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ModbusTCP for ACU - VEC1047R0

1. Warning Remote 10 Target reached 11 Internal limit active 15 Warning 2 If operation mode Control via remote contacts is used controller release must be turned on at STOA Terminal X210A 3 and STOB Terminal X210B 2 and Bit 0 of the control word must be set in order to be able to start the drive Operation modes Control via contracts and Control via remote contacts only sup port modes of operation velocity mode ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre quency inverter control electronics Even when mains voltage is disconnected com munication between the controller PLC and the frequency inverter is still possible Bit 4 Power supply enabled of the status word shows the current mains power supply status Bit 4 Power supply enabled O signals No mains voltage starting of drive not possible Bit 4 Power supply enabled 1 signals Mains voltage on drive ready for start ing 10 13 ACU Modbus TCP 65 GS Bonfiglioli 11 1 1 66 Device state machine State machine not ready to 1 switch on 0x00 start drive stop drive operation 5 enabled 0x37 Switched on 1 0 0 0 1 1 Operation enabled 1 1 0 1 1 1 Fault x x 1 x x means any value Bit 7 Warning
2. Switched on Operation enabled Fault Voltage enabled Quick stop Low active Switch on disabled Warning Manufacturer specific Remote 0 Target reached 1 Internal limit active 2 Operation mode specific 3 Operation mode specific 4 Manufacturer specific a Manufacturer specific Warning 2 Bit 14 is not used Status word bits 12 and 13 Operation mode specific are only used in positioning con trol configurations Parameter Configuration 30 x40 verter control electronics Even when mains voltage is disconnected communication e ACTIVE CUBE frequency inverters support an external 24V power supply for the in between the controller PLC and the frequency inverter is still possible Bit 4 Voltage enabled of the status word shows the current mains power supply sta tus Bit 4 Voltage enabled 0 signals No mains voltage starting of drive not possible Bit 4 Voltage enabled 1 signals Mains voltage on drive ready for start 68 ACU Modbus TCP 10 13 11 2 1 10 13 Statemachine diagram State machine W Bonfiglioli Vectron from all states Entry in state machine 13 Fault reaction 7 active Not ready to 1 switch on 0x00 Samlslecue etica tatto Switch on 2 disabled 0
3. Operation enabled Fault Voltage enabled Quick stop low active Switch on disabled Warning Remote 0 Target reached 1 Internal limit active 2 Velocity 3 Max Slippage 5 Warning 2 Profile velocity mode enables setting of a reference speed in units per second u s The reference speed Override Target Velocity pv u s 1460 will be applied immedi ately in status Operation enabled 0xnn37 The acceleration and deceleration ramps are set via parameters Override Profile Acceleration 1457 and Override Profile De celeration 1458 If bit 8 Halt of the control word is set the drive will be decelerated and kept at a standstill at the ramp set in parameter Override Profile Deceleration 1458 If bit 8 is reset the drive will be accelerated to the current reference speed at the ramp set in parameter Override Profile Acceleration 1457 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 current speed in user units per second u s can be displayed in a controller via parameter Velocity Window 1276 ACU Modbus TCP 83 GW Bonfiglioli 84 Via parameter Velocity Window 1276 and Velocity Window Time 1277 Bit 10 Target reached of the statu
4. 10 2 4 Target window 10 13 The target window monitors the current position after completion of a positioning operation A positioning operation is complete as soon as the current position is in the target window Via parameter Target Window 1165 you can define as from which distance from the target position the signal Target Reached is set This set ting is valid both for the positive and negative direction If the parameter value is set to 0 the operation will be complete as soon as the Position reference value reaches the target position For the Position reference value an internal value is used that is calculated anew depending on the profile data for each internal cycle step Via parameter Target Window Time 1166 you can define how long the axis must be in the target window before Target Reached is signaled Description Min oe Fact sett TiS Target Window 182 u 1166 Target Window Time 65 a ms 1 ms Position Target window Target positon _ Target window t Target position reached Target t window time The size of the target window affects the automatic sequence of motion blocks be cause the positioning operation requires a higher precision in the case of a small target window small tolerance The following motion block is started when the target window is reached ACU Modbus TCP 59 GO Bonfiglioli 10 2 5 Position Controller The position controller evaluates the position
5. For the above example Hex RESSE ce Ecce Eee Bin 1 7 32 ACU Modbus TCP 10 13 vw Bonfiglioli Register value This field is used for saving the 32 bit parameter value Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 Example A frequency value of 123 45 Hz is to be transferred The actually transferred numerical value is 12345 i e 0x3039 in the hexadecimal system Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when writing parameters For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes For an example of a Modbus RTU telegram refer to Chapter 9 2 2 7 2 5 Function code 100 0x64 read 32 bit parameter Request MBAP header Doo T y O Address 1 byte 1 0xF7 247 x64 Start address dataset para no x0000 0x963F Response MBAP header EE ____i Address 1 byte 1 0xF7 247 Register value parameter value 0 Ox FFFF FFFF Exception condition response MBAP header o 1 OxF7_ 247 1 byte Exception condition code Start address This field is used for saving the parameter number and dataset number The parameter number is in the range
6. 03 0D 40 Error response Frequency inverter gt Master Field MBAP Unit Func Ex Transaction ID Protocol ID Length ID cep Hex nn nn nn nn 00 03 01 90 04 The sent exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 48 ACU Modbus TCP 10 13 vw Bonfiglioli 9 2 3 Function code 100 0x64 read 32 bit parameter Example 1 Reading of parameter Fixed Frequency 2 481 in dataset 0 of frequency inverter with address 1 Request Master gt frequency inverter Field MBAP Unit ID Func DSet i Transaction ID Protocol ID Length Par No Hex nn nn nn nn 00 04 01 64 01 El Response Frequency inverter gt Master Field MBAP Unit ID Func Par value Transaction ID Protocol ID Length Hex nn nn nn nn 00 06 01 64 00 00 03 E8 The sent hexadecimal value is 0x000003E8 1000 Parameter Fixed Frequency 2 481 has two deci mal places Thus Fixed Frequency 2 10 00 Hz Example 2 Reading of unknown parameter 1600 0x0640 in dataset 2 of frequency inverter with address 1 Request Master gt frequency inverter MBAP Unit ID Func DSet ie Transaction ID Protocol ID Length Par No Hex nn nn nn nn 00 04 01 64 26 40 Error response Frequency inverter gt Master MBAP Unit ID Func Excep RIGO Transact
7. Identification of Mod Initialized by Written back by the bus request response client server from the transaction request received Client Description Transaction ID transaction identifier Protocol ID 2 bytes 0 Modbus protocol Initialized by Written back by the protocol identifier client server from the request received Length 2 bytes Number of subse Initialized by Initialized by server quent bytes includ client request response ing ID of data unit ID of data unit 1 byte Identification of seri Initialized by Initialized by server unit identifier ally connected Re client request response mote Slave e The data unit identifier will not be processed by the server e The function code and data field structure are the same in Modbus TCP and Modbus RTU e Modbus TCP uses byte sequence Big Endian Motorola format The function code tells the server frequency inverter which action is to be performed The function code is followed by a data field containing the parameters of the request or the response parameters in the case of the response by the frequency inverter If there are no errors while a request is received via Modbus TCP the data field will contain the re quired data If an error occurs the field contains an exception condition code to tell the master that the request was not processed successfully For information on how to handle exception conditions
8. Remote T Target reached 1 Internal limit active Homing attained Control word Identification Homing operation start Bit 4 Halt Bit 8 Homing error Warning 2 Description Homing not active Start homing with Acceleration 1134 and Fast Speed 1132 and Creep Speed 1133 Homing active Stop homing Execute command from bit 4 Start homin Stop axis with acceleration value as deceleration for homing The frequency inverter remains enabled in Operation enabled status ACU Modbus TCP 95 Gi Bonfiglioli Status word I dentification Target reached Bit 10 Halt 0 Home position still not reached Halt 1 Axis decelerated 1 Halt 0 Home position reached Halt 1 Axis has speed 0 Homing not completed yet Homing completed successfully No homing error Homing error occurred homing not completed successfully Homing attained Bit 12 Homing error Bit 13 For a description of homing operations refer to the Application manual Positioning 11 4 4 1 Example sequence In order to start homing mode the correct sequence must be sent by the PLC Control word 0x0000 Disable voltage Status word 0x0050 Switch On Disabled Bi of operation 6 Homing 3 Control word 0x0006 Shutdown 0x0031 Ready to switch on Status word 0x0033 Switched On Status word O
9. rfg use ref 0 f 1 LI a 1 Ramp_ Reference O o O Special Function Generator 78 ACU Modbus TCP 10 13 10 13 vw Bonfiglioli Bit 4 rfg enable Rfg enable 0 The reference speed comes from a manufacturer specific special function Rfg enable 1 The reference speed corresponds to the ramp output The special function will only be evaluated if 1299 S Special Function Generator is not 9 zero If 1299 S Special Function Generator 9 Zero the value of the ramp output will always be used Bit 5 rfg unlock Rfg unlock 0 The last speed will be maintained and used Rfg unlock 1 The ramp function is active and changes according to the reference value and the ramp Bit 6 rfg use ref Rfg use ref 0 Reference value 0 is used Rfg use ref 1 The reference value from Override Target Velocity vl rpm 1459 is used Bit 8 HALT HALT 0 gt Execute positioning HALT 1 gt Stop axis The frequency inverter remains enabled in Operation enabled state If 1299 S Special Function Generator 9 Zero the reference value from the ramp output will also be used if bit 4 rfg enable 1 and if bit 4 rfg enable 0 the reference value from the source specified in 1299 S Special Function Generator 1299 S Special Function Gen 1299 S Special Function erator 9 Zero Generator 9 Zero Bit 4 rfg enable 0 Reference value from special
10. tation 1118 of the position controller in Configuration x40 an increase above the Maximum Fre cy 2 Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera 1126 Phasing Speed quency can occur because the output of the position controller is added to the Maximum Frequen tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388 56 ACU Modbus TCP 10 13 Bonfiglioli Vectron Relationships between objects parameters and conversions Speed Limit All modes gt P 419 Max frequency Hz P 1118 Limit Output Position Controller u s Speed Homing Mode gt P 1132 amp P 1133 Homing Speeds u s Velocity Mode vi gt P 1459 Override Target Velocity vl rpm Profile velocity Mode pv gt P 1460 Override Target Velocity pv u s Profile Position Mode gt P 1460 Override Target Velocity pv u s Table Travel Record Mode Move Away from Limit Switch Electr Gear Slave gt P 1203 Speed u s gt P 1133 Homing Speed u s gt Master x Gear Factor Phasing Deceleration Ramp Homing Mode Velocity Mode vl Profile velocity Mode pv Profile Position Mode Table Travel Record Mode Move Away from Limit Switch Electr Gear Slave gt P 1134 Acceleration u s gt P 421 amp P 423 Hz s gt P 1458 Override Deceleration u s gt P 1458 Override Deceleration u s gt P 1206 De
11. 02131 2988 0 Fax 49 02131 2988 100 www bonfiglioli de info bonfiglioli de Bonfiglioli Espafia 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 Il 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 bonfig vsnl 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 au sales bonfiglioli com sg Bonfiglioli South Africa 55 Galaxy Avenue L
12. 1248 Digital signal 4 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 1 When the indexing parameter 0 1 32 33 34 65 33 34 65 17 18 33 17 18 33 1200 Write 1201 Read 1341 Write 1342 Read 1250 Write 1251 Read 1420 Write 1421 Read 0 all indexes will be written upon parameter access in EEPROM 17 for 16 indexes or 33 for 32 indexes will write all indexes in RAM ACU Modbus TCP 10 13 vw Bonfiglioli The values are entered automatically in the EEPROM of the controller However only a limited number of write cycles is permissible for the EEPROM approx 1 million cycles When this number is exceeded the EEPROM will be destroyed Values which are written cyclically at a high repetition rate should be written to the RAM and not the EEPROM In the RAM the data is not protected against loss of power Once power supply is disrupted the data must be written again 8 2 1 Example Writing of index parameters Typically index parameters are written regularly during commissi
13. 5 6 7 8 EEPROM read error EEPROM write error EEPROM checksum error Parameter cannot be written while the drive is running 9 Values of data sets are different 10 Wrong parameter type 11 Unknown parameter 12 Checksum error in received telegram 13 Syntax error in received telegram 14 Data type of parameter does not match the number of bytes in the telegram 15 Unknown error When parameter VABusSST Error Register 11 is read it is deleted automatically at the same time 10 13 ACU Modbus TCP 39 GU Bonfiglioli 7 2 10 Modbus TCP mode of transmission The usable contents of Modbus TCP is basically structured like Modbus RTU 7 2 10 1 Modbus RTU message telegram Modbus messages are added by a sending device into a telegram which has a defined start and end point The TCP IP frame enables receiving devices to identify the beginning and end of the message Incomplete messages must be detected and result in an error Modbus RTU messages 8 bits The whole message telegram must be transmitted as a coherent flow of characters 7 3 Resetting errors Depending on the settings and operating state of the device errors can be reset in various ways e When using control via parameter Local Remote 412 Statemachine Set bit 7 of control word Control word 410 0x8000 e By pressing the stop button of the control panel Resetting by pressing the STOP button is only possible if Parameter Local Remote 412 permits control via th
14. 6a Control word Ox001F Start electronic gear without direct synchroni zation 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 Oxn727 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 Direct Synchronisa tion Status word See 6alSee 6a 7a Control word 0x021F Start Electronic Gear without Direct Syn chronisation and Phasing Profile 1 Status word See 6a See 6a 7b Control word 0x121F Start Electronic Gear without Direct Synchro nisation and Phasing Profile 2 Status word See 6alSee 6a 7c Control word 0x221F Start Electronic Gear without Direct Synchro nisation and Phasing Profile 3 Status word See 6alSee 6a 7d Control word 0x321F Start Electronic Gear without Direct Synchro nisation and Phasing Profile 4 Status word See 6alSee 6a 8a Control word 0x025F Start Electronic Gear with Direct Synchroni sation and Phasing Profile 1 Status word See 6alSee 6a 8b Control word 0x125F Start Electronic Gear with Direct Synchroni sation and Phasing Profile 2 Status word See 6alSee 6a 8c Control word 0x225F Start Electronic Gear with Direct Synchroni sation and Phasing Profile 3 Status word See 6alSee 6a 8d Control word 0x325F Start Electronic G
15. Bonfiglioli Vectron ACTIVE CUBE Modbus TCP Communication module CM Modbus TCP Frequency inverter 230 V 400 V E ta y xq CUS Bonfiglioli ontrol and green solutio CONTENTS 1 GENERALINFORMATI ON ABOUT THE DOCUMENTATI ON 1 1 This document 1 2 Warranty and liability 1 3 Obligation 1 4 Copyright 1 5 Storage 2 GENERAL SAFETY INSTRUCTI ONS AND INFORMATI ON ON USE 2 1 Terminology 2 2 Designated use 2 3 Misuse 2 3 1 Explosion protection 2 4 Residual risks 2 5 Safety and warning signs on the frequency inverter 2 6 Warning information and symbols used in the user manual 2 6 1 Hazard classes 2 6 2 Hazard symbols 2 6 3 Prohibition signs 2 6 4 Personal safety equipment 2 6 5 Recycling 2 6 6 Grounding symbol 2 6 7 ESD symbol 2 6 8 Information signs 2 6 9 Font style in documentation 2 7 Directives and guidelines to be adhered to by the operator 2 8 Operator s general plant documentation 2 9 Operator s operating staff s responsibilities 2 9 1 Selection and qualification of staff 2 9 2 General work safety 2 10 Organizational measures 2 10 1 General 2 10 2 Use in combination with third party products 2 10 3 Transport and Storage 2 10 4 Handling and installation 2 10 5 Electrical connections 2 10 6 Safe operation 2 10 7 Maintenance and service troubleshooting 2 10 8 Final decommissioning 10 13 ACU Modbus TCP vw Bonfiglioli GW Bonfiglioli 3 INTRODUCTION 3 1 Supported configurations 3 2 I
16. Halt control bit 8 1 Axis has speed 0 In gear 0 Electronic gear not in gear Bit 12 1 Electronic gear in gear Following error 0 No contouring error Bit 13 1 Contouring error 10 13 ACU Modbus TCP 99 GS Bonfiglioli 100 Basic functions The control bit Automatic sequence defines if a single motion Automatic sequence 0 or and automatic motion block sequence Automatic sequence 1 is to be exe cuted In both cases the selection of the required motion block motion block number of single motion or start motion block number of automatic sequence is calculated by the motion block switching feature with the rising edge of Start motion block Motion block is being processed is set to 1 while a selected motion block or an automatic sequence is being executed Motion block is being processed will remain set until the motion block sequence is complete When a single motion block is exe cuted Motion block is being processed will be set to 0 once the single motion block is complete When an automatic sequence is executed Motion block is being processed will be set to 0 once a motion block with setting 0 for Next motion block end of motion block 1 error stop 2 Stop error or 3 emergency stop error is reached During the automatic processing of motion blocks the currently processed motion block is indicated by parameter Actual Motion Block 1246 If the ex
17. e Selection of device control Local Remote 412 Chapter e Commissioning of device functions via PLC o Motion Control Override Chapter o Fault Reaction Chapter Fault reset Chapter e Setting reference values o Reference speed in speed controlled con Chapter figuration x10 x11 x15 x16 x30 x60 o Reference in position configuration x40 Chapter Velocity Mode Chapter Profile Velocity Mode Chapter Profile Position Mode Chapter Homing Mode Chapter Table Travel record Mode Chapter Mode change Chapter e Diagnosis Chapter 18 ACU Modbus TCP 5 1 11 10 1 6 3 7 3 11 3 10 and 11 4 11 4 1 11 4 2 11 4 3 11 4 4 11 4 5 10 14 and 13 1 10 13 v Bonfiglioli 5 Assembly disassembly of communication module 5 1 Assembly The CM Modbus TCP and CM Modbus TCP 2P communication modules are pre assembled in a case and are ready for installation In addition a PE spring is supplied for PE connection shield Danger of destruction of frequency inverter and or communication module e Before installation of the communication module the frequency inverter must be disconnected from power supply Installation is not permissible while the unit is energized e Do not touch the PCB visible on the back of the module otherwise components may be damaged Work steps e Disconnect the frequency inverter from mains voltage and protect it against being energized unintentionally e Remove covers 1
18. plicable safety directives e g Working Machines Act or Accident Prevention Directives 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 14 H B Scrap metal materials Recycle 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 Alwa
19. vw 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 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 Skilled Personnel The term Skilled Personnel covers staff that are assigned special tasks by the Operator of the fre quency inverter e g installation maintenance and service repair and troubleshooting Based on their qualification and or know how Skilled Personnel must be capable of identifying defects and as sessing functions Qualified electrician The term Qualified Electrician covers qualified and trained staff that have special techn
20. 13 ACU Modbus TCP 5 GS Bonfiglioli 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 for the aforementioned reasons Furthermore BONFIGLIOLI VECTRON GmbH excludes any warranty liability claims for any personal 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 frequency 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
21. Gear Time 1169 are reached Phasing With the phasing function the slave position is offset from the master position received by the value of Phasing Offset 1125 Phasing is described above in this chapter Function without direct synchronization Standard Synchronization 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 operation this engaging position is used as the start position The acceleration and deceleration for synchronizations follow an S curve The relative position change due to acceleration is not compensated Start Positioning In Gear Speed Master speed sue PRI ee oem pa Position i La 114 ACU Modbus TCP 10 13 v Bonfiglioli Function with direct synchronization The drive accelerates the master speed with the ramps parameterized in the motion block When the motion block is started the drive is synchronized with the master drive directly The master position is processed directly by the position controller The acceleration and deceleration for synchronizations follow an S curve The relative position change due to acceleration is compensated by the posi tion controller Start Positioning In Gear i
22. Gear Slave mode 109 Emor MESSAGES iii 128 Example sequence Electronic Gear Slave mode Electronic gear Slave Li 118 Move away from limit switch 108 Profile Velocity mode u s 85 Table travel MOde 104 Without Motion control 75 Example telegramS 44 Exception condition code 39 F Function code cirie 27 G General Information about the Documentation AEE TEELE E RO PO E E DET 5 H HOMING iirinn inaani 59 61 Homing Mode ee 94 I Index Parameter WIE orata 43 Index parameters Read a 43 Installation 13 L Local Remote i 63 M Maintenance i 14 Master Slave Position Correction 116 Motion Control Interface MCI 52 Motion Control Override 53 Move away from limit switch mode 105 P Parameter access Read index parameters 43 Write index parameter 43 Parameter List ii 121 Position Controller 60 Position deviation 60 Profile Position mode 86 Profile Velocity mode U S 81 Protocol aaia tinerii ii a NS 26 R Ramp reference frequency crecen 120 Reference system errereen 58 S Safety EE E E E 7 Sequence example Homing Mode 9
23. and 2 of the frequency inverter Slot B 4 for the communi cation module is now accessible Steckplatz B A Steckplatz A a 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 and PE spring 5 using the M2 screw provided at the module WO e Inthe upper cover 1 break out the pre punched cutout 3 for the plug X310 8 e Mount the two covers 1 and 2 10 13 ACU Modbus TCP 19 GW Bonfiglioli 5 2 20 Disassembly e Disconnect the frequency inverter from power supply and protect it against being energized unintentionally e Remove covers 1 and 2 of the frequency inverter see Chapter 5 1 Assembly e Loosen the M2 screw at the communication module e Unplug the communication module from Slot B 4 by unlocking the locking hooks 9 on the right and left side of the module from the case of the frequency inverter using a small screwdriver e The locking hooks 9 are located at the place where the locking hooks 10 for the upper cover 1 project from the case of the frequency inverter e To do this insert the screwdriver in the gap between the case of the module and the frequency inverter carefully and pus
24. and the exception condition codes refer to Chapter 7 2 9 Exception condition codes 26 ACU Modbus TCP 10 13 vw Bonfiglioli 7 2 Supported function codes The Modbus definitions for writing and reading of data are not directly compatible with parameter access by a frequency inverter irrespective of the manufacturer of the frequency inverter Modbus is designed for reading bits and captures data in a different way Data access is limited to a bit width of 16 In order to meet the requirements of Modbus data access is defined in the frequency inverters by the following function codes 16 bit values e Function code 3 read ONE data width of 16 bits reading of hold register e Function code 6 write ONE data width of 16 bits writing of single register e Function code 16 read ONE data width of 16 bits writing of multiple registers 32 bit values For access to 32 bit data frequency inverters use the following adapted function codes e Function code 3 read TWO data widths of 16 bits 32 bits reading of hold register e Function code 16 write TWO data widths of 16 bits 32 bits writing of multiple registers e Function code 100 read ONE bit width 32 e Function code 101 write ONE bit width 32 The Modbus specification does not describe handling of 32 bit values The implemented 1 handlings and function codes are quite common and frequently used These functions enable data access to 32 bit Long variables in
25. between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits 15 1 11 9 8 7 6 5 4 3 2 1 0 For the above example Hex KEKEEEKI o o o 1 o 1 1 1 o 1 o 0 Bin l 7 ee 10 13 ACU Modbus TCP 33 GX Bonfiglioli Number of registers This field is used for saving the 32 bit parameter values Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 Example A frequency value of 100 25 Hz is to be transferred The actually transferred numerical value is 10025 i e 0x2729in the hexadecimal system Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when reading parameters For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes For an example of a Modbus RTU telegram refer to Chapter 9 2 3 7 2 6 Function code 101 0x65 write 32 bit parameter Request MBAP header 1 OxF7_ 247 Start address dataset para no 2 bytes 0x0000 0x963F Register value para
26. configuration 110 Other configurations do not support this operation mode If the frequency inverter is operated with a configuration which does not support the operation mode Direct Current Brake e g configuration 210 field oriented control value 1 cannot be used In this case the operation mode is not offered in the selection menus of the control unit KP500 and the control software VPlus By default State transition 5 392 is set to operation mode 2 Ramp For configura tions with torque control the default value is 0 coast to stop If the configuration is changed the value set for State transition 5 392 is also changed if necessary The behavior in transition 5 is only relevant for configurations without Motion Control parameter Configuration 30 x40 If State transition 5 392 was triggered with 1 DC brake a new control word will only be accepted after completion of the transition process The change of state from Operation enabled to Started is done after the Braking time 632 parameterized for the DC brake has elapsed If parameter State transition 5 392 2 Ramp is set the control word can be set to Operation enabled again while the drive is decelerating In this way the drive accelerates to its set reference value again and remains in the state operation ena bled The change of state from Operation enabled to Switched On is done after the val
27. function Reference value from ramp Bit 4 rfg enable 1 Reference value from ramp output output ACU Modbus TCP 79 GX Bonfiglioli 11 4 1 1 Example sequence 80 In order to start velocity mode the correct sequence must be sent by the PLC 1 Control word 0x0000 Disable voltage 1 Status word 0x0050 Switch On Disabled ESS of operation 2 Velocity mode 3 Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on 4 Control word 0x0007 Switch On Status word 0x0033 Switched On if already enabled Status word Oxnn37 Operation enabled Control word 0x007F Starts Velocity mode with reference value from parameter Override Target Velocity vl rpm 1459 Status word Oxnn37 Operation enabled Control word Ox006F 1299 S Special Function Generator 9 Zero gt Starts Velocity mode with reference val ue from parameter Override Target Veloc ity vl rpm 1459 1299 S Special Function Generator 9 Zero gt Starts with reference value with source from 1299 S Special Function Generator Oxnn37 Operation enabled aoe word 0x003F Starts Velocity mode with reference value 0 Status word Oxnn37 Operation enabled Control word 0x002F 1299 S Special Function Generator 9 Zero gt Starts Velocity mode with reference val ue 0 1299 S Special Function Generator 9 Zero gt Starts with reference value with source from 1299 S Speci
28. gt P 1125 P 1126 P 1127 Phasing Velocity vl gt Velocity mode rpm Velocity pv gt Profile Velocity mode u s The graphical overview shows the most scriptions of the objects and modes important objects which are used Other ob jects are available in the different modes for additional information refer to the de 10 13 ACU Modbus TCP 57 GU Bonfiglioli 10 2 Functions of Motion Control I nterface MCI Via the Motion Control Interface numerous positioning functions can be addressed by a PLC directly 10 2 1 Reference system In many modes the Motion Control Interface uses user units u These user units u result from the conversion of the gear factor parameters and the No of pole pairs 373 Conversion between user units u and frequencies Hz f Hz No of pole pairs 373 Gear Box Driving shaft revolutions 1116 v 7 u Feed Constant 1115 a Gear Box Motor shaft revolutions 1117 u Feed Constant 1115 2 Gear Box Motor shaft revolutions 1117 u v f Hz B No of pole pairs 373 Gear Box Driving shaft revolutions 1116 Feed Constant 1115 Gear Box Shaft revolutions 1116 Gear Box Motor revolutions 1117 a u s and vice versa In the formulas replace speeds f Hz and f u s by accelera tions a Hz s and a u s The same formulas can be used for converting acceleration values from a Hz s to For more details about the reference system refer to the Pos
29. parameter Local 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 machine The usage of Positioning for setting Local Remote 412 1 is described in the Posi tioning 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 parameters described in 11 2 Control via state machine i e Control word 410 and Status word 411 support the bits marked as operation mode specific These bits and bit Target reached have different meanings in the different position control operation modes defined by Override Modes Of Operation 1454 The fol lowing chapters describe the application of the operation mode specific bits in the control word and status word depending on the different position control operation modes Default value of Override Modes Of Operation 1454 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 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 ACU Modbus TCP 10 13 vw Bonfiglioli 11 4 1 10 13 Vel
30. profile comprises the following entries If a value is not changed the old value will remain active e 1455 Override Target Position e 1456 Override Profile Velocity e 1457 Override Profile Acceleration e 1458 Override Profile Deceleration 92 ACU Modbus TCP 10 13 10 13 W Bonfiglioli Vectron Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from OxnnF to 0x000F Profile position mode will be stopped Then the mode can be restarted via OxnnF As long as 0x0007 is active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence In order to start a profile you don t have to set the control word to 0x0007 first Once a profile has been processed a new profile can be started with the bit New ref erence value bit 4 in control word OxnnnF While a profile is being processed you can start a new profile
31. switch still active Halt 1 Axis decelerated Halt 0 Limit switch cleared Axis has speed 0 Basic functions In mode 2 Move away from limit switch the drive is cleared from a triggered hard ware limit switch or software limit switch The direction of rotation depends on the active limit switch If the positive limit switch is active the drive moves to negative direction and vice versa Move away from limit switch mode is started in status Operation enabled by con trol word bit 4 Move away from limit switch The drive is accelerated with the ramp from parameter Acceleration 1134 to the speed set in parameter Creep speed 1133 Once the active limit switch has been cleared the drive is stopped Once speed 0 has been reached status word bit 10 Target reached will be set When both directions of rotation are blocked e g due to simultaneous triggering of positive and negative limit switch error message F1449 Both directions locked In this case the function Move away from limit switch cannot be used NOTE In the clearing phase of a hardware limit switch the hysteresis defined in parameter Hysteresis 1149 will be active After detection of the limit switch edge the axis will be moved on at least by the defined hysteresis distance Setting Halt to 1 will stop the started clearing operation The axis will be stopped Status bit Target reached is set to 1 w
32. 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 at all times 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 machine plant must not be operated e by uninstructed 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 plant oper ator shall bear the sole risk 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 8 ACU Modbus TCP 10 13 vw Bonfiglioli 2 4 Residual risks Residual ris
33. to 0 the clearing operation is interrupted As long as 0x0007 is active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence ACU Modbus TCP 10 13 vw Bonfiglioli 11 4 7 Electronic gear Slave The mode Electronic gear Slave can be selected via parameter Override Modes Of Operation 1454 3 In operation mode Electronic gear Slave the drive follows a master drive as a slave drive Relevant parameters 410 Control word 1126 Phasing Speed 411 Status word 1127 Phasing Acceleration 418 Minimum Frequency 1108 Act Position 419 Maximum Frequency 1106 Error Threshold 1454 Override Modes Of Operation 1119 Contouring Error Time 1123 Gear Factor Numerator 1165 Target window 1124 Gear Factor Denominator 1166 Target window time 1142 Resync on Change of Gear 1179 Emergency ramp Factor 1125 Phasing Offset In operation mode Electronic gear Slave the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Koi Bit Le switch on Enable voltage N Quick stop low active w Enable operation Start Gearing u Start M S Correction Direct Sync Fault reset Halt Start phas
34. value The reference values can be controlled at the frequency inverter via the control unit or the control software VPlus via the following parameters Internal Reference Fre nternal reference value from the reference xxx xx emat quency 228 frequency channel 282 Reference Ramp Frequen sum of internal reference frequency XXX XX HZ Emre anise 11 3 4 Example sequence In configurations without Motion Control Configuration 30 x40 the PLC must send the correct sequence 1 Control word 0x0000 Disable voltage 2 Control word 0x0006 3 Control word 0x0007 Switch On 4 Control word 0x000F OR 1 Control word 0x0000 Disable voltage 2 _ Control word 0x000F In configurations without positioning control Configuration 30 x40 the second shortened sequence can be used because transition 4 is available in these configu rations 10 13 ACU Modbus TCP 75 GX Bonfiglioli 11 4 Motion control configurations 76 Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Definition Motion Control For the full function of the Motion Control Interfaces Motion Control Override you will have to set Local Remote 412 1 Control via state machine In all other operation modes of
35. via the following parameters 1123 Gear Factor Numerator 1124 Gear Factor Denominator 1142 Resync on Change of Gear Factor Phasing is defined via the following parameters 1125 1 Phasing Offset 1125 2 1125 3 1125 4 1126 1 Phasing Speed 1126 2 1126 3 1126 4 1127 1 Phasing Acceleration 1127 2 1127 3 1127 4 Start electronic gear and phasing function The electronic gear is started by control word bit 4 Start electronic gear The drive accelerates according to parameter Override Profile Acceleration 1457 Once the slave speed is coupled into the master status word bit 10 Target reached In Gear is set The conditions for In Gear status are set via parameters In Gear Threshold 1168 and In Gear Time 1169 10 13 ACU Modbus TCP 113 AZ e e o GY Bonfiglioli Target reached In Gear is set when the electronic gear function is used and electronic gear synchronous running is reached Setting Ha t 1 will stop a currently executed movement The axis is stopped at ramp Override Profile Deceleration 1458 Target reached is set to 0 to start the decel eration and to 1 when the speed reaches value 0 The drive remains in Operation enabled status To continue the interrupted movement reset Ha t to 0 Bit Target reached is set to 0 to start the acceleration and to 1 when the conditions for Gear in of parameters In Gear Threshold 1168 and In
36. without stopping by us ing the bits Change reference value immediately bit 5 and New reference value bit 4 ACU Modbus TCP 93 GW Bonfiglioli 11 4 4 Homing mode 94 Homing mode can be selected via parameter Override Modes Of Operation 1454 In homing mode the frequency inverter moves the drive to a reference position The method used for this movement is defined by parameter Homing mode 1130 Relevant parameters 410 Control word 1130 Homing mode 411 Status word 1132 Fast speed 418 Minimum Frequency 1133 Creep speed 419 Maximum Frequency 1134 Acceleration 1454 Override Modes Of Operation The ramp times are specified via parameter 1135 In homing mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 1 0 Bit Switch on 4 Enable voltage 2 Quick stop Low ac tive 2 Enable operation Homing operation gt start L Fault reset 2 Halt ACU Modbus TCP 10 13 10 13 vw Bonfiglioli 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 wu tive amp Switch on disabled 4 Warning Quick stop Low Ac
37. 0 9999 99 Lt 421 Deceleration Clockwise Hz s 0 01 9999 99 422 Acceleration Anticlockwise Hz s 0 01 9999 99 11 3 E 423 Deceleration Anticlockwise Hz s 0 01 9999 99 i 424 Emergency Stop Clockwise Hz s 0 01 9999 99 E 425 Emergency Stop Anticlockwise Hz s 0 01 9999 99 B 434 Ramp Setpoint Selection 11 3 3 Reference frequency RAM 999 99 999 99 11 3 3 524 Reference percentage RAM 300 00 300 00 11 3 3 0 01 20 00 S Switch Off Threshold 0 0 100 0 EEF a Holding Time 0 0 200 0 n E 1104 time constant ms 0 300 10 2 4 1105 Warning Threshold iiss 1106 Error Threshold n v1 1115 Feed Constant 1 2147483647 AES 1116 Gear Box Driving Shaft Revolu Le 1 65535 tions vI 1117 Gear Box Motor Shaft Revolutions ie 1 65535 1118 limit _____ 10 2 5 1119 Contouring error time ms 0 65535 os E 1120 Fault reaction S Selection 1122 Master Position Source Selection 1123 Gear Factor Numerator 32767 32767 E 1124 GearFactor Denominator 1l 65535 1125 Phasing Offset A 1126 Phasing Speed 1127 Phasing Acceleration ACU Modbus TCP 10 13 vw Bonfiglioli No 1Description Unit Settingrange Chapter 1130 Homing Mode 0 35 1132 Fast Speed 1 2147483647
38. 0 00 1000 00 11 3 3 Actual speed 60000 60000 Active dataset o o 0 4 d o i i Current error J0 OxFFFF Warnings OxFFFF Warning application Jo OXFFFF Bus reference frequency Hz 999 99 999 99 Cu Ramp reference frequency 999 99 999 99 411 Status word 0 OxFFFF 112 1107 Act Speed u s 2 a 21 Me 2147483647 1108 Actual Position u 2147483647 i 2147483647 1109 Act Contouring Error u 2147483647 1129 Act Master Speed 1 ee atte 231 1 1246 Actual Motion Block 10 3 32 eae 1249 Motion Block to Resume 1 32 si VABus TCP 1431 Module Info String manu l Parameters Current error 260 Warnings 270 and Application warnings 274 are only accessible via Field Bus They cannot be addressed via the VPlus control software or the control unit 10 13 ACU Modbus TCP 121 Gi Bonfiglioli 13 2 Parameters Menu Para 122 No Description Unit Settingrange Chapter 388 Bus Error Behaviour 0 5 6 3 392 State Transition 5 Selection 11 3 2 410 Control word 0 OXFFFF 11 2 E 412 Local Remote Selection 11 414 Data set selection 0 4 11 E 420 Acceleration Clockwise Hz s_ 0 0
39. 1133 Creep Speed I 1 2147483647 Li 1134 Acceleraton 1 2147483647 1135 Ramp Rise Time BED 0 2000 Si 1142 Resync on Change of Gear Factor Selection 1147 1143 Faultreaction Selection 10 27 5 1165 Target Window 10 2 4 1166 Target Window Time 1 65535 5 1168 in Gear Threshold 11 4 7 1169 in Gear Time 1 65535 11 4 5 1176 Ramp Rise Time 0 2000 11 42 1178 Ramp Fall Time ms 0 2000 di 1179 Emergency Ramp u s 1 2147483647 10 1 1180 Operation mode Selection 1147 1275 Max Slippage 0 2147483647 1276 Velocity Window 0 65535 1277 Velocity Window Time 0 65535 Threshold Window 65535 1279 Threshold Window Time 65535 1299 S Special Function Generator Selection 11 4 1 IP address Netmask Gateway DNS Server 6 2 DHCP Option Selection IP command Selection Email Function Selection Email Text Body Text Modbus TCP Timeout 0 60000 6 2 3 1454 Override Modes Of Operation Selection 1455 Override Target Position u 212 LU 1456 Override Profile Velocity 1 2 1 1 u s Override Profile Acceleration 1 2 1 1 u s 10 1 Override Profile Deceleration 1 2 1 1 u s Override Target velocity vl rpm 32768 32767 rpm Override Target velocity pv u s 2112 iis 10 13 ACU Modbus TCP 123 Go Bonfiglioli 14 Appendix 14 1 Listofcontrol words The tables on this page provide an overview of the function
40. 16 14 6 4 Frequency Hz into speed in user units per second u s Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 x x No of pole pairs P 373 Gear Box Motor Shaft Revolutions P 1117 u v 7 f Hz 14 6 5 Speed in user units per second u s into speed 1 min Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 u Hz x ___ x a _ di Fi Fia No of pole pairs P 373 Gear Box Motor Shaft Revolutions P 1117 14 6 6 Speed 1 min into speed in user units per second u s Feed constant P 1115 Gear Box Driving Shaft Revolutions P 1116 x 60 Gear Box Motor Shaft Revolutions P 1117 u v n rpm 10 13 ACU Modbus TCP 129 GS Bonfiglioli Index A Acknowledging error messages 40 Act POSITION ia 59 Actual ValUeSs i 120 Application warning messages 127 Application Warnings 127 Assembly Communication module 19 B Bus Error behavior 25 Bus reference frequency rreren 120 C CIENE SErVEr cu iaia 26 Contouring errors 59 Control CONtaACtS uncre aa 64 Remote contacts terres 64 Copyright 6 Current positioMt insirniiaiai 59 D DeCOMMISSIONING 14 Designated USE eee 8 Disassembly Communication module 20 E Electrical Connections 13 Electronic
41. 2 IP Address 0 0 0 0 255 Ta 255 255 172 22 1 25 1433 0 0 0 0 255 255 255 255 255 255 255 0 6 2 2 2 Network with DHCP server When a DHCP server is used manual network configuration is not required Set DHCP Option 1436 to 1 Enabled if you wish to use the DHCP function Disabled Module must be configured manually no DHCP server is used Factory setting Enabled ca settings are made by a DHCP server 6 2 3 Modbus TCP Timeout settings The communication can be monitored If communication fails no data or faulty data will be transmit ted The Modbus TCP Timeout feature will identify this state The timeout feature monitors communication for the time defined by parameter Modbus TCP Timeout 1439 The set value represents the time in milliseconds where correct data transfer must take place If no data is transferred correctly within this time the frequency inverter will signal the fault F2735 Modbus TCP Timeout No Description Max Factory setting 1439 Modbus TCP Timeout 60000 ms When the parameter is set to 0 factory setting the monitoring function is off 24 ACU Modbus TCP 10 13 v Bonfiglioli 6 3 Operating behavior in the case of a communication error The operating behavior in the case of errors in Modbus TCP communication can be parameterized The required behavior can be set via parameter Bus Error Behaviour 388 Operating point is maintained Fault status will be activated immediat
42. 3 V Ref V Position Controller Speed Master speed sii eRe LE Position S Slvave a fi AS Start 10 13 ACU Modbus TCP 115 GC Bonfiglioli 11 4 7 1 Master Slave Position Correction When using this functionality master drive and slave drive have to use the same mechanical characteristics i e gear transmission ratios and use the same reference system The Master Slave Position Correction offers as part of the Electronic Gear the possibil ity to synchronize the absolute Position of the Slave to the absolute Position of the master This function is helpful in example in applications in which drives often work inde pendently from each other and have to work together for certain activities In example this could be the case in crane applications where normal loads are operated intently from each other and which are switched together for heavy loads To speed up the switching together process the Master Slave Position correction can be used to syn chronize the absolute position of the Slave with the absolute position of the Master Additionally by using an Offset a relative reference can be set up in the target posi tion Preparations Master drive The Master drive must be set up as follows TxPDO2 Identifier 927 640 or a different not used Identifier TxPDO2 Function 932 1 controlled by time or 2 controlled by SYNC TxPDO2 Long1 964 743 Act Position User Units Preparations Slave
43. 6 Velocity mode ii ea 80 State machine Device control 67 STOrAGErii iii iii 13 T Table travel record mode 97 Target WINGOW 59 TCP IP addres Sininen 24 Telegram SUPUCCUIG scia 26 Transition 5 of state machine 73 TIANSPOS s sisi anes denen tes 13 vV VABusSST Error Register 39 Velocity mode rpm e 77 Ww Warning messageS n 126 Warranty and liability i 6 130 ACU Modbus TCP 10 13 GY 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 Claudio Armando 171 Bloco 3 CEP 09861 730 Bairro Assun o S o Bernardo do Campo Sao 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 bonfiglioli com cn Bonfiglioli Deutschland Sperberweg 12 41468 Neuss Tel 49
44. 6 01 08 00 OE 00 00 Response Frequency inverter gt Master MBAP i Field Transaction ID Protocol ID Length Unit ID Func Sub function Data Hex nn nn nn nn 00 06 01 08 00 OE 00 01 Counter value is 1 because this is the first message received after resetting of all counters to zero Example 2 Reading of unknown diagnosis counter 8 sub function 0x13 of frequency inverter with address 1 Request Master gt frequency inverter MBAP Field Transaction ID Protocol ID Length Unit ID Func Sub function Data Hex nn nn nn nn 00 06 01 08 00 13 00 00 Error response Frequency inverter gt Master MBAP F BIE Transaction ID Protocol ID Length SRO SUNG Excep Hex nn nn nn nn 00 03 01 88 01 The sent exception condition code is the hexadecimal value 0x01 INVALID FUNCTION CODE 10 13 ACU Modbus TCP 51 GX Bonfiglioli 10 Motion Control nterface MCI Motion Control Override MCO 52 i The Motion Control Interface MCI is a defined interface of the ACU device for position ing control via Field Bus Typically this interface is used by field bus systems such as CANopen With the Motion Control Interface the user can carry out a positioning op eration via a field bus using a positioning profile typically including t
45. 9 00200 0x0400 0x0800 0x1000 0x2000 0x4000 0x8000 For details on the warnings refer to the frequency inverter Operating Instructions and the Positioning application manual 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 Ex tension manual EM ABS 01 ACU Modbus TCP 127 GW Bonfiglioli 14 5 Error messages The error code stored following a fault comprises the error group FXX high byte hexadecimal and the code YY low byte hexadecimal Motion F04 04 Control deviation position controller Control F14 Pos SW limit switch Interface Pos SW limit sw lt lt Neg SW limit SW 46 Limit Switch Incorrect Wired 48 Neg HW Limit Switch I 60 Pos HW Limit Sw Non permissible signal source ________ 64 Pos HW Limit Sw Input deactivated byencoder2 66_ Pos HW Limit Sw wrong mode for EM S10D_ Neg HW Limit Sui Non permissible sional source Neg HW Limit Sw Input deactivated by PWM FF input Neg HW Limit Sw Input deactivated of index controller Neg HW Limit Sw wrong mode for MFI1 Neg HW Limit Sw Input deactivated by encoder 1 5 Neg HW Limit Sw Input deactivated by encoder 2 Neg HW Limit Sw wrong mode for EM S110D F15 User Defined Error in Motion Block xx 1 xx 32 No Homing Done Homing Encoder Mode w o Z Impuls
46. CM Modbus TCP 2P 22 ACU Modbus TCP 10 13 vw Bonfiglioli 6 1 1 Installation instructions The Modbus TCP module is connected to the PLC or other devices using standard CAT cables and RJ 45 connectors Ethernet standard IEEE 802 3 100Base TX fast Ethernet Cable type S FTP cable with braided shield ISO IEC 11801 or EN 50173 Straight Through or Cross Over 6 2 Setup By default the parameters of the CM Modbus TCP and CM Modbus TCP 2P communication modules are set up as follows 1432 P Address 172 22 1 25 1433 Netmask 255 255 255 0 1434 Gateway 0 0 0 0 1435 DNS Server 0 0 0 0 1436 DHCP Option 0 1437 IP Command 1440 Email Function 0 1441 Email Text Body 1439 Modbus TCP Timeout 0 The parameter settings must be adapted to the actual application 6 2 1 TCP IP configuration For the configuration of the IP address Netmask etc refer to the CM VABus TCP user manual For details refer to the CM VABus TCP user manual Chapter TCP IP configuration 10 13 ACU Modbus TCP 23 GW Bonfiglioli 6 2 2 TCP IP address amp Subnet settings For proper identification each frequency inverter is assigned a TCP IP address which must be unique in the system 6 2 2 1 Network without DHCP server The address is set via parameter IP Address 1432 In addition the subnet mask Netmask 1433 must be entered properly for the local network No Description Min Factory setting 143
47. Configuration x40 an increase above the Maximum Fre quency can occur because the output of the position controller is added to the Maximum Frequen cy 2 Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388 Speed 1456 Override Profile Velocity 10 13 ACU Modbus TCP 55 GW Bonfiglioli Table travel record Move away from limit Electronic gear Slave mode switch 254 1454 Over 253 ride Modes Of Operation Target posi tion 255 1202 Target position 1132 Fast speed 1133 Creep speed 418 Minimum frequency 419 Maximum Frequen cy 1134 Acceleration 1460 Override Target Ve locity pv u s 418 Minimum frequency 419 Maximum Frequency 1203 Speed Limitation 418 Minimum frequency 419 Maximum Frequen cy 1204 Acceleration 1457 Override Accelera tion 1458 Override Decelera tion Acceleration Deceleration 1205 Deceleration 1134 Acceleration Emergency 1179 Emergency stop 1179 Emergency stop 1179 Emergency stop ramp stop ramp Quick Sto Motion block Selected via control word Gear factor 1123 Gear factor Numera tor 1124 Gear factor denomi nator Phasing 1125 Phasing Offset 1127 Phasing Accelera tion 1 The limitation results from Minimum frequency 418 and Maximum Frequency 419 Through Limi
48. LC Control word 0x0000 Disable voltage 1 Status word 0x0050 Switch On Disabled 2 Modes of Profile Velocity mode Operation Status word 0x0031 Ready to switch on 4 Control word 0x0007 Switch On Status word 0x0033 Switched On Control word 0x0007 Enable operation Profile velocity mode is started at the target speed Override Tar 0x000F get Velocity pv u s 1460 and the ramps Override Profile Acceleration 1457 and Override Profile Deceleration 1458 arget speed and ramp values are applied immediately Oxnn37 Operation enabled 1 A profile comprises the following entries If a value is not changed the old value will remain active e 1456 Override Profile Velocity e 1457 Override Profile Acceleration e 1458 Override Profile Deceleration e 1460 Override Target Velocity pv u v Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 O Once the sequence of the first four status words has been processed correctly the i ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area As long as 0x0007 is active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been
49. ND Start clockwise OR Start Anticlockwise ACU Modbus TCP 10 13 vw Bonfiglioli Status word The status word indicates the current operating state Bit 0 Operation Switched Ready to switch on State Switch on disabled 0 Ready to switch on 1 Switched on 1 Operation enabled 1 Quick stop active 1 Fault reaction active 1 Fault 0 0 X means any value Bit 7 Warning can be set at any time It reports a device internal warning The cause of the warning is evaluated by reading the warning status with parameter Warnings 270 Bit 9 Remote is set if the operation mode is set to Control via state machine Lo cal Remote 412 1 and controller release is turned on Bit 10 Target reached is set when the specified reference value is reached In configurations without Motion Control parameter Configuration 30 x40 Target reached refers to the reference speed from OUT PZD2 In the special case of power failure regulation the bit is also set when the power failure regulation reaches the frequency 0 Hz see frequency inverter operating instructions For Target reached there is a hysteresis tolerance range which can be set via the parameter Max control deviation 549 see frequency inverter Operating Instructions Bit 11 Internal limit value active indicates that an internal limit is active This may be the current limit the torque limit or the overvoltage control Al
50. action ID o Length ID Par No Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 84 Error response Frequency inverter gt Master Field MBAP Unit ID Func Excep Transaction ID Protocol ID Length Hex nn nn nn _ nn 00 03 01 E5 04 The sent exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 50 ACU Modbus TCP 10 13 vw Bonfiglioli 9 2 5 Function code 8 diagnosis Example 1a Deleting of all diagnosis counters sub function 0x0A in frequency inverter with address 1 Request Master gt frequency inverter MBAP Field Transaction ID Protocol ID Length Unit ID Func Sub function Data Hex nn nn nn nn 00 06 01 08 00 OA 00 00 Response Frequency inverter gt Master MBAP Field Transaction ID Protocol ID Length Unit ID Func Sub function Data Hex nn nn nn nn 00 06 01 08 00 OA 00 00 The response is the reflected signal of the request message All counters are set to zero Example 1b With all counters set to zero reading of diagnosis counter 4 Slave Messages Counter sub function Ox0E of frequency inverter with address 1 Request Master gt frequency inverter MBAP Field Transaction ID Protocol ID Length Unit ID Func Sub function Data Hex nn nn nn nn 00 0
51. active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence ACU Modbus TCP 10 13 vw Bonfiglioli 11 4 6 Move away from limit switch mode Move away from limit switch mode can be selected via Override Modes Of Opera tion 1454 2 In Move away from limit switch mode the drive moves back from a triggered limit switch to the permissible travel range Relevant parameters 410 Control word 1454 Override Modes Of Operation 411 Status word 1179 Emergency ramp 418 Minimum Frequency 1133 Creep speed 419 Maximum Frequency 1134 Acceleration In Move away from limit switch mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 it Switch on Enable voltage n Quick stop Low ac tive Enable operation Move away from limit switch gt Fault reset 2 Halt 10 13 ACU Modbus TCP 105 G5 Bonfiglioli 106 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Warning 2 NOTE Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low ac tive amp Switch on disable
52. al Function Generator Oxnn37 Operation enabled oT word 0x005F Starts Velocity mode at current speed cur rent ramps will be canceled Status word Oxnn37 Disable voltage 6f Control word 0x004F 1299 S Special Function Generator 9 Zero gt Starts Velocity mode at current speed current ramps will be canceled 1299 S Special Function Generator 9 Zero gt Starts with reference value from source from 1299 S Special Function Generator Oxnn37 Disable voltage 7 Control word Ox01xx HALT The drive is decelerated at the ramp Deceleration Clockwise 421 or Deceleration Anticlockwise 423 Oxnn37 Operation enabled ACU Modbus TCP 10 13 10 13 Bonfiglioli Vectron Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from OxnnF to 0x000F Velocity mode will be stopped Then the mode can be restarted via OxnnF As long as 0x0007 is active the Modes of Operation can also be changed safel
53. ational measures 2 10 1 General Train your staff in the handling and use of the frequency inverter and the machine plant as well as the risks involved 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 2 10 2 Use in combination with third party products e Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility with third party products e g motors cables or filters e In order to enable optimum system compatibility BONFIGLIOLI VECTRON GmbH offers compo nents facilitating commissioning and providing optimum synchronization of the machine plant parts in operation e f you use the frequency inverter in combination with third party products you do this at your own risk 12 ACU Modbus TCP 10 13 vw Bonfiglioli 2 10 3 Transport and Storage e The frequency inverters must be transported and stored in an appropriate way During transport and storage the devices must remain in their original packaging e The units may only be stored in dry rooms which are protected against dust and moisture and are exposed to small 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 m
54. by external impact and force majeure 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 This user manual is intended for the operator of the frequency inverter Any disclosure or copying of this document exploitation and communication of its contents as hardcopy or electronically shall be forbidden unless permitted expressly 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 If the frequency inverter is sold on to other users then this user manual must also be handed over 6 ACU Modbus TCP 10 13
55. can display a device internal warning message at any time The cur rent warning is evaluated by reading the warning status with parameter Warn ings 270 Bit 10 Target reached is set when the specified reference value is reached In the special case of power failure regulation the bit is also set when the power failure reg ulation reaches the frequency 0 Hz see frequency inverter Operating Instructions For Target reached there is a hysteresis tolerance range which can be set via the parameter Max control deviation 549 see frequency inverter operating instructions Bit 11 Internal limit value active indicates that an internal limit is active This may be the current limit the torque limit or the overvoltage control All functions will result in the reference value being left or not reached Bit 15 Warning 2 signals a critical operating state which will result in a fault switch off of the frequency inverter within a short time This bit is set if there is a delayed warning relating to the motor temperature heat sink inside temperature xt monitor ing or mains phase failure ACU Modbus TCP 10 13 vw Bonfiglioli 11 2 Control via state machine In the operation mode Control via state machine Local Remote 412 1 the fre quency inverter is addressed via the control word of the state machine Transition 4 to status Operation enabled is only possible If in a configuration for positioning
56. celeration u s gt P 1134 Acceleration u s gt Internal Reference Acceldration Ram Homing Mode Velocity Mode vl Profile velocity Mode pv gt P 1134 Acceleration u s gt P 420 amp P 422 Hz s gt P 1457 Override Acceleration u s Profile Position Mode gt P 1457 Override Acceleration Pa Table Travel Record Mode gt P 1204 Acceleration u s Move Away from Limit Switch gt P 1134 Acceleration u s Electr Gear Slave gt Internal Reference Quick Stop Ramp Homing Mode Velocity Mode vi Profile velocity Mode pv Profile Position Mode Table Travel Record Mode Move Away from Limit Switch Electr Gear Slave Profile Position Mode Special Objects gt P 1179 Emergency Ramp u s gt P 424 amp P 425 Hz s gt P 1179 Emergency Ramp u s gt P 1179 Emergency Ramp u s gt P 1179 Emergency Ramp u s gt P 1179 Emergency Ramp u s gt P 1179 Emergency Ramp u s _ Emergency Ramp Target position gt P 1455 Override Target Position u Table Travel Record Mode gt P 1202 Target Pos All modes Modes of Operation P 1454 Override Modes of Operation Control Word gt P 410 Control word Status Word lt P 411 Status word Homing Mode Homing method gt P 1130 homing type Table Travel Record Mode Electr Gear Slave gt P 1123 P 1124 P 1142 Gearfactor
57. cimal system 10 13 ACU Modbus TCP 31 GS Bonfiglioli Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when writing parameters For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes For an example of a Modbus RTU telegram refer to Chapter 9 1 3 7 2 4 Function code 16 write 32 bit parameter Function code 16 can be used for writing 32 bit values into the frequency inverter Request Write 32 bit parameter MBAP header 0x0000 0x963F Number of bytes 1 byte 0x04 Register value parameter value Response MBAPheader Address 1 byte 1 0xF7 247 Function code Start address dataset para no Number of registers 2 bytes 0x0002 Exception condition response MBAP header 1 0xF7 247 Exception condition code 1 byte Start address This field is used for saving the parameter number and dataset number The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits 15 1 101 9 8 7 6 5 4 3 2 1 0
58. control parameter Configuration 30 x40 the controller release is set via STOA and STOB If in other configurations parameter Configuration 30 x40 the controller release is set via STOA and STOB and if one of the digital inputs S2IND or S3IND is set Typically S2IND Start clockwise S3IND Start anticlockwise Parameter Control word 410 is applicable to the frequency inverter if parameter Lo cal Remote 412 is set to 1 Control via statemachine 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 O Bit Switch on Enable voltage Quick stop Low active Enable operation gt Operation mode specific Operation mode specific Operation mode specific 7 Fault reset Halt Operation mode specific 11 Manufacturer specific 2Manufacturer specific 3 Manufacturer specific 4Manufacturer specific sManufacturer specific Bits 9 15 are used depending on the configuration and on Mode of Operation Control word bits 4 5 6 operation mode specific and bit 8 halt are used in motion control configurations Parameter Configuration 30 x40 only The actual value parameter Status word 411 shows the current operating status 10 13 ACU Modbus TCP 67 GX Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on o
59. cts via field bus gt Reference values depend on the selected configuration Typical o Reference speed reference frequency o Reference target position Also refer to application manual Positioning MCI Motion Control I nterface Positioning via Field Bus In Modbus TCP communication MCI is not available You can use Motion Control Over ride MCO instead Required settings Configuration 30 x40 Local Remote 412 1 Statemachine gt Control start stop change of mode etc is performed via Control word 410 gt Reference values result from the selected Override Modes Of Operation 1454 Typical o Speed reference via Override Target Velocity vl rpm 1459 target speed o Target position via Override Target Position 1455 For information on how to use the Motion Control Interface refer to Chapters 10 Motion Control In terface MCI Motion Control Override MCO and 11 4 Motion control configurations 10 13 ACU Modbus TCP 17 GS Bonfiglioli 3 2 I nitialization 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 first commissioning you should be familiar with the followings steps and the de scribed functions e Installation of module Chapter
60. d wu Warning Remote Target reached 1 Internal limit active ue Move away from limit switch mode will always work with hardware limit switches In the case of software limit switches the mode will only work if a software limit switch Fault reaction 1144 with error stop was selected If a setting with warning e g 10 Warning was selected the software limit switch will not trigger an error thus Move away from limit switch mode will not clear the software limit switch NOTE Move away from limit switch mode must not be used when one of the following error messages occurs e F1444 Pos limit switch lt Neg limit switch e F1445 Both limit switches at the same time e F1446 Wrong limit switch wiring If one of these errors has occurred the wiring and parameter settings must be checked first before resuming operation ACU Modbus TCP 10 13 vw Bonfiglioli Control word I dentification Move away from limit switch mode Bit 4 Do not start or stop movement 1 Start or resume movement from limit switch to travel range Execute command from bit 4 Move away from limit switch 1 Stop axis with ramp of current motion block The fre quency inverter remains enabled in Operation enabled status Bit 8 Status word Identification Target reached Bit 10 Limit
61. ded The master input is selected in the Slave via parameter Master position source 1122 0 Off No source selected 1 Encoder iaten over Ham encode fmt E e 1 Encoder 1 f taken over from encoder input 1 2 resolver 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 e 606 Internal act Position 16 16 mechanical position of master drive Value will not change abruptly when a homing operation of the master drive is completed RxPDO1 Longl extrapolated 620 motion profile gen internal reference posi tion reference position of master drive advantage Improved controller properties Value will not change abruptly when a homing operation of the master drive is completed Settings 607 and 627 are only to be used in exceptional situations In most applications source 606 or 620 is the better setting In setting 11 RxPDO1 Long1 extrapolated of parameter Master position source 1122 the Operation mode 1180 of the system bus synchronization must be set to 1 or 10 to ensure reliable functional operation 0 off RxPDO1 RxPDO2 1 2 3 3 RxPDO3 10 SYNC 1 If the error mes
62. drive The Slave drive must be set up as follows RxPDO2 Function 926 640 or the Identifier defined in the Master drive The function Master Slave Position Correction expects the Target Position u always in RxPD2 Long When using this function RxPDO2 Long1 and also RxPDO2 Word1 RxPDO2 Word2 RxPDO2 Booleanl and RxPDO2 Boolean2 are not allowed to be used for any other purpose 116 ACU Modbus TCP 10 13 10 13 vw Bonfiglioli Starting of Master Slave Position Correction in Slave drive To start the Master Slave Position correction at first Bit 4 and then Bit 5 have to be set in the Control word Bit 5 is only allowed to be set when Bit 10 In Gear is shown in the Status word By setting Bit 5 in the Control word the Slave drive is started to position to the Master position Offset The acceleration is done with Parameter Acceleration 1134 The used velocity can be set up via Parameter Fast Speed 1132 As long as the Master Slave Position correction is executed Bit 12 is deactivated in the Status word When the Master Slave Position correction is finished successfully Bit 12 is set During the Correction sequence the Status word bit 8 Master Slave Position correc tion is set to Low As soon as the Master Slave Position correction 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 Since Bit 8 is also used for Phasing alwa
63. e Both Directions Locked No Touch Probe Signal Detected Ethernet F27 Communication loss to PLC The current error can be read via parameter Current error 260 Parameter Current error 259 indicates the current error as plain text in the control panel and the VPlus PC control software In addition to the error messages mentioned there are other error messages speci fied in the Operating Instructions The errors of the Motion Control Interface F14xx F15xx are described in detail in the Positioning application manual 128 ACU Modbus TCP 10 13 vw Bonfiglioli 14 6 Conversions The speeds frequencies can be converted to other speed formats using the formulas in this chapter Frequency Hz into speed 1 min See Chapter 14 6 2 Speed into user units per second See Chapter 14 6 4 u s Speed 1 min in Frequency Hz See Chapter 14 6 1 Speed into user units per second See Chapter 14 6 6 u s Speed into user units per second Speed 1 min See Chapter 14 6 5 u s into Frequency Hz See Chapter 14 6 3 14 6 1 Speed 1 min into frequency Hz n min x No of pole pairs P 373 f Hz 60 14 6 2 Frequency Hz into speed 1 min f Hz x 60 nlp No of pole pairs P 373 14 6 3 Speed in user units per second u s into frequency Hz Hz u No of pole pairs P 373 z Gear Box Motor Shaft Revolutions P 1117 FASE Fi Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 11
64. e Motion Control from the links of parameters P 1292 P 1297 are used If the parameter settings deviate from the factory settings the value of the relevant parameter will be used It is possible to de fine certain ranges of the trajectory via the override function and other values via the Motion Control Interface Target position 1 u cannot be approached because Override Target Position 1455 1 deactivates the override feature ACU Modbus TCP 53 GS Bonfiglioli Depending on the selected mode of operation various objects and parameters are used The various objects and parameters must be set specifically for the different modes of operation Use of Deceleration and Quick Stop depends on the modes of operation control commands and behavior in the case of communication errors see Bus Error Behav iour 388 The following tables provide an overview of the different objects and parameters The object parameter mentioned first in a cell will typically be used If an object is related to a parameter the parameter will be specified The following tables show the available modes of Operation using the Motion Control Override Homing Velocity Mode Profile Velocity Mode 1454 Over 6 2 3 ride Modes Of Operation Target posi tion Speed 1132 amp 1133 1459 Override Target 1460 Override Target Ve Fast speed Creep speed Velocity vl rpm locity pv u s Limitation 418 Minimum frequency 418 Minimum fre
65. e Target Position 1455 reached See also chapter 10 2 4 Target win dow Halt control bit 8 1 Speed of axis is 0 Set point 0 The travel profile calculation has not applied the posi acknowledge tion value yet Bit 12 1 The travel profile calculation has applied the position value Following error 0 No following error Bit 13 1 Following error 88 ACU Modbus TCP 10 13 10 13 vw Bonfiglioli Example Individual reference value Control bit Switch at reference value 0 Control bit Change reference value immediately 0 Once a reference value has been transmitted to the drive the controller signals a per missible value in the control work by a rising signal edge for the bit New reference value The drive responds by setting the bit Reference value confirmed and starts moving to the new target position After that the controller resets the bit New refer ence value and the drive resets the bit Reference value confirmed Once the bit Reference value confirmed has been reset the drive is ready for receiving a new tar get position new set point ii control bit 4 PLC target position T set point J t current target Drive position processed _t t set point acknowledge status bit 12 target reached status bit 10 actual speed ACU Modbus TCP 89 I Bonfiglioli Example single set point control bit change on set point 0 c
66. e control panel e Via parameter Error acknowledgment 103 which is assigned a logic signal or a digital input A reset via a digital signal can only be carried out when parameter Local Remote 412 permits this or when an input with the addition hardware is selected in the case of physical inputs Some errors will occur again after an error reset In such cases it may be neces sary to take certain measures e g moving from a limit switch in the non disabled direction 40 ACU Modbus TCP 10 13 v Bonfiglioli 8 Parameter access 8 1 Handling of datasets cyclic writing of parameters The parameter values are accessed based on the parameter number and the required dataset There are parameters the values of which are present once dataset 0 as well as parameters the values of which are present four times dataset 1 4 These are used for dataset switching If parameters which are present four times in the datasets are set to Dataset 0 the four datasets 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 will be sig naled The values are entered automatically in the EEPROM of the controller When values are to be written cyclically no entries shall be made in the EEPROM as this only al lows a limited number of write cycles approx 1 million cycles When the number of permissible write c
67. ear with Direct Synchroni sation and Phasing Profile 4 Status word See 6alSee 6a 9 Control word Ox001F Enable Operation the Slave drive synchroniz 0x003F les to the Master position Status word Oxnn37 Operation enabled 0x1n37 M S Position Correction finished ACU Modbus TCP 10 13 10 13 Bonfiglioli Vectron Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area Bit 4 Start electronic gear must be active during the movement If bit 4 is reset to 0 the movement is interrupted As long as 0x0007 is active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence Bit 5 Start Position Correction is only allowed to be used when the Slave is in gear Status word Bit 10 Bit 5 Start Position Correction should be used for optimum results when the master drive doesn t move When Bit 5 of the Control word is reset to 0 the m
68. ecution of motion blocks is interrupted by setting Start motion block to 0 the drive will stop with the ramp set in the current motion block The interrupted mo tion block or automatic motion block sequence can be continued by setting Resume and a rising signal edge for Start motion block If Resume is set to 1 and no valid motion block is available the motion block selected by the motion block switching function will be used A valid motion block is indicated by parameter Motion block to Resume 1249 Motion block to Resume 1249 reads 1 if no valid motion block is present or if the last motion block or motion block sequence was not interrupted Target reached is set if the actual position of motion blocks with absolute or relative positioning reaches the position window In Gear is set when the electronic gear function is used and the electronic gear is coupled synchronous running Setting Ha t to 1 will stop a currently executed motion block The axle is stopped with the ramp set in the current motion block Target reached is set to 1 when the speed reaches value 0 The drive remains in Operation enabled status To continue the interrupted motion block reset Ha t to 0 ACU Modbus TCP 10 13 vw Bonfiglioli Examples single motion block sequence mode control bit 4 0 2 motion blocks 7 10 start motion block control bit 9 PLC Drive
69. ely Factory setting 2 Sto Control command Disable voltage and switch to switch on disa 5 bled status Control command Quick stop and switch to switch on disabled 3 Quick stop status 4 Shutdown Errar Control command Disable operation and switch to Error status once the drive has been shut down Control command Quick stop and switch to Error status once Pa AEE er ae ek the drive has been shut down The parameter settings Bus Error Behaviour 388 2 5 are evaluated depending on parameter Local Remote 412 For evaluation of settings 2 5 parameter Local Remote 412 must be set to value 1 Control via statemachine 10 13 ACU Modbus TCP 25 GW Bonfiglioli 7 Protocol The Modbus TCP communication protocol is a Client Server based protocol Modbus TCP communica tion will always be initialized by the client e g PLC The server nodes frequency inverters do not communicate with one another Modbus TCP communication will be established by the client via the TCP IP Port 502 on the side of the Modbus TCP server CM Modbus TCP and CM Modbus TCP 2P only support e Port 502 for establishing Modbus TCP connection e one request per transaction only NumberMaxOfServerTransaction 1 7 1 Telegram structure A Modbus TCP telegram comprises the following fields Modbus RTU data contents MBAP Modbus Application Header Length Server inverter 2 bytes
70. ess 9 2 1 Function code 3 read 32 bit parameter 9 2 2 Function code 16 write 32 bit parameter 9 2 3 Function code 100 0x64 read 32 bit parameter 9 2 4 Function code 101 0x65 write 32 bit parameter 9 2 5 Function code 8 diagnosis 10 MOTION CONTROL INTERFACE MCI MOTION CONTROL OVERRI DE MCO 10 1 Motion Control Override 10 2 Functions of Motion Control I nterface MCI 10 2 1 Reference system 10 2 2 Modes of operation 10 2 3 Current position and contouring errors 10 2 4 Target window 10 2 5 Position Controller 10 2 6 Homing 10 2 7 Move away from Hardware limit switches 11 CONTROL OF FREQUENCY INVERTER 11 1 Control via contacts remote contacts 11 1 1 Device state machine 11 2 Control via state machine 11 2 1 Statemachine diagram 11 3 Configurations without Motion Control 11 3 1 Behavior in the case of a quick stop 11 3 2 Behavior in the case of transition 5 disable operation 11 3 3 Reference value actual value 11 3 4 Example sequence 11 4 Motion control configurations 11 4 1 Velocity mode rpm 11 4 2 Profile Velocity mode u s pv 11 4 3 Profile position mode 11 4 4 Homing mode 11 4 5 Table travel record 11 4 6 Move away from limit switch mode 11 4 7 Electronic gear Slave 10 13 ACU Modbus TCP head Bonfiglioli 12 ACTUAL VALUES 12 1 Actual values Motion Control nterface Motion Control Override 13 PARAMETER LIST 13 1 13 2 Actual values Menu Actual Parameters Me
71. et e 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 e If seals are removed from the case this can result in the warranty becoming null and void 2 10 5 Electrical connections 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 applicable national and international regulations laws on work on electrical equipment plants of the country in which the frequency inverter is used The cables connected to the frequency inverters may not be subjected to
72. f 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 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 n 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 n 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 Unless approved of expressly by the manufacturer do not modify the frequency inverter in any way including addition of attachments or retrofits 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 Organiz
73. fying a travel profile via serial communication VABus or Modbus as well as VABus TCP or Modbus TCP This enables testing a travel profile in the VPlus user software for Windows when the controller has not been programmed completely yet This function can also be used as a simulation mode The Function Motion Control Override does not support the following modes e Interpolated Mode e Cyclic Synchronous Position Mode e Cyclic Synchronous Velocity Mode Description _ Factory setting verde Target Poston ay Override Profile Velocity sf 1 2 2u s Override Acceleration 1 21 u s H Override Deceleration 1 2L u s H Override Target Velocity vi rpm _ 32768 32767 rpm Override Target Velocity pv u s _2 1 2 1u s_ Based on the default settings of the Motion Control Interface parameters P 1292 P 1297 the override parameters and CANopen objects are used as follows 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 Ox60FF Target Velocity With the default settings 1 in parameters P 1455 P 1460 and 0 in parameter Override Modes Of Operation 1454 the values of th
74. h on disabled Warning Remote 0 Target reached 1 Internal limit active 2 Set point acknowledge Following error 5 Warning 2 10 13 ACU Modbus TCP 87 GW Bonfiglioli Control word Change on Change set point New set Description set point immediately point Bit 9 Bit 5 Bit 4 0 0 0 gt 1 Positioning operation to be com pleted target reached before the next one is started X 1 0 gt 1 Next positioning operation to be started immediately 1 0 0 gt 1 Positioning operation to be started with the current speed profile until the current refer ence value is reached then the next positioning operation is to be processed Identification Value Description Abs rel 0 Override Target Position 1455 is an absolute value Bit 6 1 Override Target Position 1455 is a relative value Halt 0 Execute positioning operation Bit 8 1 Stop axis with Override Profile Deceleration 1458 if not supported with Override Profile Acceleration 1457 the frequency inverter will remain in status Operation enabled Status word Identification Value Description Target reached 0 Halt control bit 8 0 Override Target Position Bit 10 1455 not reached yet See also chapter 10 2 4 Target window Halt control bit 8 1 Axis decelerated 1 Halt control bit 8 0 Overrid
75. h the locking hook inwards in the direction of the arrow As soon as the right side is unlocked pull out the module a bit on the right side and hold it e Hold the module on the right side while unlocking the locking hook on the left side in the same way gt e Pull the module out of the slot by gently pulling on the right and left side al ternately e Disassemble the PE spring 5 see Chapter 5 1 Assembly e Mount the two covers 1 and 2 see Chapter 5 1 Assembly ACU Modbus TCP 10 13 Bonfiglioli Vectron 6 Modbus TCP interface The frequency inverter can be controlled by a PLC or another master device via an Ethernet interfaces using the Modbus TCP protocol When a Modbus TCP or Modbus TCP 2P communication module is used you can also access the fre quency inverter using the VPlus software via Ethernet VPlus can be used in parallel with a PLC with Modbus TCP communication Invi 20000 210000 000 20000 210000 000 000K 200 3000 x Inv 2 LA Su 20000000 100 i oy DOOK 100X XXXX Se OK OK XK N 3 Inv 3 Modbus TCP v 000 000 00 20000 0000 00X n 2000020000 20000 CM CM CM Modbus TCP Modbus TCP Modbus TCP Inv 1 Inv 2 Inv3 Modbus_TCP Invi 30006 1000 00 3000 30004 1000 de 10006 1000 00 Inv 2 woo 20004 1000 30002000 000 000 0000000 Inv 3 A 10 13 Modbus TCP CM lodbus TCP 2P Inv 3 Modbus_TCP 2P This document does not provide basic informa
76. hardware release via STO is present In status Operation enabled 0x37 the device will switch to status Switched On 0x33 internally once the hardware release via STO is reset In configurations with Motion Control parameter Configuration 30 x40 the fol lowing must be noted e Transition 4 is not available e In status 5 Operation enabled 0x37 an additional start signal must be provided via bits from the High Byte of the control word in order to start a movement of the motor For a description of the start signal for this Motion Control Interface MCI refer to Chapter 11 4 Parameter Override Modes Of Operation 1454 is available for switching to other MCI modes e Digital inputs STOA and STOB must be set Start clockwise and Start anticlock wise have no function in these configurations In configurations without Motion Control parameter Configuration 30 x40 the following must be noted e Transition 4 will only be processed if Bit 4 Voltage enabled of the status word is set This feature is downward compatible with older software ver sions e The frequency inverter can only be controlled if the logic operation is true The logic inputs for Start Clockwise and Start anticlockwise can be connected directly with On or Off parameter Start Clockwise 68 and Start Anti clockwise 69 Digital inputs STOA and STOB must be set This results in Release STOA and STOB A
77. he target position speed acceleration deceleration quick stop and mode specific information In the case of Modbus TCP communication MCI cannot be used directly Instead posi tioning is performed via MCO Motion Control Override see Chapter 10 1 Motion Con trol Override The Motion Control Interface uses parameter Override Modes Of Operation 1454 for switching between the different modes The supported modes as per CANopen Standard DS402 are e 1 Profile Position mode e 2 Velocity mode rpm e 3 Profile Velocity mode u s e 6 Homing Bonfiglioli Vectron specific mode e 1 or OxFF Table Travel record mode e 2 or OxFE Move Away from Limit Switch e 3 or OXxFD Electronic Gear Slave electronic gear as slave The mode of operation can be switched in any operating state It is recommended that running movements be stopped by the PLC first then switch the mode of operation using Override Modes Of Operation 1454 and restart in the new mode In order to use the Motion Control Interface Local Remote 412 1 Control via statemachine must be set In configurations without positioning control Configuration 30 x40 only velocity mode is available For a description of the positioning parameters please refer to the Application manual Positioning ACU Modbus TCP 10 13 vw Bonfiglioli 10 1 Motion Control Override 10 13 The Motion Control Override feature can be used for speci
78. hen the speed reaches value 0 The drive remains in Operation enabled status By resetting Ha t to 0 the interrupted clear ing operation will be continued and Target reached will be reset to 0 10 13 ACU Modbus TCP 107 GS Bonfiglioli 11 4 6 1 Example sequence 108 In order to clear the limit switches the correct sequence must be sent by the PLC 1 Control word 0x0000 Disable voltage Status word 0x0050 Switch On Disabled bia of operation 2 Move away from limit switch Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on 4 Control word Switch On 0x0033 Switched On Status word Oxnn37 Operation enabled Move away from limit switch mode Oxn2B7 Operation enabled limit switch active clear ing active 0xn637 Operation enabled and limit switch cleared target reached Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area Bit 4 Move away from limit switch must be active in the clearing phase If bit 4 is reset
79. high voltage insulation tests unless appropriate circuitry measures are taken before e Only connect the frequency inverter to suitable supply mains 2 10 5 1 The five safety rules When working on in electrical plants always follow the five safety rules 1 Isolate 2 Take appropriate measures to prevent re connection 3 Check isolation 4 Earth and short circuit 5 Cover or shield neighboring live parts 2 10 6 Safe operation During operation of the frequency inverter always comply with the applicable national and inter 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 10 13 ACU Modbus TCP 13 GW Bonfiglioli 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
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81. ical 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 I nstructed person The term Instructed Person covers staff that are 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 have their qualification verified Expert The term Expert covers qualified and trained staff that have special technical know how and experi ence relating to the frequency inverter Experts must be familiar with the applicable government work safety directives accident prevention regulations guidelines and generally accepted rules of technolo gy in order to assess the operationally safe condition of the frequency inverter 10 13 ACU Modbus TCP 7 GB 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
82. ification Sequence mode Bit 4 Resume Bit 6 Halt Bit 8 Start motion block Bit 9 Motion block se lect 0 4 Bit 11 15 15 Warning 2 Value Description 0 Single motion 1 Automatic sequence 0 Start motion block motion block switching 1 Start motion block last Actual Motion Block The motion block which is resumed can be read via ob ject 1249 0 Execute command from bit 4 Automatic sequence 1 Stop axis at ramp of current motion block The frequency inverter remains in Operation enabled status 0 Stop axis at ramp of current motion block 0 gt 1 Execute motion block s n Start motion block n 1 ACU Modbus TCP 10 13 vw Bonfiglioli Motion block select 3 2 Resulting start mo 4 0 tion block 0 0 0 0 0 1 0 0 0 1 1 4 1 0 0 0 0 17 1 1 1 1 1 32 Status word Identification Value Description Motion block in 0 Single motion Motion block complete progress Automatic sequence Sequence complete Bit 8 1 Single motion automatic sequence active Target reached Halt control bit 8 0 Target position not reached Bit 10 yet only motion blocks with 0 positioning See also chapter 10 2 4 Target window Halt control bit 8 1 Axis decelerated Halt control bit 8 0 Target position reached only motion blocks with position 1 ing See also chapter 10 2 4 Target window
83. inbro 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 igli 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 GY 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 1047 RO Via Giovanni XXIII 7 A fax 39 051 647 3126 40012 Lippo di Calderara di Reno bonfigliol
84. ing Phasing switching 0 Phasing switching 1 10 13 ACU Modbus TCP 109 GX Bonfiglioli 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 Quick stop low active amp Switch on disabled Warning Phasing Done or M S Correction Done Remote Target reached In gear Internal limit active 2M S Position Correction successful 13 Following error 15 Warning 2 e The function Master Slave Position Correction is only allowed to be used after complete setup of this function Check for parameter setup chapter 11 4 7 1 Master Slave Position Correction A Dangerous state due to faulty parameterization 110 ACU Modbus TCP 10 13 Control word I dentification Start electronic gear Bit 4 Start vw Bonfiglioli Description Stop drive at ramp Override Profile Deceleration 1458 Start electronic gear at reference master speed at ramp Override Profile Acceleration 1457 M S Correction not started M S Correction Bit 5 Direct Sync Start Master Slave Position correction See chapter 11 4 7 1 Master Slave Position Correc tion Direct Synchronisation enabled Bit 6 Halt Direct Synchronisation disabled Execu
85. ing operation target actual position and tries to control the drive such that it comes as close as possible to the specifica tions For this purpose an additional frequency is calculated for compensation of position deviations By setting the corresponding parameter this frequency can be limited The parameter settings of the position controller determine how quick and to what extent position deviations are to be compensated Via Time Constant 1104 you can define the maximum time in which the position deviation is to be compensated Via parameter Limitation 1118 you can define to which value the speed is limited for compensation of the position deviation No Description Min Max Factory setting ia i 100 00 ms 1118 327 680 u s 1 Factory parameter setting Configuration 30 240 or 540 2 Factory parameter setting Configuration 30 440 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 I Sq Ref APC ISQretsc N ISQrer OFS Speed Controller Speed Controller Limitation Trajectory generator Limitation 1118 Position Position Controller Sha Controller In order to avoid oscillations of the drive while it is at standstill amplification is
86. ion ID Protocol ID Length Hex nn nn nn nn 00 03 01 E4 04 The exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 10 13 ACU Modbus TCP 49 GW Bonfiglioli 9 2 4 Function code 101 0x65 write 32 bit parameter Example 1 Writing of parameter Rated Frequency 375 0x0177 in dataset 2 of frequency inverter with address 1 The Rated Frequency is to be set to 10 00 Hz Parameter Rated Frequency 375 has two decimal plac es Thus the value to be sent is 1000 0x03E8 Request Master gt frequency inverter MBAP Unit Func DSet Par value Field Transaction ID ee Length ID Par No Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 E8 Response Frequency inverter gt Master MBAP Unit Func DSet Par value Field TencacioniD oo Length ID Par No Hex nn nn nn nn 00 08 01 65 21 77 00 00 03 E8 The response is the reflected signal of the request message Example 2 Writing of non permissible value 9 00 Hz in parameter Rated Frequency 375 in dataset 2 of frequency inverter with address 1 Parameter Rated Frequency 375 has 2 decimal places Thus the value to be sent is 900 0x0384 Request Master gt frequency inverter MBAP Unit Func DSet Par value Field Trans
87. ion code 16 write 32 bit parameter Example 1 Writing of parameter Fixed Frequency 3 482 0x01E2 in dataset 9 RAM for dataset 4 of frequen cy inverter with address 1 The fixed frequency is to be set to 44 50 Hz Parameter Fixed Frequency 3 482 has two decimal places Thus the value to be sent is 4450 0x00001162 Request Master gt frequency inverter MBAP Unit Func DSet No No Par value Field Transaction ID Protocol ID Length ID Par No regis Byte ters Hex nn nn nn nn 00 0B 01 10 91 E2 00 02 04 00 00 11 62 Response Frequency inverter gt Master MBAP Unit Func DSet No Field Transaction ID Protocol ID Length ID Par No regis ters Hex nn nn nn nn 00 0B 01 10 91 E2 00 02 The response contains the number of written registers Example 2 Writing of parameter Fixed Frequency 3 482 0x01E2 in dataset 9 RAM for dataset 4 of frequen cy inverter with address 1 The frequency is to be set to 2000 00 Hz non permissible value Parameter Fixed Frequency 3 482 has two decimal places Thus the value to be sent is 20000 0x00030D40 Request Master gt frequency inverter MBAP Unit Func DSet No No Par value Field Danti ni Length ID Par No regis Byte ters Hex nn nn nn nn 00 0B 01 10 91 E2 00 02 04 00
88. itioning application man ual 10 2 2 Modes of operation In Override Modes Of Operation 1454 you can define the operation mode of the fre quency inverter The available options depend on the set frequency inverter configuration Available values for Override Modes Of Operation 1454 in configurations of the fre quency inverter with position control Parameter Configuration 30 x40 1 Profile position mode 2 Velocity mode rpm factory setting 3 Profile velocity mode u s 6 Homing mode a Table travel record mode manufacturer specific mode of operation a Move away from limit switch manufacturer specific mode of operation 253 Electronic Gear Slave manufacturer specific mode of operation Usable values for Modes of operation in frequency inverter configurations without posi tioning control Parameter Configuration 30 x40 2 Velocity mode rpm 58 ACU Modbus TCP 10 13 vw Bonfiglioli 10 2 3 Current position and contouring errors Parameter Act Position 1108 returns the actual position in user units Parameter Act Contouring Error 1109 returns the actual contouring error The contouring error can be monitored internally in order to trigger a device error once a threshold is reached For details on parameters Fault Reaction 1120 Warning Threshold 1105 Error Threshold 1106 and Contouring Error Time 1119 refer to application manual Positioning
89. itioning functions e Positioning via contacts or remote contacts e Positioning via Motion Control Interface MCI via Field Bus A configuration with position control is selected when parameter Configuration 30 x40 e g 240 is set In order to use the full functionality of the Motion Control Interfaces parameter Lo cal Remote 412 1 Control via statemachine must be set additionally The operating behavior of the frequency inverter varies in the configuration groups considering con trol word status word and modes of operation Standard Required settings Configuration 30 x40 Local Remote 412 remote contacts gt Control start stop frequency changeover etc is typically performed through o Digital contacts o Remote contacts via field bus gt Reference values depend on the selected configuration Typical o Reference speed reference frequency Analog input Fixed values from parameters Override Target Velocity vl rpm 1459 target speed o Reference percentage for technology controller or torque control Analog input Fixed values from parameters See Chapter 11 3 Configurations without Motion Control for control without positioning functions Positioning via contacts or remote contacts Required settings Configuration 30 x40 Local Remote 412 remote contacts gt Control start stop target position changeover etc is typically performed through o Digital contacts o Remote conta
90. k Stop Quick Stop Quick Stop low active low active low active low active low active Warning Switch On Disabled Switch On Disabled Switch On Disabled Switch On Disabled ae On Disa Warning Remote Target reached Target reached Target reached Target reached Internal limit active Internal limit active Internal limit active Internal limit active Internal limit active EI Target Pos reached Warning 2 Warning 2 Switched On switchedon switchedon Switched on low active low active low active low active Progress Target reached Target reached Target reached Target reached Internal limit active Internal limit active Internal limit active Internal limit active Homing attained ingear Following error Pe Following error 10 13 ACU Modbus TCP 125 GW Bonfiglioli 14 3 Warning messages The different control methods and the hardware of the frequency inverter include functions for con tinuous monitoring of the application In addition to the messages documented in the frequency in verter user manual further warning messages are activated by the Field Bus module The bit coded warning reports are issued via parameter Warnings 270 according to the following pattern Parame ter Warnings 270 is provided for read out via a PLC Parameter Warnings 269 provides the infor mation including a brief description in VPlus and the control panel Bit no Warning Description code 0 Warning xt 1 Wa
91. ks are special hazards involved in handling of the frequency inverter which cannot be elim inated despite the safety compliant design of the device Remaining hazards are not obvious and can be a source of possible injury or health damage 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 in frequency inverter if no external disconnection de vice 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 shutdown 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 on the frequency inverter 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 10 13 ACU Modbus TCP 9 GS Bonfiglioli 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 pa
92. l functions will result in the reference value being left or not reached Bit 15 Warning 2 signals a critical operating state which will result in a fault switch off of the frequency inverter within a short time This bit is set if there is a delayed warning relating to the motor temperature heat sink inside temperature Ixt monitor ing or mains phase failure 10 13 ACU Modbus TCP 71 GY Bonfiglioli 11 3 Configurations without Motion Control 11 3 1 72 In configurations without positioning control Configuration 30 x40 Override Modes Of Operation 1454 is set permanently to 2 velocity mode This setting cannot be changed Relevant parameters 410 Control word 411 Status word 1459 Override Target velocity vl rpm 240 Actual speed 418 Minimum Frequency 419 Maximum Frequency 420 Acceleration Clockwise 422 Acceleration Anticlockwise 421 Deceleration Clockwise 423 Deceleration Anticlockwise 424 Emergency Stop Clockwise 425 Emergency Stop Anticlockwise The ramp times are specified via parameters 430 433 Behavior in the case of a quick stop In quick stop the parameters Switch Off Threshold 637 percent of parameter Max imum Frequency 419 and Holding time 638 holding time after falling short of the Switch Off Threshold are relevant Maximum Frequency In the case of a quick stop the drive is stopped via emergency stop ramps The emergency stop ramps are
93. meter value 0 OxFFFF FFFF Response MBAP header Exception condition response MBAP header en eee 1 OxF7_ 247 1 byte Exception condition code Start address This field is used for saving the parameter number and dataset number The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits 34 ACU Modbus TCP 10 13 vw Bonfiglioli Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 For the above example Hex lo 1 o o o o 1 o 1 1 1 o 1 0o o Bin A 1 7 Register value This field is used for saving the 32 bit parameter value Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 Example Frequency value A frequency value of 100 25 Hz is to be transferred The actually transferred numerical value is 10025 i e 0x2729in the hexadecimal system Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when reading parameters For a description of the exception condition code
94. motion block in progress status bit 8 target reached status bit 10 position active motionblok O 7 o 10 O 10 13 ACU Modbus TCP 101 GS Bonfiglioli 102 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 ol a 5 e O ACU Modbus TCP 10 13 Interrupted motion blocks sequence Automatic sequence control bit 4 1 Sequence Motion block 4 5 6 Motion block 5 interrupted start motion block control bit 9 status bit 8 vw Bonfiglioli PLC resume controlbit 6 Drive motion block target reached status bit 10 position active FELL motion blek O 4 O 5 6 0 motion block to resume OA a 5 6 1 10 13 ACU Modbus TCP 103 GX Bonfiglioli 11 4 5 1 Example sequence In order to start Table travel record mode the correct sequence must be sent by the PLC 0x0006 Shutdown 0x0031 Ready to switch on 0x0007 Switch On 0x0033 Switched On Control word Status word ontrol word tus word tus word ontrol word Ox000F Enable operation Oxnn37 Operation enabled 0x020F Start motion block 1 as single motion block 0
95. 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 are endangered a restart of the motor must be prevented by means of external circuitry 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
96. nitialization time 4 FIRST COMMISSIONING 5 ASSEMBLY DISASSEMBLY OF COMMUNI CATION MODULE 5 1 Assembly 5 2 Disassembly 6 MODBUS TCP INTERFACE 6 1 Communication modules 6 1 1 Installation instructions 6 2 Setup 6 2 1 TCP IP configuration 6 2 2 TCP IP address amp Subnet settings 6 2 3 Modbus TCP Timeout settings 6 3 Operating behavior in the case of a communication error 7 PROTOCOL 7 1 Telegram structure 7 2 Supported function codes 7 2 1 Function code 3 reading 16 bit or 32 bit parameters 7 2 2 Function code 6 write 16 bit parameter 7 2 3 Function code 16 write 16 bit parameter 7 2 4 Function code 16 write 32 bit parameter 7 2 5 Function code 100 0x64 read 32 bit parameter 7 2 6 Function code 101 0x65 write 32 bit parameter 7 2 7 Function code 8 diagnosis 7 2 8 Exception condition responses 7 2 9 Exception condition codes 7 2 10 Modbus TCP mode of transmission 7 3 Resetting errors 8 PARAMETER ACCESS 8 1 Handling of datasets cyclic writing of parameters 8 2 Handling of index parameters cyclic writing 8 2 1 Example Writing of index parameters 8 2 2 Example Reading of index parameters 2 ACU Modbus TCP 15 17 18 18 19 19 20 21 41 41 42 43 10 13 v Bonfiglioli 9 EXAMPLE MESSAGES MODBUS TCP 9 1 16 bit access 9 1 1 Function code 3 read 16 bit parameter 9 1 2 Function code 6 write 16 bit parameter 9 1 3 Function code 16 write 16 bit parameter 9 2 32 bit acc
97. nu Para 14 APPENDIX 14 1 14 2 14 3 14 4 14 5 14 6 14 6 1 14 6 2 14 6 3 14 6 4 14 6 5 14 6 6 INDEX List of control words Overview of status words Warning messages Application warning messages Error messages Conversions Speed 1 min into frequency Hz Frequency Hz into speed 1 min Speed in user units per second u s into frequency Hz Frequency Hz into speed in user units per second u s Speed in user units per second u s into speed 1 min Speed 1 min into speed in user units per second u s ACU Modbus TCP 120 120 121 121 122 124 124 125 126 127 128 129 129 129 129 129 129 129 130 10 13 W Bonfiglioli Vectron 1 General Information about the Documentation For better clarity the documentation of the frequency inverter is structured according to the custom er specific requirements The present manual was created in the German language The German manual is the original version Other language versions are translations 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 parame 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 fo
98. nual Positioning Relevant parameters 410 Control word 1108 Act Position 411 Status word 1106 Error Threshold 418 Minimum Frequency 1119 Contouring Error Time 419 Maximum Frequency 1165 Target Window 1454 Override Modes Of Operation 1166 Target Window time 1246 Actual Motion Block 1179 Emergency ramp 1249 Motion Block to Resume In Table travel record mode the mode specific bits of the control word and the sta tus word are used as follows 15 14 13 12 11 10 9 8 7 6 5 Bit N Switch on Enable voltage Quick stop Low active Enable operation t Sequence mode Resume 1 Fault reset Halt Start motion block Motion block select 0 ACU Modbus TCP Motion block select 1 Motion block select 2 Motion block select 3 Motion block select 4 97 GS Bonfiglioli 98 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low Active amp Switch on disabled Warning Motion block in progress Remote 0 Target reached 11 Internal limit active In gear 13 Following error Control word Ident
99. ocity mode rpm Velocity mode can be selected via parameter Override Modes Of Opera tion 1454 2 In velocity mode the mode specific bits of the control word control the ramp generator RFG Ramp Function Generator The block diagram illustrates the function Relevant parameters 410 Control word 411 Status word 1459 Override Target velocity vl rpm 240 Actual speed 418 Minimum Frequency 419 Maximum Frequency 420 Acceleration Clockwise 422 Acceleration Anticlockwise 421 Deceleration Clockwise 1454 Override Modes Of Operation The ramp times are specified via parameters 430 433 15 14 13 12 11 10 9 8 7 6 5 4 32 1 Quick stop Low active Enable operation Rfg enable wu Rfg unlock Rfg use ref Fault reset 2 Halt ACU Modbus TCP 77 GX Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on o Switched on Operation enabled Fault Voltage enabled wu uick stop low active Switch on disabled Warning Remote rey Target reached not used Internal limit value active Warning2 Block diagram Bit 5 rfg unlock LI Run REG Vv 7 Fi Lock_Output O Ri Bit 6
100. of rotation will be disabled After an error reset it is possible to move in the direction that is still enabled General ly any mode of operation can be used for clearing as long as the travel command has the enabled direction As long as the limit switch is triggered the limit switch warning in the status word and actual value parameters Warnings 269 Warnings Application 273 and Controller status 275 will remain Once the limit switch is cleared the warning will be deleted in the status word and actual value parameters For simple clearing of the limit switches you can use mode 2 Clear limit switch see Chapter 11 4 6 Move away from limit switch mode ACU Modbus TCP 10 13 vw Bonfiglioli 11 Control of frequency inverter 10 13 The frequency inverter can generally be controlled via three operation modes The Operation modes can be selected via the data set switchable parameter Local Remote 412 i Bil Band ie ting 412 Local Remote o u 4 For operation with CANopen only operation modes 0 1 and 2 are relevant The other settings refer to the control option via the control unit Control via he Start and Stop commands as well as the direction of 0 contacts rotation are controlled via digital signals Chapter 11 1 Control via he frequency inverter is controlled via the control word 1 _state machine Only this setup supports positioning functions via Chapters 11 1 1 11 3 ithe contr
101. ol ID Length ID registers Hex nn nn nn nn 00 06 01 03 21 74 00 01 Response Frequency inverter gt Master Field MBAP Unit Func No Par value Transaction ID Protocol ID Length ID Bytes Hex nn nn nn nn nn nn 01 03 02 05 6E The sent hexadecimal value is 0x056E Decimal 1390 Parameter Rated speed 372 has no decimal places Thus the rated speed is 1390 min Example 2 Reading of parameters Rated speed 372 0x0174 in dataset 0 of frequency inverter with address set to 1 and number of registers set to 2 non permissible value Request Master gt frequency inverter Field MBAP Unit Func DSet ParNo Number of Transaction ID Protocol ID Length ID registers Hex nn nn nn nn 00 06 01 03 01 74 00 02 Error response Frequency inverter gt Master Field MBAP Unit Func Excep Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 03 01 83 04 The sent exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 44 ACU Modbus TCP 10 13 vw Bonfiglioli 9 1 2 Function code 6 write 16 bit parameter Example 1 Writing of parameter Rated Mech Power 376 0x0178 in dataset 4 of frequency inverter with ad dress 3 The rated mechanical power is to be set to 1 5 kW Parameter Rated Mech Po
102. ol word and modes of operation 11 4 Control via he Start and Stop commands as well as the direction of 2 remote contacts rotation are controlled via virtual digital signals of the Chapter 11 1 control word Parameter Local Remote 412 is dataset switchable i e you can switch between the different operation modes by selecting another data set For example a frequency inverter can be controlled via the bus and emergency mode can be activated locally when the bus master fails This switch over is also identified by the status word re mote bit Data set switching can be effected locally via control contacts at the digital inputs of the frequency inverter or via the bus For data set switching via the bus parameter Data set selection 414 is used No Description Min Max Factory set ting 414 Data set selection o 4 0o With Data set selection 414 0 data set switching via contact inputs will be active If Data set selection 414 is set to 1 2 3 or 4 the selected data set is activated and data set switching via the contact inputs is deactivated If Data set selection 414 is set to 5 data set switching via contact inputs will be active if the frequency inverter is not enabled Via parameter Active Data Set 249 the currently selected data set can be read Ac tive Data Set 249 indicates the Active Data Set value 1 2 3 or 4 This is independ ent of whether the data set switching was done via contact inputs or Da
103. on mode the correct sequence must be sent by the PLC 1 Control word 0x0000 1 Status word 0x0050 Switch On Disabled 2 Modes of 1 Profile Position mode Operation 3 Control word 0x0006 Shutdown Status word 0x0031 Ready to switch on 4 Control word 0x0007 Switch On 0x0033 Switched On 5 Control word 0x0007 Enable operation Positioning operation is not started Ox000F Oxnn37 Operation enabled 6a Control word 0x0007 or 0x000F Operation enabled start absolute posi ioning with profile Ox001F If a positioning operation is already in pro cess this operation will be completed hen the new profile will be used Status word Oxnn37 Operation enabled 0x0007 or 0x000F Operation enabled start relative position ing with profile 0x005F If a positioning operation is already in pro cess this operation will be completed hen the new profile will be used Oxnn37 Operation enabled 0x0007 or 0x000F Operation enabled start absolute posi ioning with profile 0x003F Running positioning operations will changed and apply the new profile Oxnn37 Operation enabled 0x0007 or 0x000F Operation enabled start relative position ing with profile 0x007F Running positioning operations will changed and apply the new profile Oxnn37 Operation enabled Ox01nF HALT The drive is decelerated at the ramp Set in Deceleration clockwise 421 or Deceleration anticlockwise 423 Oxnn37 Operation enabled 1 A
104. on the selected homing mode The Limit switches can also be used as a reference for homing For a list of homing modes refer to chap ter List of Homing Modes Relative positioning and moving in velocity mode is possible without homing Homing can be started e via a digital input e bya control word via system bus or field bus e automatically before the start of a motion block positioning operation 1 Extension module with system bus or field bus interface required If an absolute value encoder with an absolute value encoder module e g EM ABS 01 is used homing is not required when power supply is turned on This is defined by parameter Operation Mode 1220 For more details about the homing function refer to the Positioning application manual 10 2 6 1 Start position after homing After homing Initial Position 1185 1 gt Drive stops at stopped position Initial Position 1185 1 gt Drive will be moved actively to the set position 10 2 6 2 Flying homing 10 13 Flying homing can be used in order to update the home position during positioning operations For a description of this function refer to the application manual Posi tioning ACU Modbus TCP 61 G5 Bonfiglioli 10 2 7 62 Move away from Hardware limit switches When a hardware limit switch is triggered an error message will be triggered depend ing on the settings of parameter Fault reaction 1143 and the relevant direction
105. oning or in simple positioning applications Writing of Parameter Target position distance 1202 Type double word in Index 1 in RAM gt 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 e If various parameters of an index are to be edited it will be sufficient to set index access via parameter 1200 once at the beginning 8 2 2 Example Reading of index parameters In order to read an index parameter you will have to set the indexing parameter to the relevant index first then you can read the parameter Reading of Parameter Target position distance 1202 type long in Index 1 with parameter value 123000 Index 1201 0x2000 0x24B1 Wert int 1 0x0001 Index 1202 0x2000 0x24B2 Wert long 123000 0x0001 E078 If various parameters of an index are to be read it will be sufficient to set index access via 1201 once at the beginning 10 13 ACU Modbus TCP 43 GO Bonfiglioli 9 Example messages Modbus TCP This chapter describes some examples of telegrams for Modbus TCP 9 1 16 bit access 9 1 1 Function code 3 read 16 bit parameter Example 1 Reading of parameter Rated speed 372 0x0174 in data set 2 from the frequency inverter with ad dress 1 Request Master gt frequency inverter Field MBAP Unit Func DSet ParNo Number of Transaction ID Protoc
106. ontrol bit change set immediately 1 A new reference value is confirmed by the control bit New reference value rising edge while a reference value is being processed The new reference value is pro cessed immediately new set point control bit 4 PLC target position set point current target Drive position processed in _ l i set point acknowledge status bit 12 target reached status bit 10 actual speed 90 ACU Modbus TCP 10 13 10 13 vw Bonfiglioli Example set of set points control bit change on set point 0 1 control bit change set immediately 0 The travel profile is changed during an active positioning operation Change on set point 0 The current target position is approached with a Stop Once the position has been reached the new reference value is set Change on set point 1 The current target position is approached at the active speed Once the current target position has been reached the new reference value is applied without reducing the speed to zero new set point control bit 4 PLC target position set point current target Drive position processed t set point acknowledge status bit 12 target reached status bit 10 actual speed change on set point 0 change on set point 1 ACU Modbus TCP 91 GW Bonfiglioli 11 4 3 1 Example sequence In order to start Profile positi
107. ovement is interrupted ACU Modbus TCP 119 GS Bonfiglioli 12 Actual values No Description Function i Modbus or VABus error register MABUS o gt 1 NOR TEISTE See chapter 7 2 9 Exception condition codes Bus reference frequency Reference value from serial interface Modbus TCP 283 Ramp reference frequency Reference value from reference frequency channel Status word See chapter 11 1 Control via contacts remote 411 Status word contacts 12 1 Actual values Motion Control I nterface Motion Control Override No Description Function 1107 Act Speed Actual Speed in user units Seconds u s 1108 Actual Position Actual Position in user units u 1109 Act Contouring Error Actual Contouring error in user units u 1129 Actual Master Speed Actual Master Speed in user units Seconds u s 120 ACU Modbus TCP 10 13 Bonfiglioli 13 Parameter List The parameter list is sorted numerically For better overview the parameters are marked with pictograms 5 The parameter is available in the four data sets v The parameter value is set by the SET UP routine This parameter cannot be written when the frequency inverter is in operation 13 1 Actual values Menu Actual No Description Unit Indication range Chapter VABUSSST Error Register pS 2 9 Internal reference frequency 100
108. quency 418 Minimum frequency 419 Maximum Frequen 419 Maximum Frequen 419 Maximum Frequency cy cy Acceleration 1134 Acceleration 420 Acceleration 1457 Override Accelera clockwise tion 422 Acceleration anti clockwise Deceleration 1134 Acceleration 421 Deceleration 1458 Override Decelera clockwise tion 423 Deceleration anti clockwise Emergency 1179 Emergency stop 424 Emergency stop 1179 Emergency stop ramp stop ramp clockwise Quick Stop 425 Emergency stop anticlockwise Homing 1130 Homing type Method 1 The limitation results from Minimum frequency 418 and Maximum Frequency 419 Through Limi tation 1118 of the position controller in Configuration x40 an increase above the Maximum Fre quency can occur because the output of the position controller is added to the Maximum Frequen cy 2 Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388 54 ACU Modbus TCP 10 13 vw Bonfiglioli Target position 1455 Override Target Position 1454 Override Modes 1 Of Operation Limitation 418 Minimum frequency 419 Maximum Frequency Acceleration 1456 Override Acceleration Deceleration 1458 Override Deceleration Emergency stop a 1179 Emergency stop ramp Quick Stop 1 The limitation results from Minimum frequency 418 and Maximum Frequency 419 Through Limi tation 1118 of the position controller in
109. r 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 is 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 1 1 This document This document describes the communication via the Modbus TCP protocol with frequency inverters of the ACTIVE Cube series of devices Thanks to the modular hardware and software structure the fre quency inverters can be customized to meet to customer s specific requirements including applica tions requiring high functionality and dynamism cy inverter BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage A 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 please contact the manufacturer 10
110. rameter value 0 OxFFFF Response MBAP header Exception condition response MBAP header oo a ii 1 0xF7 247 1 byte Exception condition code 10 13 ACU Modbus TCP 29 GW Bonfiglioli Start address This field is used for saving the parameter number and dataset number The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits 15 1 10 9 8 7 6 5 4 3 2 1 0 For the above example Hex Sla o o o 1 o 1 1 1 o 1 0 0 Bin 1 7 Oo Register value This field is used for saving the 16 bit parameter value Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 Example A current value of 10 3 A is to be transferred The actually transferred numerical value is 103 i e 0x67 in the hexadecimal system Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when writing parameters For a description of the exception condition codes refer to Chapter 7 2 9 Excep
111. 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 60 ACU Modbus TCP 10 13 v Bonfiglioli 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 settings 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 10 2 6 Homing When the drive is started a defined starting position must be identified for absolute value positioning 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 Once the limit switches are reached the direction of rotation of the drive will be reversed depending
112. rence value will be combined with the internal reference val ue from the reference frequency channel and directed to the ramp For information on the reference frequency channel refer to the operating instructions of the frequency inverter operation mode 434 I i refer to note Sa ah ih e internal Oo hi set point frequency ramp line GG 0 TTT si set point namay Reference percentage 524 can be used for regular changing of reference percent ages e g as a reference value for technology controllers or as a reference torque Description in Factory set ting The internal reference frequency is determined from quenc the reference frequency channel 3 Internal reference fre quency reference line value Addition considering the sign of internal reference frequency and reference line value This function is only relevant in the case of configurations without positioning control parameter Configuration 30 x40 74 ACU Modbus TCP 10 13 vw Bonfiglioli If Ramp Setpoint 434 2 reference line value only this reference line value is lim ited to fmin The sign in front of fmin with reference value 0 is derived from the sign in front of the last reference line value which was not 0 After Mains On the reference line value is limited to fmin For Ramp Setpoint 434 3 the sign of the total reference value results from the total of internal reference frequency and reference line
113. rning short time Ixt 2 Warning long time Ixt 3 Warning heat sink temperature Tk 4 Warning inside temperature Ti 5 Warning Limit 6 Warning Init 7 Motor temperature warning 8 0x0100 Warning mains failure Ce Warning motor circuit breaker 10 Warning Fmax 11 Warning analog input MFI1A 12 Warning analog input A2 13 Warning System Bus 14 Warning Udc 15 0x8000 Warning Application warning status 367 The meanings of the individual warnings are described in detail in the frequency in verter Operating Instructions 126 ACU Modbus TCP 10 13 vw Bonfiglioli 14 4 Application warning messages When the highest bit of the warning message is set an Application warning message is present The application warning messages are bit encoded as per the following pattern via parameter Appli cation warnings 274 Parameter Application warnings 273 indicates the warnings as plain text in the control panel and the VPlus PC control software Use parameter Application warnings 274 in order to read the warning messages via Field Bus 10 13 Warning Description code 2 0x0001 BELT V belt SW LIM CW SW limit switch clockwise a 0x0004 SW LIM CCW SW limit switch anticlockwise 3 0x0008_ HW LIM CW HW limit switch clockwise HW LIM CCW HW limit switch anticlockwise contouring error 6 0x0040 ENC Warning Absolute encoder User Warning 1 8 ox0100 User2 User Warning 2
114. rticularly important information gt gt gt 2 6 2 Identification of immediate threat holding a high risk of death or serious injury if not 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 injury if not avoided NOTE Identification of a threat holding a risk of material damage if not avoided Hazard symbols Symbol Meaning Symbol Meaning General hazard Suspended load Electrical voltage Hot surfaces 2 6 3 Prohibition signs Symbol Meaning No switching it is forbidden to switch the ma chine plant assembly on 2 6 4 Personal safety equipment Symbol Meaning Wear body protection 10 ACU Modbus TCP 10 13 vw Bonfiglioli 2 6 5 Recycling Symbol Meaning Recycling to avoid waste collect all materials for LAY amp Y reuse 2 6 6 Grounding symbol Symbol Meaning Ground connection 2 6 7 ESD symbol Symbol Meaning ESD Electrostatic Discharge can damage com ponents and assemblies 2 6 8 Information signs Symbol Meanin Tips and information making using the frequency inverter easier 2 6 9 Font style in documentation Example Font style Use 1234 bold Representation of parameter numbers Parameter i
115. s refer to Chapter 7 2 9 Exception condition codes For an example of a Modbus RTU telegram refer to Chapter 9 2 4 10 13 ACU Modbus TCP 35 GW Bonfiglioli 7 2 7 Function code 8 diagnosis This function code is used for accessing the Modbus diagnosis counter of the frequency inverter Each counter can be accessed via a sub function code and a counter number Each counter can be deleted by entering the hexadecimal sub function code Ox0A The following sub function codes are supported Ox0A Delete all counters Resets all counters to 0 Ox0B Return number of bus messages Number of valid messages received including all addresses Return number of bus transfer errors Number of messages with CRC or pari ty block check data loss errors Return number of bus exceptions Number of exception responses sent Ox0E Return number of slave messages Number of messages received including slave address Pena MUIMP EM OE Slave N FE gt PENIGE Number of broadcast messages received messages 0x10 Return number of slave NAK negative Not used return value will always be 0 receipt acknowledgment number OF Slave pusy Message Not used return value will always be 0 0x12 Return number of bus character data Number of messages with data loss loss error errors Request sub function 0x0A Delete all counters MBAP Header CCC Function code 1 byte 0x08 Data 2 bytes 0x0000 Response TT o lt _ amp oq j I Excep
116. s of the control word bits it Standard no posi Positioning without MCI MCI Profile Veloci MCI Profile Posi tioning MCI Velocity Mode ty Mode tion Mode Switch On 1 Enable Voltage low active low active low active low active low active Enable Operation New setpoint Change set immedi Rfg use ref Fault reset Fault reset Fault reset Mode record Mode from Limit Sw Gear Slave o switchon __ swichon Switchon switchon__ low active low active low active low active nable Operation Enable Operation oming operat start Start Gearing __ Resume Direct Sync ault reset Fault reset at JR Start motion block CEI rr ee on soseo Motion Block Select 1 Phasing Profile Sel 1 Le sE Start Phasing Motion Block Select 2 Phasing Profile Sel 2 Motion Block Select 3 Motion Block Select 4 ci e oa Tt jn o E o IS o 124 ACU Modbus TCP 10 13 W Bonfiglioli Vectron 14 2 Overview of status words The tables on this page provide an overview of the functions of the status word bits Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Switched On Switched On Switched On Switched On Switched On Operation enabled Operation enabled Operation enabled Operation enabled Operation enabled Voltage enabled Voltage enabled Voltage enabled Voltage enabled Voltage enabled Quick Stop Quick Stop Quic
117. s word is set Via parameter Threshold Window 1278 and Threshold Window Time 1279 Bit 12 Ve locity of the status word is set Via parameter Max Slippage 1275 a slip monitoring via Bit 13 Max Slippage of the status word can be set up Status word bit 10 Target reached Target reached 0 Target reached 1 gt The actual velocity doesn t match the reference velocity gt The actual velocity matches the reference velocity The actual velocity differs at least from the defined time period in Velocity Window Time 1277 up to the defined amount us in Velocity Window 1276 Status word Bit 12 Velocity Velocity 0 Velocity 1 gt The Actual Velocity matches the comparison speed The Actual Velocity has exceeded for a defined time Threshold Window Time 1279 a defined Velocity in user units per sec onds u s Threshold Window 1278 gt The Actual Velocity doesn t match the Comparison Velocity Status word Bit 13 Maximum Slippage Maximum Slippage 0 Maximum Slippage 1 gt The actual Slippage speed is smaller than defined The comparison value of the slippage speed is defined Object Max Slippage 1275 gt The actual Slippage speed is bigger than defined The comparison value of the slippage speed is defined Max Slip page 1275 ACU Modbus TCP 10 13 W Bonfiglioli Vectron 11 4 2 1 Example sequence In order to start Profile velocity mode the correct sequence must be sent by the P
118. sage F1453 System Bus synchronization not activated is displayed when the slave drive is started operation mode 1 2 3 or 10 must be selected 2 Synchronization of processing with data telegram or cyclic sending of SYNC tele gram 3 Not recommended for el gear because no extrapolation done ACU Modbus TCP 10 13 vw Bonfiglioli Synchronization between several drives must be performed at high updating rates in order to guarantee optimum results In the transmitter of the TXPDO object set a low value for the time e g TxPDO1 Time 931 If you use the SYNC function of System Bus set parameter SYNC time 919 to a lower value Note that due to these settings the bus load of the system bus must provide for sufficient reserves for proper operation 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 Speed sensor 2 Resolver position Gear Factor Numerator Gear Factor Denominator Trajectory generator in gearing mode Speed sensor 1 speed Speed sensor 2 Resolver speed The master position and speed are multiplied by the gear factor When phasing is start ed the phasing profile is added to the master speed until the phasing offset is reached The Gear factor is defined
119. sed for saving the number of parameters to be written The value must always be 1 since only one parameter can be written at a time Number of bytes This field is set to e 2 for 16 bit parameters e 4 for 32 bit parameters Register value This field contains the 16 bit or 32 bit parameter value Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 28 ACU Modbus TCP 10 13 vw Bonfiglioli Example A current value of 10 3 A is transferred The actually transferred numerical value is 103 i e 0x67 in the hexadecimal system Exception condition code The following exception condition codes are possible 2 INVALID DATA ADDRESS e Value of register number field is not 1 e Parameter unknown 3 INVALID DATA VALUE e Number of bytes in data field too small or too high 4 SLAVE DEVICE ERROR e Error when reading parameters For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes Example Telegrams 16 Bit 32 Bit Modbus RTU see chapter 9 1 1 see chapter 9 2 1 7 2 2 Function code 6 write 16 bit parameter This function code is used for writing integer or unsigned integer values into the frequency inverter Request Write 16 bit parameter MBAP header 7bytes S E 1 0xF7 247 Start address dataset para no 0x0000 0x963F Register value pa
120. set to another value operation can be started with a corresponding sequence 10 13 ACU Modbus TCP 85 GS Bonfiglioli 11 4 3 Profile position mode Profile position mode can be selected via Override Modes Of Operation 1454 1 In profile position mode the frequency inverter receives a target position followed by the command to travel to this target Relevant parameters 410 Control word 1455 Override Target Position 411 Status word 1456 Override Profile Velocity 418 Minimum Frequency 1457 Override Profile Acceleration 419 Maximum Frequency 1458 Override Profile Deceleration 1454 Override Modes Of Operation 1179 Emergency ramp The ramp times are specified via parameters 1176 and 1178 In Profile position mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Switch on Enable voltage uick stop Low active Enable operation New set point hange set immediately Abs rel Fault reset Halt hange on set point 86 ACU Modbus TCP 10 13 vw Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 HS Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low active Switc
121. set via parameters Emergency Stop Clockwise 424 and Emergency Stop Anticlockwise 425 Start Quick Stop Emergency Stop Clockwise 424 A Emergency Stop Anticlockwise 425 Holdig Time Stop Function 638 Switch off Threshold Stop Fct 637 t OFF change of state If frequency speed reaches the value zero during the switch off time the drive con tinues to be supplied with current until the switch off time has elapsed This ensures that the drive is at a standstill when the state changes The quick stop behavior is only relevant for configurations without Motion Control parameter Configuration 30 x40 ACU Modbus TCP 10 13 11 3 2 10 13 vw Bonfiglioli Behavior in the case of transition 5 disable operation The behavior in transition 5 from Operation enabled to Switched On can be con figured via parameter State transition 5 392 No Description Min Max Factory set tin 392 State transition 5 0 2 2 Immediate transition from Operation enabled to Switched On drive coasts to a standstill rece Activation of DC brake at the end of DC deceleration 1 DC brake there is the change from Operation enabled to Switched On Transition with normal ramp when the drive has come to 2 Ramp a standstill there is the change from Operation enabled to Switched On Setting 1 Direct current brake is only possible with applications with U f characteris tic control e g
122. st signif icant bit in the function code set to the new value the master can identify the exception response and analyze the exception condition code in the data field Data field In a normal response the frequency inverter will send data or statistical values in the data field re quested information In an exception condition response the frequency inverter will send an excep tion condition code in the data field This code indicates the cause of the exception condition The exception condition codes generated by the frequency inverter are listed in Chapter 7 2 9 Exception condition codes 38 ACU Modbus TCP 10 13 vw Bonfiglioli 7 2 9 Exception condition codes The frequency inverter generates the following exception condition codes 1 INVALID FUNCTION e Function code unknown e Sub function code unknown diagnosis function 2 INVALID DATA AD e Wrong number of registers must always be 0x01 DRESS e Unknown parameter or data type of parameter unknown INVALID DATA VALUE Block check error e Number of bytes in too small or too high e Certain fields not set to typical values SLAVE DEVICE ERROR e Unsuccessful reading or writing of parameters The cause of the error can be analyzed by reading parameter VABusSST Error Register 11 Error number Meaning 0 No error 1 Non permissible parameter value 2 Non permissible dataset 3 Parameter not readable write onl 4 Parameter not writable read only
123. ta set selec tion 414 ACU Modbus TCP 63 GS Bonfiglioli 11 1 Controlvia contacts remote contacts In operation mode Control via contacts or Control via remote contacts Parameter Local Remote 412 0 or 2 the frequency inverter is controlled directly via digital inputs S1IND STOA and STOB S2IND through EM S3IND or via the individual bits of the virtual digital signals in the control word The function of these inputs is described in the frequency inverter user manual 15 14 13 ii 9 E 6 5 4 3 2 1 0 Bit S1IND STOA and STOB L 52IND 253IND 2SAIND S5IND 2S6IND MFI1D SEM S1IND 2 EM S2IND 2 EM S3IND The digital inputs set via the control word can be monitored using parameter Digital Inputs 250 Digital input S1IND will only be displayed if controller release is switched on at STOA and STOB andthe control word Bit 0 was set If the data set switching function is used please ensure that Parameter Local Remote 412 is set to 2 Con trol via remote contacts is set in all data sets used 64 ACU Modbus TCP 10 13 vw Bonfiglioli 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low active Switch on disabled
124. talic Font Representation of parameter names Times New Roman P 1234 bold Representation of parameter numbers without name e g in formulas Q 1234 bold Representation of source numbers 2 7 Directives and guidelines to be adhered to by the operator The operator must follow the following directives and regulations Ensure that the applicable workplace related accident prevention regulations as well as other ap plicable national regulation are accessible to the staff An authorized person must ensure before using the frequency inverter that the device is used in compliance with its designated use and that all safety requirements are met 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 inverter must be included in the user manual of the whole plant 10 13 ACU Modbus TCP 11 GO Bonfiglioli 2 9 Operator s operating staff s responsibilities 2 9 1 Selection and qualification of staff Any work on the frequency inverter may only be carried out by qualified technical staf
125. te command from bit 4 Start el gear Bit 8 Start Phasing Stop axis with ramp of current motion block The fre quency inverter remains in Operation enabled sta tus Phasing disabled aborted Bit 9 Phasing select 0 1 Bit 12 13 Phasing switching Start Phasing with profile defined by Bits 12 amp 13 Phasing Profile n 1 Phasing profile Phasing switch over 1 Phasing select Phasing profile Bit 13 Bit 12 0 0 0 1 1 0 1 1 Status word Description Phasing or M S Correction in process or not started yet Phasing or M S Correction done Halt 0 Electronic gear still not in gear Halt 1 Axis decelerated Halt 0 Electronic gear in gear Halt 1 Axis has speed 0 M S Correction is running or wasn t started yet M S Correction finished See chapter 11 4 7 1 Master Slave Position Correction No following error Identification Value Phasing done 0 or M S Correc tion done 1 Bit 8 Target reached 0 In gear Bit 10 1 M S Position Cor 0 rection successful 1 Bit 12 Following error 0 Bit 13 1 ACU Modbus TCP Following error 111 GW Bonfiglioli 112 Basic functions Mode 3 Electronic gear Slave implements a mode for a slave drive in the electronic gear to a master drive The master of the electronic gear must be connected to the slave via signal cables or System Bus recommen
126. the frequency inverter e In all data fields containing more than one byte the highest value byte will be trans 1 ferred firs Big Endian Motorola Format 10 13 ACU Modbus TCP 27 GS Bonfiglioli 7 2 1 Function code 3 reading 16 bit or 32 bit parameters This function code is used for reading 16 bit or 32 bit values from the frequency inverter Request Read 16 bit parameter Function code 0x03 Start address dataset para no 0x0000 0x963F Number of registers 0x0001 Response Read 16 bit parameter Number of bytes Register value parameter value 2 bytes 0 OxFFFF Request Read 32 bit parameter Start address dataset para no 2 bytes 0x0000 0x963F x0002 Response Read 32 bit parameter Number of bytes 0x04 Register value parameter value 4 bytes 0 OxFFFFFFFF Exception condition response Error code 0x83 Exception condition code 2 30r4 Start address This field is used for saving the parameter number and dataset number The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits Pore ee cessa a2 lilo For the above example Hex eae o o 0 1 0 1 1 1 0o 1 0 0 Bin 1 7 Number of registers This field is u
127. the frequency inverter A request by the master can result in one of four reactions e If the frequency inverter receives the request without any transmission errors it can process it and send a normal response e If the frequency inverter does not receive the request due to a transmission error it will not send a response The master will check the conditions for time monitoring of the request e fthe frequency inverter receives the request and identifies a transmission error parity LCR CRC it will not send a response The master will check the conditions for time monitoring of the re quest e If the frequency inverter receives the request without any transmission error but cannot process it e g because an unknown parameter is to the read it will send an exception response containing information about the type of error The exception condition response contains two fields which are different from normal responses Function code field In a normal response the frequency inverter will return the function code of the original request All function codes have 0 as the most significant bit MSB their values are less than the hexadecimal value of 0x80 In an exception condition response the frequency inverter will set the most significant bit of the function code to 1 This will increase the hexadecimal value of the function code in an ex ception condition response by 0x80 compared to the value of a normal response With the mo
128. tion about Ethernet interfaces Basic knowledge of the Modbus TCP protocol and Ethernet interfaces is required In some sections setting and display options via the PC software VPlus are described as an alternative to the control unit In this case VPlus communicates with the frequency inverter via a serial interface or a direct Ethernet connection With Modbus TCP communication controllers can access all parameters of the fre quency inverter Changing parameters the function of which is unknown can result in malfunction of the frequency inverter and dangerous situations in the plant When values are to be written cyclically at a high repetition rate no entries shall be made in the EEPROM as this only allows a limited number of write cycles approx 1 million cycles If the number of permissible write cycles is exceeded the EEPROM will be damaged See chapter 8 1 Handling of datasets cyclic writing of parameters ACU Modbus TCP GO Bonfiglioli 6 1 Communication modules CM Modbus TCP The CM Modbus TCP communication module features an active RJ 45 port NOT connected RJ45 Connectors Activity Link CM Modbus TCP CM Modbus TCP 2P The CM Modbus TCP 2P communication module features two active RJ45 ports with integrated switching function This enables easy linking daisy chain of frequency inverters which are connected to a PLC NC RJ45 Connectors LAN I Activity anne Link
129. tion condition codes For an example of a Modbus RTU telegram refer to Chapter 9 1 2 30 ACU Modbus TCP 10 13 vw Bonfiglioli 7 2 3 Function code 16 write 16 bit parameter Function code 16 can be used for writing 16 bit values into the frequency inverter Request Write 16 bit parameter MBAP header Cd bytes Number of registers 2 bytes 0x0001 Register value parameter value 0 OxFFFF Response MBAP header 0x0001 Exception condition response MBAP header re eee 1 OxF7_ 247 Exception condition code 1 byte Start address This field is used for saving the parameter number and dataset number The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits Example Parameter 372 hex 0x174 dataset 2 hex 0x2 is saved as hex 0x2174 Start address Data set Parameter number Bits 15 11 101 9 8 7 6 5 4 3 2 1 0 For the above example Hex Ledi le elo To li ite Loe Bin 1 7 4 Register value This field is used for saving the 16 bit parameter value Parameter values with decimal places are transferred without decimal point Depending on the number of decimal places the values are multiplied by 10 100 or 1000 Example A current value of 10 3 A is to be transferred The actually transferred numerical value is 103 i e 0x67 in the hexade
130. tion condition response MBAP Header i _ _r rFT1r 1 1 1 OxF7_ 247 Exception condition code Data This field will always be 0x0000 36 ACU Modbus TCP 10 13 vw Bonfiglioli Exception condition code 1 INVALID FUNCTION CODE e Sub function is not supported 3 INVALID DATA VALUE e Number of bytes in data field too small or too high e Data field not 0x0000 4 SLAVE DEVICE ERROR e Error while executing the function For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes Request sub function 0x0B 0x12 return counter value 1 OxF7_ 247 0x000B 0x0012 0x0000 Response Exception condition response 1 OxF7_ 247 1 byte Exception condition code Data In the request this field will always be set to 0x0000 in the response it will show the current counter value Exception condition code The following exception condition codes are possible 1 INVALID FUNCTION CODE e Sub function is not supported e Number of bytes in data field too small or too high e Data field not 0x0000 4 SLAVE DEVICE ERROR e Error when reading diagnosis counter 3 INVALID DATA VALUE For a description of the exception condition codes refer to Chapter 7 2 9 Exception condition codes 10 13 ACU Modbus TCP 37 GY Bonfiglioli 7 2 8 Exception condition responses The master device expects a normal response when it sends a request to
131. tions setting and display options via the PC software VPlus are described as an alternative to the control unit In this case VPlus can use CM Modbus TCP or CM Modbus TCP 2P module or the serial interface for communication with the frequency inverter The module enables using Modbus TCP and VPlus via the VABus TCP protocol at the same time D With CM Modbus TCP or CM Modbus TCP 2P controllers can access all parameters of the frequency inverter gt Changing parameters the function of which is unknown can result in malfunction of the frequency inverter and dangerous situations in the plant Module variants There are two Modbus TCP variants CM Modbus TCP provides a physical interface for communication via Modbus TCP A star type net work topology can be used An external switch is the star point CM Modbus TCP 2P provides two physical interfaces for communication via Modbus TCP The follow ing network topologies are possible e Star type like in CM Modbus TCP e Line 10 13 ACU Modbus TCP 15 GW Bonfiglioli Switch 1 PLC 2 PC for commissioning or diagnosis connected temporarily or permanently 3 ACU with CM Modbus TCP or CM Modbus TCP 2P 2nd port not connected 4 ACU with CM Modbus TCP 2P 16 ACU Modbus TCP 10 13 vw Bonfiglioli 3 1 Supported configurations ACTIVE Cube frequency inverters support various types of control and reference point input e Standard without pos
132. to be set to 1 5 kW Parameter Rated Mech Power 376 has one dec imal place Thus the value to be sent is 15 0x000F Request Master gt frequency inverter Field MBAP Unit Func DSet No reg No Par Transaction ID Protocol ID Length ID ParNo isters Byte value nn nn nn nn 00 09 01 10 41 78 00 01 02 00 OF Response Frequency inverter gt Master Field MBAP Unit Func DSet No reg Transaction ID Protocol ID Length ID Par No isters nn nn nn nn 00 09 01 10 41 78 00 01 The response contains the number of written registers Example 2 Writing of non permissible value 0 in parameter Rated Mech Power 376 0x0178 in dataset 2 of fre quency inverter with address 3 Request Master gt frequency inverter Field MBAP Unit Func DSet No reg No Par Transaction ID Protocol ID Length ID ParNo isters Byte value nn nn nn nn 00 09 03 10 41 78 00 01 02 00 00 Error response Frequency inverter gt Master Field MBAP Unit Func Excep Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 03 03 90 04 The sent exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 46 ACU Modbus TCP 10 13 vw Bonfiglioli 9 2 32 bit access 9 2 1 F
133. ue has dropped below the set Switch Off Threshold and the set holding time has elapsed equivalent to the behavior in the case of a quick stop In this context pa rameters Switch Off Threshold stop function 637 percentage of parameter Maxi mum Frequency 419 and Holding time 638 Holding time after passing of threshold are relevant ACU Modbus TCP 73 GO Bonfiglioli 11 3 3 Reference value actual value Depending on the settings of Local Remote as well as Modes of Operations the con troller PLC can define the reference frequency for the frequency inverter via param eter Reference frequency RAM Hz 484 or Override Target Velocity vl rpm 1459 and receive the actual value via parameter Actual speed 240 The use of the reference actual value channel depends on the set configuration con trol method The actual value is generated according to the control method use The reference value in parameter Override Target Velocity vl rpm 1459 and the actual value in parameter Actual speed 240 are interpreted as values with unit min Conversion into a frequency value reference value or from a frequency value ac tual value is performed in the frequency inverter The entry for parameter Reference frequency RAM Hz 484 is done in Hz directly The reference value for the frequency inverter from parameter Reference frequency RAM Hz 484 or Override Target Velocity vl rpm 1459 is connected to the refer ence line value This refe
134. unction code 3 read 32 bit parameter Example 1 Reading of parameter Fixed Frequency 2 481 0x01E1 in dataset 1 of frequency inverter with ad dress 1 Request Master gt frequency inverter Field MBAP Unit Func DSet No regis Transaction ID Protocol ID Length ID ParNo ters nn nn nn nn 00 06 01 03 11 El 00 02 Response Frequency inverter gt Master Field MBAP Addi Func No Par value Transaction ID Protocol ID Length Bytes Hex nn nn nn nn 00 07 01 03 04 00 00 03 E8 The sent hexadecimal value is 0x03E8 Decimal 1000 Parameter Fixed Frequency 2 481 has two decimal places Thus the frequency is 10 00 Hz Example 2 Reading of parameters Fixed Frequency 2 481 0x01E1 in dataset 0 of frequency inverter with ad dress set to 1 and number of registers set to 1 non permissible value Request Master gt frequency inverter MBAP Unit Func DSet No regis Transaction ID Protocol ID Length ID Par No ters Field Error response Frequency inverter gt Master Field MBAP Unit Func Excep Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 03 01 83 04 The sent exception condition code is the hexadecimal value 0x04 ERROR SLAVE DEVICE 10 13 ACU Modbus TCP 47 GW Bonfiglioli 9 2 2 Funct
135. wer 376 has one dec imal place Thus the value to be sent is 15 0x000F Request Master gt frequency inverter Field MBAP Unit Func DSet ParNo Par value Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 06 01 06 41 78 00 OF Response Frequency inverter gt Master Field MBAP Unit Func DSet ParNo Par value Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 06 01 06 41 78 00 OF The response is the reflected signal of the request message Example 2 Writing of non permissible value 0 in parameter Rated Mech Power 376 0x0178 in dataset 2 of frequency inverter with address 3 Request Master gt frequency inverter Field MBAP Unit Func DSet ParNo Par value Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 06 03 06 21 78 00 00 Error response Frequency inverter gt Master Field MBAP Unit Func Excep Transaction ID Protocol ID Length ID Hex nn nn nn nn 00 03 03 86 04 The sent exception condition code is the hexadecimal value 0x04 Error SLAVE device 10 13 ACU Modbus TCP 45 GS Bonfiglioli 9 1 3 Function code 16 write 16 bit parameter Example 1 Writing of parameter Rated Mech Power 376 0x0178 in dataset 4 of frequency inverter with ad dress 1 The rated mechanical power is
136. x50 or 0x40 Enable Ready to operation 3 switch on 4 0x31 or 0x21 Shutdown 8 0x06 4 Switched on 0x33 Enable operation Ox0F Operation enabled 0x37 MCI Starting Signal v Table Record Mode 0x07 Profile Positioning Mode Velocity Mode Homing ACU Modbus TCP Disable voltage Shutdown 2 7 0x00 0x06 or Quick stop 0x02 5 Disable operation Ox0F Fault reset 0x80 1 Disable voltage 0x00 or Quick stop 0x02 10 9 Disable voltage Switch on 3 6 Shutdown 0x00 0x07 0x00 or l internal 12 Quick stop 0x02 11 Quick stop active 0x07 69 GS Bonfiglioli 70 Control word The device control commands are triggered by the following bit patterns in the status word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fault reset Enable Quick Enable stop voltage Low Command Shutdown Switch on Enable operation Disable voltage Quick stop Low active Disable operation Fault reset 091 x X means any value Transition 3 command Switch On 0x07 will only be processed if Bit 4 Voltage enabled of the Status word is set Transition 4 Command Enable operation 0xF will only be processed if the release is set via the hardware contacts STO If the hardware release via STO is not set the frequency inverter will remain in status Switched On 0x33 until the
137. xn337 Operation enabled and Positioning acti 0xn637 Operation enabled and Target reached 104 Start motion block 2 as single motion tion enabled and Positioning acti tion enabled and Target reached motion block 3 as single motion block tion enabled and Positioning active tion enabled and Target reached Status word Status word 0xn337 Operation enabled and Positioning active 0xn637 Operation enabled and Target reached 0x004F Resume previous motion block as single mo tion block 0xn337 0peration enabled and positioning active 0xn637 Operation enabled and target reached 0x005F Resume previous motion block as sequence motion block 0xn337 0peration enabled and positioning active 0xn637 0peration enabled and target reached Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area Bit 9 Start motion block must be active during positioning If bit 9 is reset to 0 the positioning operation is interrupted As long as 0x0007 is
138. xnn37 Operation enabled Status word Ox1n37 Operation enabled and homing attained Dangerous state due to new mode If Override Modes Of Operation 1454 is changed during operation control word OxnnnF a dangerous state may occur in the new mode e Before changing Override Modes Of Operation 1454 check the status word e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from 0x0007 or 0x000F to 0x001F the homing operation is started Home position set Bit 12 returns the status in the status word As long as 0x0007 is active the Modes of Operation can also be changed safely Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence 96 ACU Modbus TCP 10 13 11 4 5 Table travel record 10 13 vw Bonfiglioli Table travel record mode can be selected via parameter Override Modes Of Opera tion 1454 In Table travel record mode the drive moves to successive positions automatically Table travel record mode uses pre defined positions Each target posi tion is defined by a motion block Several motion blocks can be defined For a description of motion blocks refer to the Application ma
139. y Once Override Modes Of Operation 1454 has been set to another value operation can be started with a corresponding sequence ACU Modbus TCP 81 GW Bonfiglioli 11 4 2 Profile Velocity mode u s pv Profile velocity mode pv can be selected via Override Modes Of Operation 1454 3 In Profile velocity mode pv the frequency inverter receives a target speed in user units per second u s Relevant parameters 410 Control word 1279 Threshold Window Time 411 Status word 1457 Override Profile Acceleration 418 Minimum Frequency 1458 Override Profile Deceleration 419 Maximum Frequency 1179 Emergency ramp 1454 Override Modes Of Operation 1176 Ramp time Accel 1107 Act Speed 1178 Ramp time Decel 1276 Velocity Window 1275 Max Slippage 1277 Velocity Window Time 1460 Override Target Velocity pv u s 1278 Threshold Window The ramp times are specified via parameters 1176 1178 In Profile velocity mode pv the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 82 2 1 0 Bit Switch on Enable voltage Quick stop Low active n w Enable operation e Fault reset 2 Halt ACU Modbus TCP 10 13 10 13 vw Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 HS Ready to switch on Switched on
140. ycles is exceeded the EEPROM will be destroyed In order to avoid this data which is written cyclically can be entered in the RAM ex clusively without a writing cycle on the EEPROM Such data will be lost in the case of a power failure and have to be written again after Power off on This mechanism is started when the target dataset is increased by five when specify ing the dataset Writing on virtual dataset in RAM Dataset0_ Oo 5 Dataset 1 6 Dataset 2 Dataset3 3 8 Dataset4 4 9 10 13 ACU Modbus TCP 41 GS Bonfiglioli 8 2 Handling of index parameters cyclic writing Index parameters are used for various ACU functions Here 16 or 32 indexes are used instead of the 4 data sets For each function the individual indexes are addressed separately via an index access parameter Via the indexing parameter you can select if the data is to be written to EEPROM or RAM Positioning PLC function Function Table Multiplexer CANopen multiplexer 42 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 Mo tion Block 1211 No of Repetitions 1212 Delay 1213 Delay Next Motion Block 1214 Event 1 1215 Event 1 Next Motion Block 1216 Event 2 1217 Event 2 Next motion block 1218 Digital signal 1 1219 Digital signal 2 1247 Digital signal 3
141. ys comply with any applicable national disposal regulations as regards environ mentally compatible disposal of the frequency inverter For more details contact the competent local authorities ACU Modbus TCP 10 13 W Bonfiglioli Vectron 3 Introduction The present document describes the Modbus TCP protocol for the CM Modbus TCP and CM Modbus TCP 2P switch function integrated communication modules After connecting Modbus TCP to the PLC you can use an additional logic connection from CM Modbus TCP to the VPlus software running on a terminal connected via an Ethernet network For Modbus TCP connection the frequency inverter must be equipped with the CM Modbus TCP or CM Modbus TCP 2P communication module The CM Modus TCP and CM Modbus TCP 2P communication modules are separate components and must be attached to the frequency inverter This is described in chapter 5 1 Assembly Modbus TCP communication as described in this manual requires software version 5 3 0 or higher This manual only describes the CM Modbus TCP and CM Modbus TCP 2P communica tion modules This manual is not to be understood as providing general basic infor mation on Ethernet interfaces or frequency inverters General basic knowledge of the methods and function of Modbus TCP interfaces and Modbus TCP protocol are a prerequisite for understanding and implementing the in structions provided by this document D In some chapters of these instruc
142. ys the last started function is signaled by this bit Offset Reference The Offset for the M S Synchronization can be set via M S Synchronization offset 1284 Descrip ion Min Factory setting Application limitations The function can be used in most of all applications without any limitations In appli cations with very long travelling distances the following must be checked e The position difference to be compensated must not be greater than 2 1 motor revolutions e The position difference to be compensated must not be greater than 272 1 user units Depending on the used reference system it can vary which limit is decisive Always the smaller limit must be complied with A motor with a reference speed of 6000 rpm would have to travel for around 5 5 minutes into one direction to exceed this limit ACU Modbus TCP 117 GX Bonfiglioli 11 4 7 2 Example sequence 118 In order to start Electronic Gear Slave mode the correct sequence must be sent by the PLC 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 0x000F Operation enabled reference speed 0 Status word Oxnn37 Operation enabled

ModbusTCP for ACU - VEC1047R0

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