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CANopen Overview

CANopen

is used in a wide range of applications and is an especially favoured com-

munication system for motion control applications. The CANopen

based standard

DS402 “drives and motion control” describes and defines the necessary objects and

functions for motion control systems.

The CANopen

standard DS301 describes the basic communication functions in prin-

ciple. This chapter will give a short overview of the different functions based on

DS301. Detailed information on the CAN physical layer and CANopen

DS301 func-

tions can be found in the respective literature (e. g. “Controller Area Network” by

Prof. Dr.-Ing. K. Etschberger) and standards published by CAN-in-Automation CiA

(www.can-cia.org).

Every CANopen

device contains an object dictionary with all supported objects. The

objects can be divided into the two main groups – communication objects and appli-

cation objects. The objects are addressed by their index 0xnnnn (16 bit) and sub-

index 0xnn (8 bit).

The different functions defined by CANopen

(NMT, SDO, SYNC, PDO, Emergency)

use fixed identifier ranges. These identifier ranges are defined by the “Predefined

Connection Set”. By default every function uses an identifier calculated as the base

number plus node-ID (node–ID set by parameter

CAN node number

387.

11.1

Communication Objects

The communication objects are located in the index range 0x1nnn. They describe the

communication behavior of a CANopen

device. Some of the communication objects

comprise device information

(e. g. manufacturer’s vendor-id or inverter serial number). With the help of communi-

cation objects the application objects for device control are mapped to the PDO mes-

sages.

11.2

Application Objects

The application objects are divided into two groups again. The index range 0x2000 –

0x5FFF is reserved for manufacturer specific objects and the index range 0x6nnn is

reserved for device profile specific objects. Device profile specific objects 0x6nnn are

defined by DS402 drives and motion control. They are used for controlling the device

application (start/stop, speed, motion control functions).

CM-CAN ACU

04/13

Содержание Vectron Active Cube

Страница 1: ...ACTIVE CUBE CANopen Communication module CM CAN Frequency inverter 230 V 400 V...

Страница 2: ......

Страница 3: ...15 2 6 8 Information signs 15 2 7 Directives and guidelines to be adhered to by the operator 16 2 8 Operator s general plant documentation 16 2 9 Operator s operating staff s responsibilities 16 2 9 1...

Страница 4: ...ng 41 11 9 Heartbeat 42 11 10 OS Synchronization 42 11 11 Fault Reset 44 12 Objects 45 12 1 Objects tabular overview 45 12 1 1 Communication objects 45 12 1 2 Manufacturer objects 48 12 1 3 Device pro...

Страница 5: ...5 0x3004 0 Boolean Mux 88 12 4 6 0x3005 0 Boolean DeMux 89 12 4 7 0x3006 0 Percentage set value 90 12 4 8 0x3007 0 Percentage actual value 1 91 12 4 9 0x3008 0 Percentage actual value 2 92 12 4 10 0x...

Страница 6: ...12 5 36 0x6092 n Feed constant 145 12 5 37 0x6098 0 Homing method 146 12 5 38 0x6099 n Homing speeds 148 12 5 39 0x609A 0 Homing acceleration 149 12 5 40 0x60C1 1 Interpolation data record 150 12 5 4...

Страница 7: ...ample Sequence 222 15 Parameter list 224 15 1 Actual values 224 15 2 Parameters 224 16 Annex 227 16 1 Control Word overview 227 16 2 Status Word overview 228 16 3 Warning messages 229 16 4 Warning Mes...

Страница 8: ...lete functionality of the frequency inverter The parameters required for special purposes for adjustment to the application and the numerous additional functions are described in detail Separate user...

Страница 9: ...ent 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 th...

Страница 10: ...feld Germany These user manual is intended for the operator of the frequency inverter Any disclosure or copying of this document exploitation and communication of its contents as hardcopy or electroni...

Страница 11: ...r and troubleshooting Based on their qualifi cation and or know how qualified staff must be capable of identifying defects and assessing func tions Qualified electrician The term Qualified Electrician...

Страница 12: ...ntended 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 ind...

Страница 13: ...ternal discon nection device was installed by the operator Electrostatic charging Touching electronic components bears the risk of electrostatic discharges Thermal hazards Risk of accidents by hot mac...

Страница 14: ...th or serious injury if not avoided CAUTION Identification of immediate threat holding a low risk of minor or moderate physical inju ry if not avoided NOTE Identification of a threat holding a risk of...

Страница 15: ...6 6 Grounding symbol Symbol Meaning Ground connection 2 6 7 ESD symbol Symbol Meaning ESD Electrostatic Discharge can damage components and assemblies 2 6 8 Information signs Symbol Meaning Tips and i...

Страница 16: ...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 compone...

Страница 17: ...ust be met The duration of storage without connection to the permissible nominal voltage may not exceed one year 2 10 4 Handling and installation Do not commission any damaged or destroyed components...

Страница 18: ...e 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...

Страница 19: ...ac 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 agai...

Страница 20: ...is enclosed with the frequency inverter as a separate component and must be fitted by the user This is described in detail in the Assem bly chapter For the assembly of the EM modules and System bus pr...

Страница 21: ...access ALL frequen cy inverters parameters from a controller There is no access control via the control level as in the case of the KP500 manual control unit or the VPlus PC software Changing paramet...

Страница 22: ...42 target velocity o Percentage reference value for technology controller or Torque control Analogue input Fixed values from parameters Please refer to chapter 14 3 Non motion control configurations f...

Страница 23: ...ponse Chapter 11 7 2 11 8 o PDO Mapping Chapter 12 2 19 12 2 20 12 2 21 12 2 22 o Fault reaction Chapter 10 12 2 17 12 5 1 Fault reset Chapter 11 11 o SDO access Chapter 11 3 12 3 Setting Reference va...

Страница 24: ...le otherwise compo nents may be damaged Work steps Disconnect the frequency inverter from the mains voltage and protect it against being energized unintentionally Remove covers 1 and 2 of the frequenc...

Страница 25: ...e where the looking hooks 10 for the upper cover 1 project from the case of the frequency inverter To do this carefully insert the screwdriver in the gap between the case of the module and the frequen...

Страница 26: ...s used and the bus termination is only switched on with the first and last subscriber Otherwise operation of the CANopen communication is not possible The CAN Controller State is displayed via actual...

Страница 27: ...mission rate 125 kBaud 500 meter 6 250 kBaud Transmission rate 250 kBaud 250 meter 7 500 kBaud Transmission rate 500 kBaud 100 meter 8 1000 kBaud Transmission rate 1000 kBaud 25 meter Changing the bau...

Страница 28: ...r the CANopen connection The setting of CAN interface 276 2 is only possible when an EM module with CAN system bus is installed Even if only an EM module with CAN system bus is installed 276 first dis...

Страница 29: ...ate machine processes command quick stop and changes to state switch on disabled 4 Ramp Stop Error Device state machine processes command disable oper ation and changes to state fault after the drive...

Страница 30: ...sub index 0xnn 8 bit The different functions defined by CANopen NMT SDO SYNC PDO Emergency use fixed identifier ranges These identifier ranges are defined by the Predefined Connection Set By default e...

Страница 31: ...o commu nication manufacturer and device profile specific objects with up to four bytes of data is accomplished in the same way The only difference is in the index and sub index number The inverter su...

Страница 32: ...Access Client Server Download Request COB ID 0 1 2 3 4 5 6 7 0x600 Node ID cs index sub index data data data data 0x2x LSB MSB data01 data02 data03 data04 Server Client Download Response COB ID 0 1 2...

Страница 33: ...000 Access failed due to a harware error EEPROM Error Read write checksum 0x0607 0x0010 Data type does not match Parameter has a different data type 0x0607 0x0012 Data type does not match or length of...

Страница 34: ...specifier bits 1 3 contains the amount of not used data bytes in that last segment The resulting request and response telegrams are shown in the following sequence The Command Specifier have the follo...

Страница 35: ...0 LSB MSB Segment Upload last segment COB ID 0 1 2 3 4 5 6 7 Request Client Server 0x600 Node ID cs Daten 0x60 oder 0x70 00 00 00 00 00 00 00 Response Server Client 0x580 Node ID cs Daten 0xnn LSB MSB...

Страница 36: ...frame size is displayed 1 Data frame size is not displayed t Toggle bit toggled with each Segment change 0 First and odd segments 1 Second and even segments c Continue bit marks following segments 0...

Страница 37: ...t Identifiers Decimal TxPDO1 384 Node ID RxPDO1 512 Node ID TxPDO2 640 Node ID RxPDO2 798 Node ID TxPDO3 896 Node ID RxPDO3 1024 Node ID Hexadecimal 0x180 Node ID 0x200 Node ID 0x280 Node ID 0x300 Nod...

Страница 38: ...With the recep tion of the SYNC telegram the data are transferred internally to the application pa rameters TxPDOs defined as synchronous send the actual application data on SYNC reception Additional...

Страница 39: ...uard ing etc The behavior of the NMT state machine in such a case is described in Chapter 12 2 17 0x1029 n Error Behavior transition NMT command 1 At power on NMT state Initialisation is entered auton...

Страница 40: ...nicate Using a NMT telegram Reset Node or Reset Communication forces a Reset of the node communication and results in a Boot Up message Please refer also to chapter 11 8 Guarding 11 7 3 NMT commands B...

Страница 41: ...oes not receive a guarding request within the specified guarding time a guarding event is triggered The inverter s reaction to this guarding event is defined by objects 0x6007 abort connection option...

Страница 42: ...r NMT state r reserved always 0 NMT state 0 Boot Up 4 Stopped 5 Operational 127 Pre Operational 11 10 OS Synchronization The operating System OS of the frequency inverter can be synchronized to the PL...

Страница 43: ...hifting the CANopen OS Synctime can result in a better behavior 1453 OS SyncSource Act shows the active Synchronization source Parameter Setting No Description Min Max Fact sett 1451 CANopen OS Syncti...

Страница 44: ...cuted if Parameter Local Remote 412 al lows the control via keypad via parameter Error Acknowledgement 103 which is assigned a logic signal or a digital input A reset via a digital input can only be e...

Страница 45: ...appli cable Tx This object can be transmitted as PDO from ACU Rx This object can be transmitted as PDO to ACU Highest Sub index supported displays the highest Sub index that is supported by this obje...

Страница 46: ...ameter Read only Unsigned8 1 COB ID Rx Read only Unsigned32 No 2 COB ID Tx Read only Unsigned32 No 0x1400 RxPDO1 communication parameter 0 Highest sub index supported Read only Unsigned8 No 1 COB ID R...

Страница 47: ...rameter 0 Highest sub index supported Read only Unsigned8 No 1 COB ID Read write Unsigned32 No 2 Transmission type Read write Unsigned8 No 3 Inhibit time Unsigned16 No 4 No 5 Event time Read write Uns...

Страница 48: ...mux Read write Unsigned16 Rx 0 0 0xFFFF 0x3006 0 Percentage set value Read write Unsigned16 Rx 0 0x8AD0 0x7530 0x3007 0 Percentage actual value 1 Read only Unsigned16 Tx 0x3008 0 Percentage actual val...

Страница 49: ...3 Acceleration Read write Unsigned32 No 0x0005 0000 1 0x7FFF FFFF p 1127 DS4 0x5F15 0 In Gear Threshold Read write Unsigned32 No 0 0 0x7FFF FFFF p 1168 0x5F16 0 In Gear Time Read write Unsigned16 No 1...

Страница 50: ...elocity max amount Read write Unsigned32 No 32767 0 32767 p 419 0x6048 Velocity acceleration v 0 Highest sub index supported Read only Unsigned8 No 1 Delta speed Read write Unsigned32 No 150 1 32767 p...

Страница 51: ...00 0x7FFF FFFF p 1202 0x607C 0 Home offset h Read write Integer32 No 0 0x8000 0000 0x7FFF FFFF p 1131 0x6081 0 Profile velocity p i u Read write Unsigned32 Rx 0x0005 0000 1 0x7FFF FFFF 0x6083 0 Profil...

Страница 52: ...tion mode t Table travel record mode only This Object is only used in Table travel record mode The Modes Homing Interpolated Position Profile Position Profile Velocity and Table travel record require...

Страница 53: ...OFF ON VPlus KP500 2 P 419 38 Hz CANopen 0x6046 1140 rpm VPlus KP500 1 P 419 48 Hz VPlus KP500 1 P 419 48 Hz VPlus KP500 5 P 419 38 Hz 4 Power OFF ON VPlus KP500 3 Save 1140 rpm CANopen 0x1010 save 2...

Страница 54: ...8 Hz at KP500 or in VPlus 2 Setting of CANopen object 0x6046 1140 rpm equivalent to 38 Hz 3 Save command via CANopen object 0x1010 4 Setting of Maximum Frequency 419 48 Hz at KP500 or in VPlus 5 Power...

Страница 55: ...yte left Highest Byte right The headings are displayed in the format Index Subindex Objectname 12 2 1 0x1000 0 Device Type Index Sub index Meaning Data type Access Map Def Val 0x1000 0 Device Type Uns...

Страница 56: ...internal errors of the frequency inverter The status error free 0x1001 0 0 or error exists 0x1001 0 0 is displayed Detailed information about the current device fault can be checked VPlus with param e...

Страница 57: ...00 Reply 581 60 05 10 00 00 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 12 2 4 0x1006 0 Communication Cycle Period Index Sub index Meaning Data type Access Map D...

Страница 58: ...rement The time distance between two consecutive SYNC messages is monitored If object 0x1006 0 communication cycle period is set to a value other than zero then a communication error event is triggere...

Страница 59: ...the synchronous window length and a new violation of synchronous window length Example COB ID CB Index SI Data Read Request 601 40 07 10 00 00 00 00 00 Reply 581 43 07 10 00 00 00 00 00 Write Access 6...

Страница 60: ...deactivates the guarding function If the response monitoring time is exceeded the node reacts as defined by the set ting of object 0x6007 abort connection option code Example COB ID CB Index SI Data...

Страница 61: ...ry This object supports 3 sub indexes with different functions Writing save to 0x1010 3 stores all application parameters 0x6nnn to non volatile memory Specification of write save command LSB MSB s a...

Страница 62: ...ult values This ob ject supports 3 sub indexes with different functions Writing load to 0x1011 3 restores all application parameters 0x6nnn Specification of write load command LSB MSB l o a d 0x6C 0x6...

Страница 63: ...ight bytes This object is generated in individual cases and the fault acknowledgement signaled by an emergency message with the data contents equal to zero The contents are coded according to the foll...

Страница 64: ...tion option code Value of the consumer heartbeat time Bit 24 to Bit 31 Bit 16 to Bit 23 Bits 0 to Bit 15 not used Node ID Heartbeat Time Example COB ID CB Index SI Data Read Request 601 40 16 10 01 00...

Страница 65: ...ial number displays the inverter s serial number Example COB ID CB Index SI Data Read Request 601 40 18 10 01 00 00 00 00 Reply 581 43 18 10 01 05 00 00 00 CB Control byte SI Sub Index All values in h...

Страница 66: ...te SI Sub Index All values in hexadecimal without leading 0x 12 2 19 0x1400 n 0x1401 n 0x1402 n RxPDO Communication Parameters Index Sub index Meaning Data type Access Map Def Val 0x1400 0x1401 0x1402...

Страница 67: ...lly Update RxPDO data on each Rx Inhibit time The inhibit time for RxPDO is without function Values can be entered but are without further function Event time The event time is used as monitoring func...

Страница 68: ...ng parameters 0x1600 n RxPDO1 0x1601 n RxPDO2 0x1602 n RxPDO3 0x1600 0 0 no objects mapped 0x1600 0 1 8 1 8 objects mapped Mapping entry MSB LSB Object index Subindex Length no of bits High byte Low b...

Страница 69: ...et sub index 0 to the number of mapped objects activate new mapping 0x1600 Subindex 0 n Step 5 Set PDO valid 0x1400 Subindex 1 Bit 31 0 TxPDO 0x1600 is used exemplary above The same procedure applies...

Страница 70: ...mission type Unsigned8 rw No 255 3 Inhibit time Unsigned16 rw No See text 4 5 Event time Unsigned16 rw No See text TxPDO Communication parameters 0x1800 n TxPDO1 COB ID Default value 0x180 384 Node ID...

Страница 71: ...TxPDOs for asynchronous TxPDOs During the inhibit time the TxPDO is not send again Therefore a value change occurring in this time is send earliest after the inhibit time has elapsed The value range i...

Страница 72: ...ty reasons An SDO read write access to sub index 4 results in an SDO abort Example COB ID CB Index SI Data Read Request 601 40 00 18 02 00 Reply 581 4F 00 18 02 FF Read Request 601 40 00 18 01 00 Repl...

Страница 73: ...Mapping parameters 0x1A00 n TxPDO1 0x1A01 n TxPDO2 0x1A02 n TxPDO3 0x1A00 0 0 no object mapped 0x1A00 0 1 8 1 8 objects mapped Mapping entry MSB LSB Object index Subindex Length no of bits High byte...

Страница 74: ...ndex 1 Bit 31 0 TxPDO 0x1A00 is used exemplary above The same procedure applies to 0x1A01 and 0x1A02 In these cases 0x1800 has to be substituted accordingly with 0x1801 or 0x1802 Example Node ID 1 COB...

Страница 75: ...ata values are set via data set 0 all four data sets are set to the same transmitted value A read access with data set 0 to such parameters is only successful if all four data sets are set to the same...

Страница 76: ...ccurs during the writing process the corresponding error code is given in Bytes 4 7 Reading parameters Client Server SDO Upload expedited 0 1 2 3 4 5 6 7 COB ID Control byte Index Subindex Data 0x40 L...

Страница 77: ...rame ter value 100 00 Hz Index 480 0x2000 0x21E0 value 10000 0x00002710 Client Server SDO Download expedited 0 1 2 3 4 5 6 7 COB ID Control byte Index Subindex Data 0x601 0x23 0xE0 0x21 0x01 0x10 0x27...

Страница 78: ...parameter value 5 Index 407 0x2000 0x2197 value 5 0xFFFB Client Server SDO Upload expedited 0 1 2 3 4 5 6 7 COB ID Control byte Index Subindex Data 0x601 0x40 0x97 0x21 0x00 Server Client Upload Respo...

Страница 79: ...ented Transfer Write Parameter User Name 029 Type String in data set 0 with the parameter val ue Bonfiglioli Vectron CANopen 27 characters 0x1B characters Index 29 0x2000 0x201D ASCII B o n f i g l He...

Страница 80: ...1 2 3 4 5 6 7 COB ID Control byte Daten 0x581 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 3rd Segment Server Client Upload Segment Request bytes 15 21 0 1 2 3 4 5 6 7 COB ID Control byte Daten 0x601 0x00...

Страница 81: ...se 9 bytes to be send 0 1 2 3 4 5 6 7 COB ID Control byte Index Subindex Data 0x581 0x41 0x0C 0x21 0x00 0x09 0x00 0x00 0x00 1st Segment Server Client Upload Segment Request bytes 1 7 0 1 2 3 4 5 6 7 C...

Страница 82: ...response 9 bytes to be send 0 1 2 3 4 5 6 7 COB ID Control byte Index Sub index Daten 0x581 0x41 0x0C 0x21 0x00 0x09 0x00 0x00 0x00 1st Segment Server Client Upload Segment Request bytes 1 7 0 1 2 3 4...

Страница 83: ...1 1215 Event1 Next Motion Block 1216 Event 2 1217 Event2 Next Motion Block 1218 Digital Signal 1 1219 Digital Signal 2 1247 Digital Signal 1 1248 Digital Signal 2 1260 Interrupt Event 1 1261 Int Even...

Страница 84: ...Request P 1200 to Index 34 0x601 0x2B 0xB0 0x24 0x05 0x22 0x00 Response 0x581 0x60 0xB0 0x24 0x05 0x00 0x00 Write Request P 1202 to 30000 u 0x601 0x23 0xB2 0x24 0x00 0x30 0x75 0x00 0x00 Response 0x581...

Страница 85: ...n cycle period 0x3000 0 SYNC Jitter a communication error event is triggered The value for object 0x3000 0 SYNC Jitter depends on the CANopen master s capa bility for time accuracy The value range is...

Страница 86: ...al input 1 if in Operation mode 452 digital input as de scribed in parameter Digital Inputs 250 Example COB ID CB Index SI Data Read Request 601 40 01 30 00 00 00 Reply 581 4B 01 30 00 06 00 CB Contro...

Страница 87: ...e e g parameter Op Mode Digital Output 1 530 The mapping of this object bits to the outputs is arbitrary Example Function Parameter no Choice list excerpt Op Mode Digi tal Output 3 532 0 OFF 1 Ready o...

Страница 88: ...an be chosen from a choice list via the index parameter CANopen Mux Input 1422 Parameters 1420 and 1421 are the associated write and read parameters which you have to set prior to writing reading para...

Страница 89: ...005 Demux Out 3 3 835 Obj 0x3005 Demux Out 4 4 836 Obj 0x3005 Demux Out 5 5 837 Obj 0x3005 Demux Out 6 6 838 Obj 0x3005 Demux Out 7 7 839 Obj 0x3005 Demux Out 8 8 840 Obj 0x3005 Demux Out 9 9 841 Obj...

Страница 90: ...eters choice list The value of object 0x3006 is limited to 30000 to 30000 corresponds to percentage values 300 00 300 00 No Object Min Max 0x3006 0 Percentage set value 30000 0x8AD0 30000 0x7530 Examp...

Страница 91: ...tage source which is selectable via pa rameter CANopen Percentage Actual Value Source 1423 Default source is 52 Analog Input MFI1A The percentage value is scaled as percent 100 e g 5678 represents 56...

Страница 92: ...age source which is selectable via pa rameter CANopen Percentage Actual Value Source 2 1414 Default source is 52 Analog Input MFI1A The percentage value is scaled as percent 100 e g 5678 represents 56...

Страница 93: ...t 0x3011 displays the value of a word source which is selectable via parameter CANopen Actual Value Word 1 1415 Default source is 52 Analog Input MFI1A Example COB ID CB Index SI Data Read Request 601...

Страница 94: ...t 0x3012 displays the value of a word source which is selectable via parameter CANopen Actual Value Word 2 1416 Default source is 52 Analog Input MFI1A Example COB ID CB Index SI Data Read Request 601...

Страница 95: ...ect 0x3021 displays the value of a Long source which is selectable via parameter CANopen Actual Value Long 1 1417 Default source is 9 Zero Example COB ID CB Index SI Data Read Request 601 40 21 30 00...

Страница 96: ...ect 0x3022 displays the value of a Long source which is selectable via parameter CANopen Actual Value Long 2 1418 Default source is 9 Zero Example COB ID CB Index SI Data Read Request 601 40 22 30 00...

Страница 97: ...50 of the Systembus The value of object 0x3111 is available as source which can be chosen by the selec tion of 762 CANopen 0x3111 Ref Value from a parameters choice list Example COB ID CB Index SI Dat...

Страница 98: ...50 of the Systembus The value of object 0x3112 is available as source which can be chosen by the selec tion of 763 CANopen 0x3112 Ref Value from a parameters choice list Example COB ID CB Index SI Dat...

Страница 99: ...stembus The value of object 0x3121 is available as source which can be chosen by the selec tion of 764 CANopen 0x3121 Ref Value from a parameters choice list Example COB ID CB Index SI Data Read Reque...

Страница 100: ...tembus The value of object 0x3122 is available as source which can be chosen by the selec tion of 765 CANopen 0x3122 Ref Value from a parameters choice list Example COB ID CB Index SI Data Read Reques...

Страница 101: ...tion control configurations P 30 x40 The Electronic Gear Slave mode is activated by object 0x6060 modes of operation set to 3 With the Gear factors numerator and denominator a multiplier for the maste...

Страница 102: ...file Positioning mode o Velocity mode o Profile Velocity mode o Homing mode o Interpolated mode o Table Travel Record mode o Move away from Limit Switch Non motion Control conf x40 Objects 0x5F11 Phas...

Страница 103: ...ct Min Max 0x5F11 1 0x5F12 1 0x5F13 1 0x5F14 1 Phasing Offset 2147483647 0x8000 0000 2147483647 0x7FFF FFFF 0x5F11 2 0x5F12 2 0x5F13 2 0x5F14 2 Phasing Speed 1 2147483647 0x7FFF FFFF 0x5F11 3 0x5F12 3...

Страница 104: ...14 1 Phasing 1 Offset Phasing 2 Offset Phasing 3 Offset Phasing 4 Offset 1125 1 1125 2 1125 3 1125 4 Phasing Offset 0x5F11 2 0x5F12 2 0x5F13 2 0x5F14 2 Phasing 1 Speed Phasing 2 Speed Phasing 3 Speed...

Страница 105: ...ative deviation between master and slave position exceeds the value of 0x5F15 0 In Gear Threshold The speed of the master drive exceeds the value of Maximum Speed Maximum speed refers to either 0x6046...

Страница 106: ...In Gear Threshold The speed of the master drive exceeds the value of Maximum Speed Maximum speed refers to either 0x6046 2 Velocity max amount or Maximum fre quency 419 It is set either via 0x6046 2...

Страница 107: ...tion of the Profile generator reference speed and the output of the Position Controller higher frequencies than Maximum speed can occur Maximum speed and Limitation 1118 must be set for fitting values...

Страница 108: ...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 goo...

Страница 109: ...mode in mo tion control configurations P 30 x40 The table travel record mode is activated by object 0x6060 modes of operation set to 1 The data of active motion block displays the active motion block...

Страница 110: ...is only available in table travel record mode in motion control configurations P 30 x40 The table travel record mode is activated by object 0x6060 modes of operation set to 1 The data of motion block...

Страница 111: ...actory set ting Device state machine changes to state fault immediately Device state machine changes to state fault immediately 2 Switch off Device state machine processes com mand disable voltage and...

Страница 112: ...bject Error behavior the NMT state may change leaving NMT state operational In this case the NMT state must be set to operational again be fore a fault reset command is accepted by the inverter In add...

Страница 113: ...g Heartbeat Send one RxPDO with correct number of bytes Set NMT state Operational Send Fault reset command WARNING With the setting of object 0x6007 abort connection option code 0 no reaction the inve...

Страница 114: ...0 Motor phase current above the current limit DC link voltage F07 xx 32 10 DC link voltage outside the voltage range Electronic voltage F08 xx 51 11 Electronic voltage outside the voltage range Motor...

Страница 115: ...Operation mode specific 6 Operation mode specific 7 Fault reset 8 Halt 9 Operation mode specific 10 Reserved 11 Manufacturer specific 12 Manufacturer specific 13 Manufacturer specific 14 Manufacturer...

Страница 116: ...on disabled 7 Warning 8 Manufacturer specific 9 Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 Operation mode specific 14 Manufacturer specific 15 Manufacturer specif...

Страница 117: ...pplications configuration x40 only the data set 1 is used Non motion control applications configuration x40 sometimes have more than one motor connected to the inverter only one at a time switched ove...

Страница 118: ...in the same way as described for object target veloci ty Example COB ID CB Index SI Data Read Request 601 40 43 60 00 00 00 Reply 581 4B 43 60 00 AB 01 CB Control byte SI Sub Index All values in hexad...

Страница 119: ...frequency val ue taking into account parameter No of Pole Pairs 373 in data set 1 The unit of 0x6046 velocity max amount is in RPM positive values only Writing to object 0x6046 2 velocity max amount a...

Страница 120: ...419 In Positioning applications the overall speed can fall below or exceed the limits defined by Minimum and Maximum frequency due to the influence of the Position controller The output of the Positi...

Страница 121: ...n RAM only Both parameters are set to the same value The values of p 420 and p 422 are converted internally to a frequency sec value tak ing into account parameter No of Pole Pairs 373 in data set 1 T...

Страница 122: ...Both parameters are set to the same value The values of p 421 and p 423 are converted internally to a frequency sec value tak ing into account the parameter No of Pole Pairs 373 in data set 1 The grad...

Страница 123: ...only Both parameters are set to the same value The values of p 424 and p 425 are converted internally to a frequency sec value tak ing into account the parameter No of Pole Pairs 373 in data set 1 The...

Страница 124: ...ode 1 0xFF Table travel record manufacturer specific mode 2 0xFE Move away from Limit switch manufacturer specific mode 3 0xFD Electronic Gear Slace manufacturer specific mode Object 0x6060 modes of o...

Страница 125: ...r Control Example COB ID CB Index SI Data Read Request 601 40 61 60 00 00 Reply 581 4F 61 60 00 02 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 12 5 14 0x6064 0 Position a...

Страница 126: ...lowing error window is switched off The actual following error is displayed in object 0x60F4 Following error actual value The warning is triggered if the Following error window was exceeded for the ti...

Страница 127: ...is triggered Writing to object following error time out automatically generates a write command to parameter Contouring Error Time 1119 data set 5 all data sets in RAM only If object 0x6066 0 was writ...

Страница 128: ...new target position is set the Target reached Bit is reset until the position and time conditions are met again The valid value range of object 0x6067 0 position window is 0 0x7FFF FFFF 231 1 Writing...

Страница 129: ...s written and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated a...

Страница 130: ...Object 0x606D 0 Velocity Window is 0 65535 u s If the value of 0x606D 0 Velocity Window is set to 0 bit 10 Target reached of the Status word is only set with the exact equality of actual speed and ref...

Страница 131: ...0x606C Velocity Actual value is smaller than the 0x606D Velocity window for a longer time than 0x606E Velocity Window Time If both conditions are not met at the same time bit 10 Target reached of the...

Страница 132: ...reshold of 0x606F Velocity Threshold bit 12 Velocity of the Status word is set The value range of Object 0x606F 0 Velocity Window Threshold is 0 65535 u s Writing to object 0x606F 0 Velocity Window Th...

Страница 133: ...tus word is set The value range of Object 0x6070 0 Velocity Window Time is 0 65535 ms Writing to object 0x606F 0 Velocity Window Threshold automatically generates a write command to parameter Threshol...

Страница 134: ...0x6071 0 Target Torque 3000 0xF448 3000 0x0BB8 Hexadecimal value 6071 Decimal value 0x6071 Percentage of Target Torque 0x03E8 1000 100 0 0x0064 100 10 0 0x0001 1 0 1 0xFF18 1000 100 0 0xFF9C 100 10 0...

Страница 135: ...0 00 Reply 581 4B 78 60 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 12 5 27 0x6079 0 DClink circuit voltage Index Sub index Meaning Data type Access Map Def Val...

Страница 136: ...t Switch o Electronic Gear Slave Non motion Control conf x40 Object 0x607A target position defines the position in user units that the drive should move to in profile position mode The dimension of th...

Страница 137: ...to the application zero position Writing to object home offset automatically generates a write command to parameter Home Offest 1131 data set 5 all data sets in RAM only If object 0x607C 0 was written...

Страница 138: ...profile velocity is the velocity in user units per second at the end of the acceleration ramp in profile position mode The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed c...

Страница 139: ...bject 0x6083 profile acceleration is the acceleration in user units per second2 in pro file position mode The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed con stant The...

Страница 140: ...0x6084 profile deceleration is the deceleration in user units per second2 in profile position mode Die Dimension der user units u wird ber Objekte 0x6091 Gear ratio und 0x6092 Feed constant definiert...

Страница 141: ...ameter Emergency Ramp 1179 data set 5 all data sets in RAM only If object 0x6085 0 was written and then a save parameters command object 0x1010 processed the object value is stored in non volatile mem...

Страница 142: ...linear ramp 3 jerk limited ramp In mode 3 jerk limited ramp the ramp uses the parameters Ramp Rise Time 1176 Ramp Fall Time 1178 The Ramp Rise Fall time in Table travel record mode is defined via par...

Страница 143: ...tten and then a save parameters command object 0x1010 processed the object value is stored in non volatile memory After the next power on of the inverter the previously set value is reactivated and ov...

Страница 144: ...x0000 FFFF 0x6091 2 Driving shaft revolutions 1 65535 0x0000 FFFF Example COB ID CB Index SI Data Read Request 601 40 91 60 01 00 00 00 00 Reply 581 43 91 60 01 01 00 00 00 Write Access 601 23 91 60 0...

Страница 145: ...t revolutions automatically generates a write command to parameter Feed Constant 1115 data set 5 all data sets in RAM only If object 0x6092 1 or 0x6092 2 was written and then a save parameters command...

Страница 146: ...value is not changed The current position value is the value saved upon the last disconnection of the power supply 1 Neg Limit Switch Ref Signal Homing to negative HW limit switch with detection of en...

Страница 147: ...tch Home position is at the right of the edge of the home switch signal 22 Neg Home Sw left of Edge Homing to negative home switch Home position is at the left of the edge of the home switch signal 23...

Страница 148: ...ct Min Max 0x6099 1 speed during search for switch 1 2147483647 0x7FFF FFFF 0x6099 2 speed during search for zero 1 2147483647 0x7FFF FFFF Writing to object speed during search for switch automaticall...

Страница 149: ...s reference acceleration and deceleration value in Move away from Limit Switch mode Writing to object homing acceleration automatically generates a write command to pa rameter Acceleration 1134 data s...

Страница 150: ...sition in user units used in interpolation position mode Always ensure that a valid position is stored in the Interpolated Data Record It is recommended to copy the actual position to the Data Record...

Страница 151: ...uring error 1109 The allowed following error is defined by object 0x6065 Following error window The dimension of the user units is defined by 0x6091 Gear ratio and 0x6092 Feed constant The Contouring...

Страница 152: ...it 13 Max Slippage of the Status word is set otherwise reset Writing to object 0x60F8 Max Slippage automatically generates a write command to parameter Max Slippage 1275 data set 5 all data sets in RA...

Страница 153: ...rpolated mode o Table Travel record mode o Move away from Limit Switch o Electronic Gear Slave Non motion Control conf x40 Object 0x60FF Target Velocity defines the reference velocity in Profile veloc...

Страница 154: ...mode 2 Velocity mode rpm 3 Profile Velocity mode u s 6 Homing 7 Interpolated mode Bonfiglioli Vectron defined modes 1 or 0xFF Table Travel record mode 2 or 0xFE Move Away from Limit Switch 3 or 0xFD...

Страница 155: ...419 Obj 0x6046 1 2 Velocity min max amount 418 419 Obj 0x6046 1 2 Velocity min max amount 418 419 Acceleration Obj 0x609A 0 Acceleration 1134 Obj 0x6048 0 Velocity acceleration 420 422 1295 Accelerati...

Страница 156: ...ck stop deceleration 1179 Emergency Ramp Obj 0x6085 0 Quick stop deceleration 1179 Emergency Ramp 1 Modes of Operation is selected via 1292 S Modes of Operation Default setting 801 Obj 0x6060 Modes of...

Страница 157: ...1123 Gear Factor Nu merator 0x5F10 1 Gear factor Numerator 1124 Gear Factor De nominator 0x5F10 2 Gearfactor Denominator Phasing 5 1125 Phasing Offset 0x5F11 1 Phasing 1 Offs 1126 Phasing Speed 0x5F11...

Страница 158: ...Correlation of objects parameters and value conversion Velocity vl Velocity mode rpm Velocity pv Profile Velocity mode u s 158 CM CAN ACU 04 13...

Страница 159: ...pole pairs Conversion between user units u and frequencies Hz 1117 1115 1116 373 U u Hz s u v f s revolution shaft Motor Box ear Constant Feed s revolution shaft Driving Box Gear G pairs pole of No 1...

Страница 160: ...ore the start of a motion block positioning operation 1 Extension module with system bus or field bus interface required When using an Absolute Encoder with an Absolute Encoder Module in example EM AB...

Страница 161: ...an be used in general as long as the drive command executes the movement in the enabled direction As long as the limit switch is still triggered the limit switch warning in the status word and in the...

Страница 162: ...Profile Velocity 1 Selection 803 Obj 0x6081 Profile Velocity 1295 S Acceleration 2 Selection 804 Obj 0x6083 Profile Acceleration 1296 S Deceleration 3 Selection 805 Obj 0x6084 Profile Deceleration 12...

Страница 163: ...1292 1297 the following cross reference results between Override Parameters and CANopen Objects 1454 Override Modes of Operation or 0x6060 Modes of Operation 1455 Override Target Position or 0x607A T...

Страница 164: ...and Stop command as well as the statement of the direction of rotation are via digital input signals emulated by the bits of the Control word Parameter Local Remote 412 is data set change over capable...

Страница 165: ...s S1IND STOA AND STOB S2IND to EM S3IND directly or by digital input emulation with help of the individual bits in the Control word The meaning of these inputs can be taken from the operating instruct...

Страница 166: ...t be set in order to get the drive started The two control modes digital inputs and remote digital inputs are only relevant to the mode of operation velocity mode ACTIVE CUBE inverters support an exte...

Страница 167: ...ng instructions For Reference value reached there is a hysteresis tolerance range which can be set via parameter max Control deviation 549 see operating instructions Bit no 11 Internal limit active in...

Страница 168: ...rol word is relevant to the inverter whenever parameter Lo cal Remote 412 is set to 1 remote state machine Control word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage 2 Quick s...

Страница 169: ...CTIVE CUBE inverters support an external 24V supply for control logic Even if the mains are not switched on communication between the PLC and the inverter can still be established Bit 4 Voltage enable...

Страница 170: ...Bit 3 Bit 2 Bit 1 Bit 0 Transitions Fault reset Enable operation Quick stop Enable voltage Switch on Shutdown X X 1 1 0 2 6 8 Switch on X 0 1 1 1 3 Switch on X 1 1 1 1 3 Disable voltage X X X 0 X 7 9...

Страница 171: ...r the following points State transition 4 is available and is only processed if bit no 4 Voltage ena bled of the Status word is set This function is for downward compatibility to older software versio...

Страница 172: ...e range which can be set via parameter max Control deviation 549 see operating instructions Bit 11 Internal limit active indicates that an internal limit is active This can for example be the present...

Страница 173: ...Behavior in quick stop In quick stop the parameters Switch off threshold 637 percent of fmax and Hold ing time 638 holding time after falling short of the switch off threshold are relevant In a quick...

Страница 174: ...Plus program The default value for parameter State transition 5 392 is operation mode 2 Ramp For configurations with torque control the default value is operation mode 0 Coast to stop If the configura...

Страница 175: ...to the reference line value This reference value is combined with the in ternal reference value from the reference frequency value channel in the input of the ramp function Reference frequency value c...

Страница 176: ...ormat Internal reference fre quency 228 Internal reference value from the frequency reference value channel xxx xx Hz Reference bus frequen cy 282 Reference line value from the CANopen bus xxx xx Hz R...

Страница 177: ...tion control Configuration 30 x40 The objects control word and status word described above support the bits marked as operation mode specific These bits and bit Target reached has different meanings i...

Страница 178: ...velocity 0x6043 Velocity demand 0x6044 Control effort 0x6046 Velocity min max amount 0x6048 Velocity acceleration 0x6049 Velocity deceleration 0x604A Velocity quick stop 0x6060 Modes of operation 0x6...

Страница 179: ...used 11 Internal limit active 12 13 14 15 Warning 2 Block diagram Bit 4 rfg enable Rfg enable 0 The Reference speed from the manufacturer specific special function generator is used Rfg enable 1 The...

Страница 180: ...n Generator i Reference value source 1299 Q Special Function Genera tor unequal to 9 Zero 1299 Q Special Function Genera tor 9 Zero Bit 4 rfg enable 0 Reference value from Special func tion Reference...

Страница 181: ...source from 1299 Q Special Function Generator Status word 0xnn37 Operation enabled 6c Control word 0x003F Start Velocity mode with Reference speed 0 Status word 0xnn37 Operation enabled 6d Control wo...

Страница 182: ...ctly the ACU is enabled dark marked table area In Operation enabled state 0xnnnF the Motion Control states can be changed white marked area in table With the control word transition from 0xnnnF to 0x0...

Страница 183: ...on 0x6061 Modes of operation display 0x6085 Quick stop deceleration 0x606C Velocity Actual value 0x6086 Motion Profile Type 0x606D Velocity Window 0x60F8 Max Slippage 0x606E Velocity Window Time 0x60F...

Страница 184: ...ion enabled immediately 0xnn37 The acceleration and deceleration ramp are specified by ob jects 0x6083 Profile acceleration and 0x6084 Profile deceleration Setting Bit 8 Halt of the control word delay...

Страница 185: ...object 0x606E Velocity Window time up to the defined amount us in Object 0x606D Velocity Window Status word Bit 12 Velocity Velocity 0 The Actual Velocity matches the comparison speed The Actual Velo...

Страница 186: ...ged the old value will still be active 0x6081 Profile velocity 0x6083 Profile acceleration 0x6084 Profile deceleration 0x60FF Target Velocity WARNING Dangerous state due to new mode When 0x6060 Modes...

Страница 187: ...get position 0x6081 Profile velocity 0x6083 Profile acceleration 0x6084 Profile deceleration 0x6085 Quick stop deceleration The Ramp Rise Fall times are set up via parameters 1176 and 1178 and object...

Страница 188: ...to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop Low active 6 Switch on disabled 7 Warning 8 9 Remote 10 Target reached 11 Internal limit active 12 Set point ackno...

Страница 189: ...sition is a relative value Halt Bit 8 0 Execute positioning 1 Stop axle with profile deceleration if not supported with profile acceleration the inverter remains in state operation enabled Status word...

Страница 190: ...t acknowledge and starts moving to the new target position After that the control device clears the bit new set point and the drive also clears the bit set point acknowledge After clearing the bit set...

Страница 191: ...and a new set point is validated by control bit new set point rising edge the new set point is processed immediately t t t t t t actual speed new set point control bit 4 target position set point cur...

Страница 192: ...int 1 The current target position will be driven to in current speed As soon as the position is reached the new set point is taken over The grey line in segment actual speed shows the actual speed beh...

Страница 193: ...007 or 0x000F 0x005F Enable Operation start with relative movement Profile1 If a motion is already running that mo tion is finished then the new Profile will be used Status word 0xnn37 Operation enabl...

Страница 194: ...to 0x0007 the velocity mode is stopped After that it is possible to start again with 0xnnnF While 0x0007 is active it is also possible to change the modes of operation without any danger After changin...

Страница 195: ...f operation display 0x6083 Profile acceleration 0x6084 Profile deceleration 0x6085 Quick stop deceleration 0x60C1 Interpolation data record The Ramp Rise Fall times are set up via parameters 1176 and...

Страница 196: ...ycle period must be set or at least eleven SYNC messages are necessary before the interpolated position mode is activated by setting control bit 4 ena ble_ip_mode For the SYNC interval only multiples...

Страница 197: ...de Please set the acceleration values big enough so that for switching on and switching off of the IP mode the motion is synchronized with the PLC Control word Name Value Description Enable IP mode Bi...

Страница 198: ...Sync 4 ms 1 ms Ip_mode_active Ref Position Interpolation_data_record Interpolated positions Initial drive pos Enable_ip_mode 198 CM CAN ACU 04 13...

Страница 199: ...can occur in the new mode Checking the status word before changing 0x6060 Modes of Operation i e check state 0xnn33 After the sequence of the first four Control word s was processed correctly the ACU...

Страница 200: ...x amount 0x6060 Modes of operation 0x6061 Modes of operation display 0x6098 Homing method 0x6099 Homing speeds 0x609A Homing acceleration The Ramp Rise Fall times are set up via parameters 1135 In hom...

Страница 201: ...reached 11 Internal limit active 12 Homing attained 13 Homing error 14 15 Warning 2 Control word Name Value Description Homing op eration start Bit 4 0 Homing mode inactive 0 1 Start homing mode 1 Ho...

Страница 202: ...0F Enable Operation Status word 0xnn37 Operation enabled 5b Control word 0x001F Enable Operation and start Homing Status word 0x1n37 Operation enabled and homing attained WARNING Dangerous state due t...

Страница 203: ...6065 Following error window 0x6046 Velocity min max amount 0x6066 Following error time 0x6060 Modes of operation 0x6067 Position window 0x6061 Modes of operation display 0x6068 Position window time 0x...

Страница 204: ...tch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop Low Active 6 Switch on disabled 7 Warning 8 Motion block in progress 9 Remote 10 Target reached 11 Internal limit active...

Страница 205: ...0 Motion block select Sta Halt Res Seq 4 3 2 1 0 Start motion block motion block select 1 Motion block select resulting start motion block 4 3 2 1 0 0 0 0 0 0 1 0 0 0 1 1 4 1 0 0 0 0 17 1 1 1 1 1 32...

Страница 206: ...motion block is dis played by object 0x5FF0 active motion block If motion block processing is interrupted by setting start motion block to 0 the axle stops with the ramp defined by the actual motion...

Страница 207: ...ck control bit 9 PLC single motion block sequence mode control bit 4 0 2 motion blocks 7 10 Drive target reached status bit 10 motion block in progress status bit 8 position active motion block 0 7 0...

Страница 208: ...l bit 9 PLC motion block sequence sequence mode control bit 4 1 sequence motion block 4 5 6 Drive target reached status bit 10 motion block in progress status bit 8 position active motion block 0 4 5...

Страница 209: ...ol bit 4 1 sequence motion block 4 5 6 motion block 5 interrupted Drive target reached status bit 10 motion block in progress status bit 8 position active motion block 0 4 0 6 0 active motion block 0...

Страница 210: ...d Positioning active Status word 0xn637 Operation enabled and Target reached 5f Control word 0x004F Resume last Motion Block as Single Mo tion Block Status word 0xn337 Operation enabled and Positionin...

Страница 211: ...Status word 0x6099 2 Homing Creep Speed 0x6046 Velocity min max amount 0x609A Homing Acceleration 0x6060 Modes of operation 0x6085 Quick stop deceleration 0x6061 Modes of operation display In table tr...

Страница 212: ...Fault Reaction 1144 with reaction error is selected If a setting with warning in example 10 Warning is selected the software limit switch is not trig gering a fault and therefore the mode Move away f...

Страница 213: ...xle is accelerated to Object 0x6099 Homing speeds Subindex 2 Homing Speed 2 search for zero using the ramp defined by Object 0x609A Homing acceleration As soon as the active software or hardware limit...

Страница 214: ...ING Dangerous state due to new mode When 0x6060 Modes of Operation is changed during operation Control word 0xnnnF a dangerous state can occur in the new mode Checking the status word before changing...

Страница 215: ...window 0x6061 Modes of operation display 0x6068 Position window time 0x5F10 Electronic Gear Gear factor 0x6085 Quick stop deceleration 0x5F11 0x5F14 Electronic Gear Phasing 1 Electronic Gear Phasing...

Страница 216: ...tch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop low active 6 Switch on disabled 7 Warning 8 Motion block in progress 9 Remote 10 Target reached In gear 11 Internal limi...

Страница 217: ...Phasing with profile defined by Bits 12 13 Phasing select 0 1 Bit 12 13 n Phasing Profile n 1 Phasing select Control word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Ph Sel Pha Halt DS SG 1 0 Phasing Profi...

Страница 218: ...sn t change if the master makes a homing 607 Act Position 16 16 mechanical position of master drive Value changes if the master makes a homing 620 motion profile gen Internal Ref Position reference po...

Страница 219: ...reached The gear factor is defined by the following Objects or parameters Object Parameter 0x5F10 1 Gear factor Numerator 1123 Gear Factor Numerator 0x5F10 2 Gear factor Denominator 1124 Gear Factor...

Страница 220: ...lt to 0 restarts processing of the interrupted movement The target reached bit is reset at the start of the acceleration and set again when meeting the In gear criteria set in objects 0x5F15 In gear t...

Страница 221: ...s sychronised with the master drive directly The master speed is processed by the position controller directly The acceleration and deceleration for synchronization occurs according to the charac teri...

Страница 222: ...ar with Direct Synchro nization Status word See 6a See 6a 7a Control word 0x021F Start Electronic Gear without Direct Syn chronization and Phasing Profile 1 Status word See 6a See 6a 7b Control word 0...

Страница 223: ...ctly the ACU is enabled dark marked table area In Operation enabled state 0xnnnF the Motion Control states can be changed white marked area in table With the control word transition from 0xnnnF to 0x0...

Страница 224: ...urce Act Selection 11 10 Actual values of the frequency inverter 1108 Actual Position u 2147483647 2147483647 12 5 14 1109 Act Contouring Error u 2147483647 2147483647 12 5 41 The parameters Current e...

Страница 225: ...6 1296 S Deceleration Selection 805 0x6084 13 6 1297 S Sollgeschwindigkeit vl rpm Selection 806 0x6042 13 6 1299 S Special Function Generator Selection 9 Zero 13 6 1297 S Target Velocity Selection 80...

Страница 226: ...Index write 1420 changes all Data in EEPROM and RAM The parameter Data set selection 414 is only accessible via the manufacturer objects 0x2nnn It cannot be accessed via the VPlus program or the KP50...

Страница 227: ...t Halt Halt Halt 9 Change on setpoint 10 11 12 13 14 15 Bit MCI Interpol Position Mode MCI Homing Mode MCI Table travel record Mode MCI Move away from Limit Sw MCI Electronic Gear Slave 0 Switch On Sw...

Страница 228: ...t point acknowl 13 Max slippage error Following error 14 Target Pos reached 15 Warning 2 Warning 2 Warning 2 Warning 2 Warning 2 Bit MCI Interpol Position Mode MCI Homing Mode MCI Electronic Gear Slav...

Страница 229: ...short text description in VPlus and Keypad KP500 Warning messages Bit no Warning code Meaning 0 0x0001 Warning Ixt 1 0x0002 Warning Short Term Ixt 2 0x0004 Warning Long Term Ixt 3 0x0008 Warning Heat...

Страница 230: ...lockwise 2 0x0004 SW LIM CCW SW limit switch Counterclockwise 3 0x0008 HW LIM CW HW limit switch Clockwise 4 0x0010 HW LIM CCW HW limit switch Counterclockwise 5 0x0020 CONT Contouring error 6 0x0040...

Страница 231: ...W Lim Switch Wrong Op Mode for MFI1 74 Neg HW Lim Switch Input disabled by Encoder 1 75 Neg HW Lim Switch Input disabled by Encoder 2 76 Neg HW Lim Switch Wrong Op Mode for EM S1IOD F15 xx User Define...

Страница 232: ...eed in user units u s Speed rpm See chapter 16 6 5 Frequency Hz See chapter 16 6 3 16 6 1 Speed rpm to Frequency Hz Hz rpm 373 60 16 6 2 Frequency Hz to Speed rpm rpm Hz 60 373 16 6 3 Speed in user un...

Страница 233: ...YNC Object x x x x 0x1006 Comm Cycle Period x x x x 0x1007 Syn Window length x x x x 0x1008 Manuf Device name x x x x 0x1009 Manuf Hardw Vers x x x x 0x100A Manuf Softw Vers x x x x 0x100C Guard Time...

Страница 234: ...x 0x3007 Percentage Act value 1 x x x x 0x3008 Percentage Act value 2 x x 0x3011 Act Value Word 1 x x 0x3012 Act Value Word 2 x x 0x3021 Act Value Long 1 x x 0x3022 Act Value Long 2 x x 0x3111 Ref Val...

Страница 235: ...y act value x 2 x 2 0x606D Velocity window x 2 x 2 0x606E Velocity window time x 2 x 2 0x606F Velocity Threshold x 2 x 2 0x6070 Velocity Threshold time x 2 x 2 0x6071 Target Torque x x x x 0x6077 Torq...

Страница 236: ...ory generator P parameter S source rpm revolution per minute Only the grey marked parameters are necessary for controlling the motion control system by Profibus Input parameters P xxxx must be connect...

Страница 237: ...apping RxPDO 68 RxPDO Communication 66 TxPDO 73 TxPDO Communication 70 Modes of operation 124 Motion Control Interface MCI 154 Object and Parameter dependencies 155 Motion Control Interface MCI 22 N N...

Страница 238: ...84 650 3577422 www bonfiglioli vn salesvn bonfiglioli com 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 bonfigliol...

Страница 239: ......

Страница 240: ...aly tel 39 051 647 3111 fax 39 051 647 3126 bonfiglioli bonfiglioli com www bonfiglioli com Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutio...

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