a detailed description of the different homing modes see the application manu al Positioning If object 0x6098 0 was w
199. tch off threshold are relevant In a quick stop the drive is shutdown via the emergency stop ramps The emergency ramps are set up via Object 0x604A Velocity Quick Stop or parameters Emergency stop clockwise 424 and Emergency stop anti clockwise 425 f s Start quick stop 0x604A Velocity Quick Stop Emergency stop clockwise 424 Emergency stop anticlockwise 425 Holding time 638 b Switch off threshold 637 OFF status changed If frequency speed zero has been reached during the holding time the drive contin ues to be supplied with direct current until the switch off time has expired With this measure there is an assurance that the drive is stationary in a change of state Behavior in quick stop is only relevant for non motion control configurations Pa rameter Configuration 30 x40 CM EtherCAT 125 Go Bonfiglioli 14 3 2 Behavior in transition 5 Disable operation The behavior in transition 5 from Operation enabled to Switched on can be pa rameterized The behavior is set via parameter State transition 5 392 Descipion 1 Min Max Fact sett 392 State transiton5 Ss 0 2 2 0 Coast to stop immediate transition from Operation enabled to Switched on free stoppage of the drive activation of DC brake at the end of DC braking there is a 1 DC brake change of state from Operation enabled to Switched on transmission with normal stop ramp after reaching st
200. te 412 1 the frequency inverter is controlled via the Contro word State transition 4 to state Operation enabled is only possible when In Motion control configuration parameter Configuration 30 x40 digital input S1IND STOA AND STOB is set In other control configurations parameter Configuration 30 x40 the controller release via STOA and STOB and one of the digital inputs S2IND or S3IND is set Typical SAND start clockwise S3I ND start anticlockwise Object 0x6040 0 Contro word is relevant to the inverter whenever parameter Lo cal Remote 412 is set to 1 remote state machine 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on Enable voltage Quick stop Low active Enable operation Operation mode specific gt Operation mode specific 6 Operation mode specific Fault reset Halt Operation mode specific 11 Manufacturer specific 12 Manufacturer specific 13 Manufacturer specific 14 Manufacturer specific 15 Manufacturer specific Bits 9 15 are used depending on the configuration and on 0x6060 Mode of Opera tion Control word bits 4 5 6 operation mode specific and bit 8 halt are used in motion con trol configurations Parameter Configuration 30 x40 only 120 CM EtherCAT 04 13 04 13 v Bonfiglioli
201. the module and the frequency inverter and push the locking hook inwards in the direction of the arrow 4 As soon as the right hand side is unlocked pull the module out a bit on the right hand side and hold it e Hold the module on the right hand side while unlocking the locking hook on the left hand side in the same way e Pull the module out of the slot by gently pulling on the right and left hand side alternately e Disassemble the PE spring 5 e Mount the two covers 1 and 2 24 CM EtherCAT 04 13 v Bonfiglioli 6 Connector occupation 04 13 The EtherCat module is connected to the PLC and or other devices using standard Ethernet cables with RJ 45 connectors RJ45 Connectors Activity Link Ethernet standard IEEE 802 3 100Base TX fast Ethernet Cable type S FTP cable with braided shield ISO IEC 11801 or EN 50173 CAT5e direct or transposed Connections from the POC are connected to IN Connections to the next device are connected to OUT Inverter Inverter Inverter CM EtherCAT 25 Go Bonfiglioli 7 RUN LED The green RUN LED indicates the current status of the CM EtherCAT Off Initialization Flashing Ready for operation Lighting up once Safe operational n Operation 8 Cable lengths The cable length is restricted by the Ethernet specifications cables must not exceed a length of 100 m 9 Setting the node address Adjustment of the node address
202. thod Related objects 0x6040 Control word 0x6041 Status word 0x6046 Velocity min max amount 0x6060 Modes of operation 0x6061 Modes of operation display 0x6098 Homing method 0x6099 Homing speeds The Ramp Rise Fall times are set up via parameters 1135 In homing mode the operation mode specific bits of Contro word and Status Wor are used as shown 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Switch on 1 Enable voltage Quick stop Low active Enable operation Homing operation start Fault reset Halt 152 CM EtherCAT 04 13 v Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 ja 1 NN Ready to switch on Switched on Operation enabled 2 Fault 4 Voltage enabled Quick stop Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 12 Homing attained 13 Homing error 15 Warning 2 Control word Name Value Description Homing op 0 Homing mode inactive eration start 0 gt 1 Start homing mode Bit 4 1 Homing mode active 1 0 Interrupt homing mode Halt 0 Execute instruction of bit 4 homing operation start Bit 8 1 Stop axle with homing accelerat
203. tive values only Writing to object 0x6046 2 velocity max amount automatically generates a write command to pa rameter Maximum Frequency 419 into RAM data set 5 all data sets in RAM only The value of 0x6046 2 velocity max amount is converted internally to a frequency value taking into account parameter No of Pole Pairs 373 in data set 1 The default values depend on the used motor settings If the input reference value of object 0x6042 target velocity is less than the object val ue 0x6046 1 velocity min amount or greater than 0x6046 2 velocity max amount then 0x6042 target velocity is limited accordingly CM EtherCAT 04 13 04 13 vv Bonfiglioli 0x6046 1 Velocity min amount RPM 1 SUE 0x6046 2 Velocity max amount RPM ei Output 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 After the next power on of the inverter the previously set values are reactivated and over write the settings of parameters Minimum Frequency 418 and Maximum Frequen cy 419 In Positioning applications the overall speed can fall below or exceed the limits defined by Minimum and Maximum frequency due to the influence of the Position controller The output of the Position Controller can be limited by Limitation 1118 CM EtherCAT 75 GS Bonfiglioli 12 5 9 0x6048 n Ve
204. u sales bonfiglioli com sg Bonfiglioli South Africa 55 Galaxy Avenue Linbro Business Park Sandton Tel 27 11 608 2030 OR Fax 27 11 608 2631 www bonfiglioli co za bonfigsales bonfiglioli co za Bonfiglioli T rkiye Atat rk Organ ze Sanayi B lgesi 10015 Sk No 17 Gigli Izmir Tel 90 0 232 328 22 77 pbx Fax 90 0 232 328 04 14 www bonfiglioli com tr info bonfiglioli com tr Bonfiglioli United Kingdom Industrial Solutions Unit 7 Colemeadow Road North Moons Moat Redditch Worcestershire B98 9PB Tel 44 1527 65022 Fax 44 1527 61995 www bonfiglioli com uksales bonfiglioli com Mobile Solutions 3 7 Grosvenor Grange Woolston Warrington Cheshire WA1 4SF Tel 44 1925 852667 Fax 44 1925 852668 www bonfiglioli co uk mobilesales bonfiglioli co uk Bonfiglioli USA 3541 Hargrave Drive Hebron Kentucky 41048 Tel 1 859 334 3333 Fax 1 859 334 8888 www bonfiglioliusa com Bonfiglioli Vietnam Lot C 9D CN My Phuoc Industrial Park 3 Ben Cat Binh Duong Province Tel 84 650 3577411 Fax 84 650 3577422 www bonfiglioli vn salesvn bonfiglioli com 5 Bonfiglioli power control and green solutions 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 RO Via Giovann
205. uitry Before commissioning and the start of the operation make sure to fix all covers and check the terminals Check the additional monitoring and protective devices according to EN 60204 and ap plicable the safety directives e g Working Machines Act or Accident Prevention Directives 04 13 CM EtherCAT 17 GS Bonfiglioli 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 the applicable rules of electrical engineering Only use original spare parts Unauthorized opening and improper interventions in the machine plant can lead to personal injury or material damage Repairs on the frequency inverters may only be carried out by the manufac turer or persons authorized by the manufacturer Check protective equipment regularly Before performing any maintenance work the machine plant must be disconnected from mains supply and secured against restarting The five safety rules must be complied with 2 10 8 Final decommissioning Unless separate return or disposal agreements were made recycle the disassembled frequency in verter components fa 18 Scrap metal materials Recycl
206. uitt fault fault lt e 0x23 0x08 stop drive start drive operation 5 enabled 0x37 Switched on Fault Bits marked x are don t care Bit no 7 Warning can be set at any time It indicates a device internal warning message The evaluation of the present warning is carried out by reading out the warning status with parameter Warnings 270 Bit no 10 Target reached is set when the specified reference value has been reached In the special case of power failure regulation the bit is also set if the power failure regulation has reached the frequency 0 Hz see operating instructions For Reference value reached there is a hysteresis tolerance range which can be set via parameter max Control deviation 549 see operating instructions Bit no 11 I nternal limit active indicates that an internal limit is active This can for example be the present current limit the torque limit or the over voltage limit All of these limit functions lead to the reference value being quit or not reached Bit no 15 Warning 2 indicates a warning which leads to a fault switch off of the frequency inverter within a short period of time This bit is set if there is a warning for motor temperature heat sink inside temperature Ixt monitoring or mains phase fail ure CM EtherCAT 119 Goo Bonfiglioli 14 2 Control via state machine In the operation mode control via state machine parameter Local Remo
207. unication objects communication mapping parameter Active Cube inverters support 3 RxPDO s PLC inverter and 3 TxPDO s inverter 3 PLC Process data objects are directly linked to application functions of the inverter PDO message Byte 0 1 2 3 4 5 6 7 data data data data data data data data The number of data bytes is 1 8 and depends on the mapped objects The byte alignment is in Intel format 0 1 32 bit object ss MSB ts MSB 11 5 Emergency Function In the event of a communication error or an error inside the inverter the inverter sends an emergency message This emergency message includes the relevant error information After error acknowledgement fault reset an emergency message is sent with all data bytes set to zero Byte Byte 0 Byte 1 Byte 2 Byte 3 Byte4 Byte 5 Byte 6 Byte 7 Content EEC EEC ER MEC MEC EEC Emergency Error Code according to DS301 ER Emergency Register Code according to DS301 MEC Manufacturer Error Code The Manufacturer Error Code corresponds to the inverter Fault codes that are de scribed in the Operating Instructions and in this documentation in chapter 16 5 Fault messages 11 6 Synchronization Distributed Clocks CM EtherCAT modules support synchronized communication via Distributed Clocks DCs and non synchronized communication The configuration of the DCs is done via the PLC system settings N
208. utput Frequency 4 04 13 CM EtherCAT 59 GS Bonfiglioli 12 4 17 Ox5F10 n Gear factor Meaning Data type Access Map Def Val Object works in e Motion Control Object doesn t work in e Motion Control o Electronic Gear Slave o Profile Positioning mode o Table Travel Record o Velocity mode mode o Profile Velocity mode Electronic Gear operation o Homing mode o Interpolated mode o Move away from Limit Switch e Non motion Control conf x40 Object Ox5F10 active motion block is available in Electronic Gear Slave mode in mo tion control configurations P 30 x40 The ectronic Gear Slave mode is activated by object 0x6060 modes of operation set to 3 With the Gear factors numerator and denominator a multiplier for the master speed can be set up The Slave speed results in Numerator 0x5F10 1 Ustave VI x See Master Denominator 0x5F10 2 Limitation of acceleration when the gear factor is changed is effected via Object 0x5F10 3 Gear Factor Resync on change The slave is resynchronized with the mas ter when the gear factor has changed This function avoids sudden speed changes 0 Off Resynchronization is switched off The slave is resynchronized with the master frequency when the gear factor has changed The drive adjusts to the new frequency The accelera tion ramps set in Object 0x6083 Profile Acceleration is considered Alternatively the param
209. value 0x606D Velocity window Ox606E Velocity window time 0x606F Velocity Threshold 0x6070 Velocity Threshold time 0x6071 Target Torque 0x6077 Torque Actual value 0x6078 Current Actual value 0x6079 DC link circuit voltage 0x607A Target Position 0x607C Home Offset 0x6081 Profile Velocity 0x6083 Profile Acceleration 0x6084 Profile Deceleration 0x6085 Quick Stop deceleration 0x6086 Motion Profile type 0x6091 Gear ratio 0x6092 Feed constant 0x6098 Homing method 0x6099 Homing speeds 0x60C1 Interpol Data record 0x609A Homing acceleration 0x60F4 Following err Act Val 0x60F8 Max Slippage Ox60FF Target Velocity X X X X X X Xx 0X X X X X X 0X 0X 0X X 0X 0X X 0X 0X 0X X 0X 0X 0X X 0X 0X 0X 0X 0X 0X 0X 0X X X XX X x X 186 CM EtherCAT 04 13 Index A Acceleration PHASING iori pex ret Laeta 61 Acknowledge error messages 32 Application objects 27 Application Warnings secnccccecr 182 B Bus Failure behavior 26 C Communication objects 27 33 Communication Objects 41 Configuration s 21 Connector occupation 25 Control WOrd 71 Control Word Overview ene 179 Copyright iii 10 D Decommissioning 18 Designated use
210. verter can only be controlled via the state machine if the logic linking is true The logic inputs for Start clockwise Start anticlockwise can be connect ed directly to ON OFF p 68 p 69 The controller release STOA and STOB must be set Therefore this results in Release STOA AND STOB AND Start clockwise OR Start anticlockwise CM EtherCAT 123 GY Bonfiglioli 124 Status word The Status word displays the current operation state state Switch on disabled Ready to switch on Switched on peration enabled Quick stop Fault reaction active Bits marked X are irrelevant Bit 7 Warning can be set at any time It indicates a device internal warning mes sage The evaluation of the warning reason is carried out by reading out the warning status with the parameter Warnings 270 Bit 9 Remote is set if the operation mode control via state machine Lo cal Remote 412 1 has been set and the hardware release is available Bit 10 Target reached is set whenever the specified reference value has been reached In non motion control configurations Parameter Configuration 30 x40 target reached is related to the reference speed object 0x6042 target velocity In the special case of power failure regulation the bit is also set if the power failure regulation has reached the frequency 0 Hz see operating instructions For Target reached there is a hysteresis tolerance range which can be
211. written and then a save parameters command object 0x1010 processed the object values are stored in non volatile memory After the next power on of the inverter the previously set values are reactivated and over write the settings of Emergency Stop Clockwise 424 und Emergency Stop Counter clockwise 425 78 CM EtherCAT 04 13 v Bonfiglioli 12 5 12 0x6060 0 Modes of operation I ndex Sub inde Meanin Data Access Map Def Val 0x6060 Object works in Object doesn t work in e Motion Control e Non motion Control conf x40 o All modes 04 13 With object modes of operation the designated operation mode of the inverter is set Depending on the used configuration of the inverter there are different choices feasi ble Available values for modes of operation with inverter in motion control configuration p 30 x40 and 412 Local Remote 1 Control via Statemachine Dec Mode Di Profile position mode DA Velocity mode Default m Profile velocity mode m Homing mode To Interpolated position mode SCH Table travel record manufacturer specific mode a Move away from Limit switch manufacturer specific mode Sa Electronic Gear Slace manufacturer specific mode Object 0x6060 modes of operation is limited like described in the table No Object Min Max 0x6060 0 3 OxFD Available value for modes of operation with inverter in non motion control configuratio
212. xample Writing an index parameter Typically an index parameter is written during commissioning or regularly at simple positioning applications Writing Parameter 1202 Target Position Distance Typ long in Index 1 into RAM index 34 for write access with Parameter value 30000 Index 1200 0x2000 0x24B0 Wert int 34 0x0022 Index 1202 0x2000 0x24B2 Wert long 30000 0x0000 7530 If several parameter of an index should be changed it is sufficient to set the index access parameter 1200 once at the beginning 12 3 2 2 Example Reading an index parameter To read an index parameter first the index access parameter has to be set to the corresponding index After that the parameter can be read out Reading Parameter 1202 Target Position Distance Typ long in Index 1 with Pa rameter value 123000 Index 1201 0x2000 0x24B1 Value int 1 0x0001 Index 1202 0x2000 0x24B2 Value long 123000 0x0001 E078 If several parameter of an index should be read it is sufficient to set the index access parameter 1201 once at the beginning 04 13 CM EtherCAT 49 GY Bonfiglioli 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 Object 0x3001 Digital In actual value displays the current stat
213. y Ramp u s Velocity Mode vl 0x604A Velocity Quick Stop rpm s P 424 amp P 425 Hz s Profile Velocity Mode pv 0x6085 Quick Stop deceleration u s P 1179 Emergency Ramp u s Profile Position Mode 0x6085 Quick Stop deceleration u s P 1179 Emergency Ramp u s Interpolated Position Mode 0x6085 Quick Stop deceleration u s P 1179 Emergency Ramp u s Table Travel Record Mode 0x6085 Quick Stop deceleration u s P 1179 Emergency Ramp u s Move away from Limit Switch 0x6085 Quick Stop deceleration u s P 1179 Emergency Ramp u s Electronic Gear Slave 0x6085 Quick Stop deceleration u s gt P 1179 Emergency Ramp u s t Target Position Profile Position Mode 0x607A Target Position u Internal Reference Interpolated Position Mode 0x60C1 1 Interpolation data record Internal Reference Actual values Table Travel Record Mode gt P 1202 Target Pos All modes 0x6044 Control effort rpm 0x6064 Position Act Value u 0x606C Velocity Act Value u s 0x60F4 Following error act Value u 0x6077 Torque Actual Value x x 9 o 0x6078 Current Actual Value x x 9 o 0x6079 DC link circuit voltage x xxx V Special Objects All modes 0x6060 Modes of Operation 0x6061 Modes of Operation Display 0x6040 Control Word P 410 Control word 0x6042 Status Word lt P 411 Status word Velocity pv 0x606D Velocity Window P 1276
214. ycles is exceeded the EEPROM is destroyed To avoid this cyclically written data can be entered exclusively into the RAM without a writing cycle taking place on the EEPROM The data are volatile i e they are lost on power off and have to be written again after power on This mechanism is activated by the target data set being increased by five in the specification of the data set Writing to a virtual data set in the RAM Data set0 0 5 Dataset 1 6 Data set 2 Datast3 3 B8 Datast4 4 9 CM EtherCAT 47 GD Bonfiglioli 12 3 2 Handling of index parameters cyclic writing Positioning PLC Function Function table Multiplexer CANopen Mu litplexer 48 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 The selection to write into EEPROM or RAM is done via the index access parameter 1202 Target Position Distance 1203 Speed 1204 Acceleration 1205 Ramp Rise time 1206 Deceleration 1207 Ramp Fall time 1208 Motion mode 1209 Touch Probe Window 1210 Touch Probe Error Next Motion Block 1211 Vo of Repetitions 1212 Delay 1213 Delay Next Motion Block 1214 Event 1 1215 Eventl Next Motion Block 1216 Event 2 1217 Event2 Next Motion Block 1218 Digital Signal 1 1219 Digital Signal 2

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