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CANopen Agile

06/2010

Protocol

Error Codes

Abort-code

high

Abort-code

low

CANopen

Description

Product-Specific

Allocation

0x0601

0x0000

Unsupported access to an ob-
ject

Parameter cannot be written or read

0x0602

0x0000

Object does not exist

Parameter does not exist.

0x0604

0x0047

General internal incompatibility

in the device

Data Sets differ

0x0606

0x0000

Access failed due to a hard-

ware 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 Service telegram too
big

Parameter has a different data type

or telegram length not correct.

0x0607

0x0013

Data type does not match or
length of Service telegram too

small

Parameter has a different data type
or telegram length not correct.

0x0609

0x0011

Sub-Index does not exist

Data Set does not exist.

0x0609

0x0030

Value range of parameter ex-

ceeded

Parameter Value too large or too

small.

0x0609

0x0031

Value of parameter written too

high.

Parameter Value too large.

0x0609

0x0032

Value of parameter written too

low.

Parameter Value too small.

0x0800

0x0020

Data cannot be transmitted or
saved

Invalid value for operation.

0x0800

0x0021

Data cannot be transferred

because of local control

Parameter cannot be written during

operation.

8.4

PDO Function

The PDO (Process Data Objects) messages are messages with up to eight bytes of process data. The

process data objects are mapped to the Rx/Tx-PDOs with the help of communication objects (com-

munication/mapping parameter). The frequency inverters support 3 RxPDOs (PLC



inverter) and 3

TxPDOs (inverter



PLC).

Process data objects are directly linked to application functions of the inverter.

PDO-Message:

Byte

Data

The number of data bytes is 1 … 8 and depends on the mapped objects. The byte alignment is in

Intel format.

Byte

16 Bit-Object

32 Bit-Object

LSB

MSB

LSB

…

MSB

Содержание Bonfiglioli Vectron Agile

Страница 1: ...Agile CANopen Communication manual Frequency inverter 230V 400V ...

Страница 2: ......

Страница 3: ...ion 11 3 1 VPlus PC Software 12 4 Installation of an optional Communication Module 13 4 1 Assembly 13 4 2 Disassembly 14 5 Connection 14 5 1 Connection to the Terminals 14 5 2 Module Connection 14 6 Commissioning via the Operator Panel 16 6 1 Menu for setting up the Communication 16 6 2 Select the Protocol 17 6 3 Set the Communication Parameters 17 6 4 Set the Protocol for the Terminals and Commun...

Страница 4: ...sumer Heartbeat Time 47 9 2 15 0x1017 0 Producer Heartbeat Time 47 9 2 16 0x1018 n Identity Object 48 9 2 17 0x1029 n Error Behavior 48 9 2 18 0x1200 n SDO Server Parameter 49 9 2 19 0x1400 n 0x1401 n 0x1402 n RxPDO Communication Parameter 50 9 2 20 0x1600 n 0x1601 n 0x1602 n RxPDO Mapping Parameters 52 9 2 21 0x1800 n 0x1801 n 0x1802 n TxPDO Communication Parameters 54 9 2 22 0x1A00 n 0x1A01 n 0x...

Страница 5: ... 15 0x6077 0 Torque actual value 83 9 5 16 0x6078 0 Current actual value 84 9 5 17 0x6079 0 DC link circuit voltage 84 10 Frequency Inverter Control 85 10 1 Control via Contacts Remote Contacts 86 10 1 1 Device state machine 88 10 2 Control via Statemachine 89 10 2 1 Statemachine diagram 91 10 3 Operation Mode Velocity Mode 93 10 3 1 Behavior in Quick Stop 93 10 3 2 Behavior in Transition 5 Disabl...

Страница 6: ...ion can be requested from the local BONFIGLIOLI representa tive The following instruction manuals are available for the Agile device series Agile Operating Instructions Frequency inverter functionality Agile Quick Start Guide Installation und commissioning Supplied with the device Communication Application Manuals Communication via the RS485 Interface on the X21 Connection RJ45 Instructions for Mo...

Страница 7: ...re to be put down to the aforementioned reasons These instructions are not to be understood as fundamental information on CANopen They presup pose underlying knowledge of the CANopen protocol 1 2 Used Pictograms and Signal Words The following pictograms and signal words are used in the documentation Danger Danger refers to an immediate threat Non compliance with the precaution described will resul...

Страница 8: ...e access to the device 2 2 Purpose of the Frequency Inverters Warning The frequency inverters are electrical drive components intended for installation in indus trial plants or machines Commissioning and start of operation is not allowed until it has been verified that the machine meets the requirements of the EC Machinery Directive 2006 42 EEC and EN 60204 In accordance with the CE marking requir...

Страница 9: ...ng on electrical installation Separate completely isolate the installation from all possible sources of electrical power Fix protect against reconnection Reconnection must be carried out by suitably qualified persons Verify there is no electrical power Verify that there is no voltage against earth on the plant com ponent by measuring with measurement device or voltage tester Ground and connect in ...

Страница 10: ...ntion Directives etc No connection work may be performed while the system is in operation 2 6 1 Using external products Please note that Bonfiglioli Vectron does not take any responsibility for the compatibility of external products e g motors cables filters etc To ensure the best system compatibility Bonfiglioli Vectron offers components which sim plify commissioning and provide the best tuning w...

Страница 11: ...s or Modbus CM PDPV1 Instructions for Profibus DP V1 Combinations of Systembus and CANopen communication on the two interfaces Optional Communication Module CM Frequency Inverter Terminals X12 5 and X12 6 CANopen as well as Systembus Systembus as well as CANopen 2 The CANopen Communication products fulfill the specifications of the CiA CAN in Automation user organization 3 Install an interface ada...

Страница 12: ...n 3 1 VPlus PC Software The USB Interface of a PC can be connected to the X21 Communication Interface via an optional USB adapter This enables parameterization and monitoring with the help of the VPlus PC Software X21 RJ45 VPlus USB RJ45 Adapter ...

Страница 13: ... installation of the communication module Installation under voltage is not permitted and will destroy the frequency inverter and or the communication module Do not touch the PCB visible on the back of the module otherwise components may be damaged Remove the cover of the module slot 1 Attach the PE spring 1 using the screw provided on the frequency inverter 2 3 Insert the Communication Module 2 S...

Страница 14: ...d from the power supply before installation and connection work Make sure that the frequency inverter is de energized Installation under voltage is not permitted and can lead to the destruction of the frequency inverter and or the communication module 5 1 Connection to the Terminals Connect the bus to the X12 5 and X12 6 terminals of the frequency inverter X12 5 6 CAN High CAN Low Cable For the bu...

Страница 15: ...mination is used and the bus termination is only switched on with the first and last subscriber Otherwise operation of the CANo pen communication is not possible Bus Connector X310 Pin Name Function Housing Shield connected with PE 1 CAN_L CAN Low Bus Interface short circuit resistant and function insulated max current 60 mA 2 CAN_L CAN Low Bus Interface short circuit resistant and function insula...

Страница 16: ...he Operator Panel A communication interface can be set up in the Setup menu of the operator panel Further commu nication parameters can be set in the Para menu 6 1 Menu for setting up the Communication The communication interface can be set up quickly and simple via the Operator Panel ...

Страница 17: ...tion asd ENT Select a protocol using the arrow keys CANopen Profibus4 Systembus Modbus VABus ENT 6 3 Set the Communication Parameters Parameter Display 387 Node Number 385 Baud Rate 276 CAN Interface CM CAN X12 Interface setting Set the X12 5 and X12 6 Terminals to the CANopen Protocol Or Set an optional CM CAN Communication Module to CANopen 4 The selection is only possible if an optional CM PDPV...

Страница 18: ...mbus CM CAN CAN Terminals Function 1 CANopen CAN Systembus Optional Communication Module Frequency Inverter Terminals X12 5 and X12 6 CANopen Systembus 2 CAN Systembus CANopen Optional Communication Module Frequency Inverter Terminals X12 5 und X12 6 Systembus CANopen CM CAN Optional Communication Module CAN Terminals Terminals X12 5 and X12 6 of the frequency inverter Simultaneous CANopen Communi...

Страница 19: ...dule it is possible to access ALL parame ters of the frequency inverter from the external control unit Control of the access via the operation level as with the Operator Panel or the VPlus PC Software does not exist A change of parameters with an unknown meaning to the user can lead to the inoperability of the frequency inverter Attention If data is written cyclically comply with the instructions ...

Страница 20: ...allowed and cannot be set Note Changing the node number causes a restart of the CANopen system NOT a reset of the inverter 7 3 Operational Behavior on Bus Failure 388 CAN Error Behavior The operational behavior if the CANopen system fails due to BusOff guarding heartbeat SYNC error RxPDO length error or NMT state change leaving NMT state operational can be paramete rized The required behavior is s...

Страница 21: ...N Error Behavior 388 1 4 or 5 the frequency inverter reports one of the following errors Communication Errors Code Meaning F20 21 Bus OFF 22 Guarding failure 23 Error state 24 SYNC error SYNC timing 25 NMT state change operational xxx 26 RxPDO1 length error number of received bytes different to mapping 27 RxPDO2 length error number of received bytes different to mapping 28 RxPDO3 length error numb...

Страница 22: ...ation objects are divided into two groups again The index range 0x2000 0x5FFF is re served 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 con trol They are used for controlling the device application start stop speed motion control functions 8 3 SDO Function T...

Страница 23: ...r 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 00 00 00 00 Server Client Download Response COB ID 0 1 2 3 4 5 6 7 0x580 Node ID cs index sub index data data data data 0x60 LSB MSB data01 data02 data03 data04 The number of valid data bytes is coded in the command specifier of the response No of Data Bytes 1 2 3 4 Command specifier 0x2F 0x...

Страница 24: ... 0x0609 0x0030 Value range of parameter ex ceeded Parameter Value too large or too small 0x0609 0x0031 Value of parameter written too high Parameter Value too large 0x0609 0x0032 Value of parameter written too low Parameter Value too small 0x0800 0x0020 Data cannot be transmitted or saved Invalid value for operation 0x0800 0x0021 Data cannot be transferred because of local control Parameter cannot...

Страница 25: ... Operating In structions and in this documentation in Chapter 12 5 Error Messages 8 6 SYNC The SYNC message is necessary for Rx TxPDO with transmission type synchronous The SYNC mes sage synchronizes the different devices to communicate with data from the same defined time As soon as the SYNC telegram is received the data of all devices are frozen and then exchanged dur ing the following data tele...

Страница 26: ...02 0x02 0x81 0x81 0x81 0x82 0x82 0x82 0x04 0x05 0x7F 0x00 Note A change of NMT State may also be triggered by a communication Bus off Guarding etc The behavior of the NMT state machine in such a case is described in Chapter 9 2 17 0x1029 n Error Behavior Transition NMT Command 1 At power on NMT state Initialization is entered autonomously 2 NMT state Initialization finished NMT state Pre Operation...

Страница 27: ...hat the inverter is ready for the PLC to com municate Using a NMT telegram Reset Node or Reset Communication forces a Reset of the node or node communication and results in a Boot Up message 8 7 3 NMT Commands Byte 0 Byte 1 Identifier Command Specifier Node ID 0 cs id id 0 Command accepted by all devices id 1 0x7F 127 Command accepted by device with Node ID id cs 1 Start Remote Node 2 Stop Remote ...

Страница 28: ...If the inverter does 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 0 Abort Connection option code and 0x1029 n Error Behavior Guarding process The PLC sends via a RTR Remote Transmission Request a guarding request with Identifier 0x700 1792 Node ID no data bytes This remote...

Страница 29: ... of the first heartbeat message If the inverter does not receive a producer heartbeat message within the specified consumer heart beat time a heartbeat event is triggered The reaction to this heartbeat event is defined by objects 0x6007 0 Abort Connection option code and 0x1029 n Error Behavior The heartbeat producer function is set by object 0x1017 0 Producer Heartbeat Time If Object 0x1017 0 Pro...

Страница 30: ...n be switched off Synchronization can be done with Systembus SYNC telegrams or Systembus RxPDO telegrams Note When synchronizing the OS via CANopen the master has to support the synchronization me chanisms of CANopen OS_SyncSource 1452 Operation Mode Function 0 Auto The synchronization source is selected automatically by the inverter 1 CANopen The OS is synchronized via CANopen Factory setting 2 S...

Страница 31: ...ows the active Synchronization source Parameter Setting No Description Min Max Fact sett 1451 CANopen OS Synctime 700 us 900 us 800 us For the CANopen Synchronisation pay also attention to Objects 0x1005 0 COB ID SYNC Message 0x1006 0 Communication Cycle Period and 0x1007 0 Synchronous Window Length For the VPlus Scope Function the following sources are available for diagnosis Operation Mode Funct...

Страница 32: ...est Sub Index supported displays the highest Sub index that is supported by this object 9 1 1 Communication Objects Index Sub Index Name SDO Access Data Type PDO Mapping 0x1000 0 Device type Read only Unsigned32 No 0x1001 0 Error register Read only Unsigned8 No 0x1005 0 COB ID SYNC object Read Write Unsigned32 No 0x1006 0 Communication cycle period Read Write Unsigned32 No 0x1007 0 Synchronous win...

Страница 33: ...me Read Write Unsigned16 No 0x1401 0 RxPDO2 communication para meter 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 Unsigned16 No 0x1402 0 RxPDO3 communication para meter Highest Sub Index supported Read only Unsigned8 No 1 COB ID Read Write Unsigned32 No 2 Tr...

Страница 34: ...mission type Read Write Unsigned8 No 3 Inhibit time Read Write Unsigned16 No 4 No 5 Event time Read Write Unsigned16 No 0x1A00 0 TxPDO1 mapping parameter No of mapped objects Read Write Unsigned8 No 1 1 mapped obj Read Write Unsigned32 No 2 2 mapped obj Read Write Unsigned32 No 3 3 mapped obj Read Write Unsigned32 No 4 4 mapped obj Read Write Unsigned32 No 5 5 mapped obj Read Write Unsigned32 No 6...

Страница 35: ... 0 32768 32767 0x6043 0 Target velocity de mand Read only Integer16 Tx 0x6044 0 Control effort Read only Integer16 Tx 0x6046 Velocity min max 0 Highest sub index supported Read only Unsigned8 No 1 Velocity min amount Read write Unsigned32 No 0 0 32767 p 418 2 Velocity max amount Read write Unsigned32 No 32767 0 32767 p 419 0x6048 Velocity acceleration 0 Highest sub index supported Read only Unsign...

Страница 36: ...open object was written and saved and then the cor responding inverter parameter was set by e g VPlus the next power on cycle overwrites the value set by VPlus with the value stored by the Save command Effect of the Save command Object 0x1010 Examples for the sequence of writing parameters and objects 1 P 419 48 Hz 3 P 419 48 Hz 2 Power OFF ON VPlus VPlus 1 P 419 48 Hz 4 P 419 48 Hz 3 Power OFF ON...

Страница 37: ...Save command 1 Setting of Maximum Frequency 419 48 Hz on Operator Panel 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 on Operator Panel or in VPlus 5 Power OFF and ON 6 The parameter value is overwritten with the value of the CANopen object 0x6046 The value of the CANopen object 0x6046 i...

Страница 38: ...dex Objectname 9 2 1 0x1000 0 Device Type Index Sub Index Meaning Data Type Access Map Def Val 0x1000 0 Device Type Unsigned 32 ro No 0 The device identification is carried out during the start of the network The information on the de vice type and the functionality type are prescribed by the CANopen standards Object 0x1000 0 Additional Information Device Profile Number Mode Bits Type 31 24 23 16 ...

Страница 39: ...f the frequency inverter The status error free 0x1001 0 0 or error exists 0x1001 0 0 is displayed Object 0x1001 0 7 6 5 4 3 2 1 0 Bit 0 General error 1 Current 2 Voltage 3 Temperature 4 Communication error 5 Device profile dependent error 6 Reserved 7 Manufacturer dependent error Example COB ID CB Index SI Data Read Request 601 40 01 10 00 00 00 00 00 Response 581 4F 01 10 00 00 01 41 00 CB Contro...

Страница 40: ... Type Access Map Def Val 0x1006 0 Communication Cycle Period Unsigned 32 r w No 0 The communication cycle period is the time distance between two consecutive SYNC messages The value for communication cycle period is given in multiples of micro seconds Values smaller than 20000 20 ms are allowed The synchronization of the inverter to an external clock has to be met under the condition that at least...

Страница 41: ...1007 0 Synchronous Window Length Index Sub Index Meaning Data Type Access Map Def Val 0x1007 0 Synchronous window length Unsigned 32 r w No See Text Synchronous window length is the time span after a SYNC message in which the inverter is sup posed to update its data from receive PDOs and to send transmit PDOs If either of these actions is not possible in the specified time an emergency message is ...

Страница 42: ... of ASCII characters Example AGILE Object 0x1008 0 supports the segmented SDO transfer 9 2 7 0x1009 0 Manufacturer Hardware Version Index Sub Index Meaning Data Type Access Map Def Val 0x1009 0 Manufacturer Hardware version Visible string ro No See Text The hardware version is displayed as a sequence of ASCII characters Example AGL 400 512 344 Object 0x1009 0 supports the segmented SDO transfer 9 ...

Страница 43: ...ode Example COB ID CB Index SI Data Read Request 601 40 0C 10 00 00 00 Response 581 4B 0C 10 00 00 00 Write Access 601 2B 0C 10 00 D0 07 Response 581 60 0C 10 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 9 2 10 0x100D 0 Lifetime Factor Index Sub Index Meaning Data Type Access Map Def Val 0x100D 0 Lifetime factor Unsigned 8 r w No 0 The object Lifetime Factor i...

Страница 44: ... non volatile memory This object supports 3 sub indexes with different functions Writing save to 0x1010 3 stores all application parameters 0x6nnn to non volatile memory Specification for writing the save command LSB MSB s a v e 0x73 0x61 0x76 0x65 Note Writing a value other than save results in an SDO abort The store command is not processed Example COB ID CB Index SI Data Read Request 601 40 10 ...

Страница 45: ...e set to their default values This object supports 3 sub indexes with different functions Writing load to 0x1011 3 restores all application parameters 0x6nnn Specification for writing the load command LSB MSB l o a d 0x6C 0x6F 0x61 0x64 Note Writing a value other than load results in an SDO abort The restore defaults command is not processed Example COB ID CB Index SI Data Read Request 601 40 11 1...

Страница 46: ...e COB ID and comprises eight 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 following table Emergency Message Byte Contents 0 Low Byte Error code 0x603F 1 High Byte Error code 0x603F 2 Error register 0x1001 3 0 4 0 5 0 6 Low Byte internal error code 7 High...

Страница 47: ...ct 0x6007 0 Abort Connection option code Value of 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 00 00 00 Response 581 43 16 10 01 02 00 00 00 Write Access 601 23 16 10 01 20 00 03 00 Response 581 60 16 10 01 00 00 00 00 CB Control byte SI Sub Index All values in hexadecimal ...

Страница 48: ...system revision Serial 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 Response 581 43 18 10 01 05 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 9 2 17 0x1029 n Error Behavior Index Sub Index Meaning Data Type Access Map Def Val 0x1029 0 Highest Sub Index supported Unsigned8 ro No 1 1 Communi...

Страница 49: ...ver parameters The values are read only and pre defined according to the device node address COB ID client server Rx 1536 Node Address COB ID server client Tx 1408 Node Address Object 0x1200 1 2 Bit 31 Bit 30 Bit 29 Bit 11 28 Bit 0 10 valid 0 frame 0 11 Bit CAN ID Bit 31 0 SDO exists valid Bit 29 0 11 Bit ID Bit 0 10 11 Bit CAN ID Example COB ID CB Index SI Data Read Request 601 40 00 12 02 00 00 ...

Страница 50: ...nd can be changed The default value for transmission type is 255 event driven and can also be changed see table Object 0x1400 0x1401 0x1402 COB ID Bit 31 Bit 30 Bit 29 Bit 11 28 Bit 0 10 valid 0 frame 0 11 Bit CAN ID Bit 31 0 PDO exists valid 1 PDO does not exist not valid Bit 29 0 11 Bit ID 1 29 Bit ID NOT ALLOWED Bit 0 10 11 Bit CAN ID RxPDO1 Factory setting valid RxPDO2 3 Factory setting not va...

Страница 51: ...e 581 4F 00 14 02 FF Read Request 601 40 00 14 01 00 Response 581 4F 00 14 01 01 02 00 00 Write Access 601 23 00 14 01 01 02 00 80 Response 581 60 00 14 01 00 00 00 00 Write Access 601 2F 00 14 02 05 Response 581 60 00 14 02 00 Write Access 601 23 00 14 01 01 02 00 00 Response 581 60 00 14 01 00 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x Note that the highes...

Страница 52: ... 7th mapped obj Unsigned32 rw No See text 8 8th mapped obj Unsigned32 rw No See text RxPDO Mapping Parameter 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 byte si ll Examples Mapping of 0x6040 0 Control Word unsigned16 10hex to 1st mapped obj in RxPDO1 0x1600 1...

Страница 53: ...0x1600 Subindex 1 n new object Step 4 Set sub index 0 to the number of mapped objects activate new map ping 0x1600 Subindex 0 n Step 5 Set PDO valid 0x1400 Subindex 1 Bit 31 0 In the example TxPDO 0x1600 was used The same procedure can be used for 0x1601 and 0x1602 In these cases replace 0x1400 with 0x1401 and 0x1402 respectively Example Node ID 1 COB ID Control Byte Index Subindex Data Data LSB M...

Страница 54: ...1 0x1802 0 Highest sub index supported Unsigned8 ro No 5 1 COB ID Unsigned32 rw No See text 2 Transmission 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 0x1801 n TxPDO2 0x1802 n TxPDO3 These communication parameters define the COB ID and transmission type used by the TxPDOs The default setti...

Страница 55: ...5535 The Inhibit Time is set in hundreds of microseconds e g a value of 300 is 300 100 us 30 ms Note The internal time resolution for the Inhibit Time is in milliseconds An inhibit time value 37 is truncated to 30 3 7 ms 3 ms Values less then 10 are interpreted as 0 Event time The Event Time is the time distance between two consecutive TxPDOs whenever the TxPDO data has not changed cycle time If t...

Страница 56: ...601 23 00 18 01 81 01 00 80 Response 581 60 00 18 01 00 00 00 00 Write Access 601 2F 00 18 02 05 Response 581 60 00 18 02 00 Write Access 601 23 00 18 01 81 01 00 00 Response 581 60 00 18 01 00 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x Note that the highest bit in Object 1800 1 has to be deactivated first in order to enable the correct write access to Objec...

Страница 57: ...0 0 no Object mapped 0x1A00 0 1 8 1 8 Objects mapped Mapping Entry MSB LSB Object Index Sub Index Length no of bits High byte Low byte si ll Example Mapping of 0x6041 0 Status Word unsigned16 to 1st mapped obj in TxPDO1 0x1A00 1 0x60410010 Default Mapping TxPDO1 0x1A00 0 0x1A00 1 0x1A00 2 0x1A00 3 8 2 0x6041 statusword 0x6044 control effort 0x00000000 TxPDO2 0x1A01 0 0 No mapping TxPDO3 0x1A02 0 0...

Страница 58: ...ndex Data Data LSB MSB Subindex LSB MSB Step 1 601 23 00 18 01 84 01 00 80 Response 581 60 00 18 01 00 00 00 00 Step 2 601 2F 00 1A 00 00 00 Response 581 60 00 1A 00 00 00 Step 3 1 601 23 00 1A 01 10 00 44 60 Response 581 60 00 1A 01 00 00 00 00 Step 3 2 601 23 00 1A 02 10 00 41 60 Response 581 60 00 1A 02 00 00 00 00 Step 3 3 601 23 00 1A 03 10 00 01 30 Response 581 60 00 1A 03 00 00 00 00 Step 3...

Страница 59: ...parameters which only have one value data set 0 as well as parameters which have four values data sets 1 4 The latter are used for the data set change over If parameters with four data values are set via data set 0 all four data sets are set to the same transmitted value A read access with data set 0 to such parameters is only successful if all four data sets are set to the same value If this is n...

Страница 60: ... error occurs during the writing process the corresponding error code is indicated in Bytes 4 7 Read Parameter Client Server SDO Upload expedited 0 1 2 3 4 5 6 7 COB ID Control Byte Index Sub Index Data 0x40 LSB MSB 0xnn Server Client Upload Response Read process error free 0 1 2 3 4 5 6 7 COB ID Control Byte Index Sub Index Data LSB MSB 0xnn LSB MSB 0x4B uint int LSB MSB 0x43 long LSB MSB Server ...

Страница 61: ... 0x00 0xF1 0xFF Writing Parameter Fixed Frequency 1 480 Type long in Data Set 1 with Parameter Value 100 00 Hz Index 480 0x2000 0x21E0 Value 10000 0x00002710 Client Server SDO Download expedited COB ID 0 1 2 3 4 5 6 7 0x601 Control Byte Index Sub Index Data 0x23 0xE0 0x21 0x01 0x10 0x27 0x00 0x00 Writing Parameter Fixed Frequency 2 480 Type long in Data Set 3 with Parameter Value 50 00 Hz Index 48...

Страница 62: ... the current 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 Sub Index Data 0x601 0x40 0x97 0x21 0x00 Server Client Upload Response 0 1 2 3 4 5 6 7 COB ID Control Byte Index Sub Index Data 0x581 0x4B 0x97 0x21 0x00 0xFB 0xFF Read Parameter Fixed Frequency 1 480 type long in Data Set 1 with the current parameter v...

Страница 63: ...expedited 0 1 2 3 4 5 6 7 COB ID Control Byte Index Sub Index Data 0x601 0x40 0xE0 0x21 0x03 Server Client Upload Response 0 1 2 3 4 5 6 7 COB ID Control Byte Index Sub Index Data 0x581 0x43 0xE0 0x21 0x03 0x18 0xFC 0xFF 0xFF If an error occurs during the reading process the corresponding error code is indicated in Bytes 4 7 Refer to Chapter 8 3 3 Error Code Table for the list of error codes of th...

Страница 64: ...e range is 0 17000 µs and is limited internally to 50 of the Communication Cycle Time Ob ject 0x1006 0 or the measured value If Object 0x3000 0 SYNC Jitter is set to zero then there is no SYNC message monitoring If Object 0x3000 0 SYNC Jitter is set not equal to zero then monitoring of the SYNC message time is active The jitter monitoring is independent of how the Communication Cycle Time is deter...

Страница 65: ... Control byte SI Sub Index All values in hexadecimal without leading 0x 9 4 3 0x3002 0 Digital Out Actual Value Index Sub Index Meaning Data Type Access Map Def Val 0x3002 0 Digital Out actual value Unsigned16 ro Tx Object 0x3002 Digital Out actual value displays like Parameter Digital Outputs 254 the current status of the Digital Outputs max four and Multi functional Output 1 if Parameter Operati...

Страница 66: ...Operation Mode OUT1D X13 5 531 The mapping of the these object bits to the output is arbitrary Example Function Parameter No Selection List excerpt Operation mode OUT3D X11 6 533 0 OFF AUS 1 Ready or Standby Signal 2 Run Signal 43 External Fan 90 Obj 0x3003 Digout 1 91 Obj 0x3003 Digout 2 92 Obj 0x3003 Digout 3 93 Obj 0x3003 Digout 4 94 Obj 0x3003 Digout 5 143 inv External Fan 190 inv Obj 0x3003 D...

Страница 67: ... correspond to the Index numbers 1 16 The sources for the 16 bits can be chosen from a choice list via the index parameter CANopen Mux Input 1422 Parameters 1420 and 1421 are the associated write and read parameters which you have to set prior to writing reading parameter 1422 By using VPlus VTable this process is easier and more clearly laid out The default value is 7 Off Example COB ID CB Index ...

Страница 68: ...Demux Out 2 2 834 Obj 0x3005 Demux Out 3 3 835 Obj 0x3005 Demux Out 4 4 836 Obj 0x3005 Demux Out 5 5 837 Obj 0x3005 Demux Out 6 6 838 Obj 0x3005 Demux Out 7 7 839 Obj 0x3005 Demux Out 8 8 840 Obj 0x3005 Demux Out 9 9 841 Obj 0x3005 Demux Out 10 10 842 Obj 0x3005 Demux Out 11 11 843 Obj 0x3005 Demux Out 12 12 844 Obj 0x3005 Demux Out 13 13 845 Obj 0x3005 Demux Out 14 14 846 Obj 0x3005 Demux Out 15 ...

Страница 69: ... Source is set with the help of selection 20 Fieldbus Percentage Reference Value for Parameter Reference Percentage Source 1 476 or Reference Percentage Source 2 494 in the frequency inverter The percentage value is scaled as percent 100 e g 5678 represents 56 78 Example COB ID CB Index SI Data Read Request 601 40 06 30 00 00 00 Response 581 4B 06 30 00 05 00 Write Access 601 2B 06 30 00 20 00 Res...

Страница 70: ...source which is selectable via Parameter CANopen Obj0x3007 Actual Percentage Value Source 1423 The default value is selected 52 Analog Input MFI1A 1423 CANopen Percentage Actual Value Source The percentage value is scaled as percent 100 e g 5678 represents 56 78 Example COB ID CB Index SI Data Read Request 601 40 07 30 00 00 00 Response 581 4B 07 30 00 8F 13 CB Control byte SI Sub Index All values...

Страница 71: ...de corresponds to the inverter parameter CAN Error behavior 388 CAN Error behavior 388 0x6007 0 0 1 1 2 2 3 3 4 1 5 2 Note Writing Parameter CAN Error Behavior 388 and writing Object 0x6007 has the same effect If object 0x6007 was written and then a save parameters command Object 0x1010 processed the value of 0x6007 is stored in non volatile memory After the next power on of the inverter the previ...

Страница 72: ...x All values in hexadecimal without leading 0x Typical recovery sequence after a CAN Error Warning With the setting of object 0x6007 abort connection option code 0 no reaction the inverter does not react to any CAN error and remains in its current state e g drive running It is strongly recommended to use a setting for object 0x6007 abort con nection option code that forces the inverter into the Fa...

Страница 73: ...nt F05 xx 23 40 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 Connection F13 xx 23 30 Earth fault on frequency inverter output Generic Error Fyy xx 10 00 Other error messages If the value 1000 generic error appears as the error code then the invert...

Страница 74: ...ntrol via Contacts Remote Contacts When operating with CANopen use 0x6040 0 Control Word instead of Parameter Control Word 410 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 Stop 3 Enable Operation 4 No function 5 No function 6 No function 7 Reset Fault 8 No function 9 No function 10 No function 11 No function 12 No function 13 No function 14 No functio...

Страница 75: ...ntacts When operating with CANopen use 0x6040 0 Status Word instead of Parameter Status Word 411 Object 0x6041 0 Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Ready to Switch On 1 Switched On 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick Stop 6 Switch On disabled 7 Warning 8 No function 9 Remote 10 Target reached 11 Internal limit active 12 No function 13 No function 14 No functi...

Страница 76: ...et in the frequency inverter with the help of selection 20 Fieldbus Reference Value for Parameter Reference Frequency Source 1 475 or Refer ence Frequency Source 2 492 Note Parameter No of Pole Pairs 373 has four different data sets Some applications often have more than one motor connected to the inverter only one at a time switched over by contactor These motors may have a different no of pole p...

Страница 77: ...Request 601 40 43 60 00 00 00 Response 581 4B 43 60 00 AB 01 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 9 5 7 0x6044 0 Control effort current Speed Index Sub Index Meaning Data Type Access Map Def Val 0x6044 0 Control effort Integer16 ro Tx Object control effort is the actual speed of the drive in RPM The object has the same notation as the object target velocity and...

Страница 78: ... 5 all data sets in RAM only The value of 0x6046 2 velocity max amount is converted internally to a frequency value taking into account parameter No of Pole Pairs 373 in data set 1 If the Reference Value of Object 0x6042 0 Target Velocity is less than the Object Value 0x6046 1 ve locity min amount or greater than 0x6046 2 velocity max amount then 0x6042 0 Target Velocity is limited accordingly No ...

Страница 79: ...ally to a frequency sec value taking into account parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed No Object Min Max 0x6048 1 Delta speed RPM 1 32767 0x6048 2 Delta time sec 1 65535 delta speed delta time time speed Note If objects 0x6048 1 or 0x6048 2 were written and then a save parameters command Object 0x1010 proc...

Страница 80: ...uency sec value taking into account the parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed Parameter Setting No Object Min Max 0x6049 1 Delta speed RPM 1 32767 0x6049 2 Delta time sec 1 65535 delta speed delta time time speed Note If objects 0x6049 1 or 0x6049 2 were written and then a save parameters command Object 0x1...

Страница 81: ...ncy sec value taking into account the parameter No of Pole Pairs 373 in data set 1 The gradient is changed internally by altering the objects delta time or delta speed Parameter Setting No Object Min Max 0x604A 1 Delta speed min 1 1 32767 0x604A 2 Delta time sec 1 65535 delta speed delta time time speed Note If objects 0x604A 1 or 0x604A 2 were written and then a save parameters command Object 0x1...

Страница 82: ... leading 0x 9 5 13 0x6061 0 Modes of operation display Index Sub Index Meaning Data Type Access Map Def Val 0x6061 0 Modes of operation display Integer8 ro Tx 2 Object Modes of operation display acknowledges the fixed value set with 0x6060 0 Modes of opera tion by displaying Operation Mode as the set fixed value of 2 Note After setting modes of operation the PLC must wait for this acknowledgement ...

Страница 83: ...0 10 0 0x0001 1 0 1 0xFF18 1000 100 0 0xFF9C 100 10 0 0xFFFF 1 0 1 Example COB ID CB Index SI Data Read Request 601 40 71 60 00 00 00 Response 581 4B 71 60 00 00 00 Write Access 601 2B 71 60 00 64 00 Response 581 60 71 60 00 00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 9 5 15 0x6077 0 Torque actual value Index Sub Index Meaning Data Type Access Map Def Val 0x6077...

Страница 84: ...00 00 CB Control byte SI Sub Index All values in hexadecimal without leading 0x 9 5 17 0x6079 0 DC link circuit voltage Index Sub Index Meaning Data Type Access Map Def Val 0x6079 0 DC link circuit voltage Unsigned32 ro Tx Object 0x6079 DC link circuit voltage displays the voltage actual value of the in mV see Parameter DC Link Voltage 222 A value 0x0001 86A0 100 000 corresponds to 100 000 V three...

Страница 85: ...Control Word Note Parameter Local Remote 412 is data set changeable i e switching between the various operation modes can be carried out via data set selection 414 Data Set Selection The data set selection can be carried out locally via the control contacts at the digital inputs of the fre quency inverter or via the bus Parameter Data Set selection 414 is used for switching the data set via the bu...

Страница 86: ... 2 the frequency inverter is controlled directly via the digital inputs or via the individual bits of the virtual signals in the Control Word The meaning of these inputs is described in the operating instructions of the frequency inverter Control Word Local Remote 412 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 STOA und STOB 1 IN1D 2 IN2D 3 IN3D 4 IN4D 5 IN5D 6 MFI1D 7 MFI2D 8 9 10 11 12 13 14 1...

Страница 87: ...d must be set in order to start the drive The operation modes Control via Contacts and Control via Remote Contacts only support the mode of operation velocity mode Note The frequency inverters support an external 24 V voltage supply for the control electronics of the fre quency inverter Communication between the controlling device PLC and the frequency inverter is still possible even when the main...

Страница 88: ...r failure regulation the bit is also set when the power failure regulation reaches the frequency 0 Hz For Reference value reached there is a hysteresis tolerance range which can be set via parameter Reference Value Reached Hysteresis 549 Bit 11 Limit value reached indicates that an internal limit is active This may be the current limit the torque limit or the overvoltage control All functions resu...

Страница 89: ...se via STOA and STOB and one of the digital inputs for Start Right or Start Left is set Object 0x6040 0 Control Word is used for the frequency inverter if Parameter Local Remote 412 is set to 1 Control via Statemachine 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 Stop 3 Enable Operation 4 no function 5 no function 6 no function 7 Reset fault 8 no func...

Страница 90: ...turer dependent Warning 2 Note Agile frequency inverters support an external 24 V voltage supply for the control electronics of the frequency inverter Communication between the controlling device PLC and the frequency inverter is still possible even when the mains supply has been switched off Bit 4 Voltage enabled in the Status Word indicates the current status of the mains supply Bit 4 Voltage en...

Страница 91: ... control commands are triggered by the following bit combinations in the Control Word Control Word Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transitions Reset Fault 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 10 12 ...

Страница 92: ...ult 0 X 1 0 0 0 X means any value Bit 7 Warning can be set at any time It indicates a device internal warning message The evaluation of the warning reason is carried out by reading out the warning status with the parameter Warn ings 270 Bit 9 Remote is set if the operation mode control via state machine Local Remote 412 1 has been set and the hardware release is available Bit 10 Target reached is ...

Страница 93: ...n 0x604A Velocity quick stop 10 3 1 Behavior in Quick Stop Here the parameters Switch Off Threshold Stop Function 637 percentage of parameter Maximum Frequency 419 and Holding Time Stop Function 638 holding time after the value drops below the switch off limit are relevant The quick stop ramps are set with Object 0x604A n Velocity quick stop or with the Parameter Emer gency Stop Clockwise 424 and ...

Страница 94: ...lection menus of the Operator Panel or the VPlus PC Software Note The default value for parameter State transition 5 392 is operation mode 2 Ramp For configurations with torque control the default value is operation mode 0 Coast to stop If the configuration is changed the value set for State transition 5 392 is also altered if necessary If transition 5 has been triggered with State transition 5 39...

Страница 95: ...n the Frequency Reference Value Channel the setting 20 Fieldbus Reference Value can be se lected via Parameter Reference Frequency Source 1 475 or Reference Frequency Source 2 492 Actual Values Parameter Content Format Internal reference frequency 228 Sum of reference values Reference Frequency Value Source 1 475 and Reference Frequency Value Source 2 492 xxx xx Hz Reference bus frequency 282 Fiel...

Страница 96: ...91 CAN State physical layer 0 4 5 2 1453 OS SyncSource Act Selection 8 10 Note The parameters Current error 260 Warnings 270 and Application Warnings 270 are only accessi ble via the manufacturer objects 0x2nnn They cannot be accessed via the VPlus PC Software or the Operator Panel 11 2 Parameters No Description Unit Value Range Fact Setting Chapter CAN Bus 276 CAN Interface Selection 1 CM CAN 6 4...

Страница 97: ...pen Mux Input Index read 1 EEPROM 0 16 1 9 4 5 RAM 17 33 1422 CANopen Mux Input Selection 7 Off 9 4 5 CANopen 1180 Operation Mode Selection 0 Off 8 10 1423 CANopen Percentage Actual Value Source Selection 52 Analog Input MFI1A 9 4 8 1451 CANopen OS Synctime 700 900 µs 800 µs 8 10 1452 OS_SyncSource Selection 1 CANopen 8 10 1 Non volatile fixed Parameterization Volatile 0 All indexes in EEPROM 17 A...

Страница 98: ...ge 2 Quick Stop 3 Enable Operation 4 5 6 7 Reset Fault 8 9 10 11 12 13 14 15 12 2 Status Word Overview The following table provides an overview of the functions of the bits in the Status Word used when the drive is used in Control via Statemachine Local Remote 412 1 Control via Statemachine Bit AGL Status word 0 Ready to Switch On 1 Switched On 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick...

Страница 99: ...PC software tool VPlus Use Parameter Warnings 270 to acces the warning codes via CANopen Warning Message Bit No Warning Code Description 0 0x0001 Warning Ixt 1 0x0002 Warning Short Term Ixt 2 0x0004 Warning Long Term Ixt 3 0x0008 Warning Heat Sink Temperature Tk 4 0x0010 Warning Inside Temperature Ti 5 0x0020 Warning Limit 6 0x0040 Warning Init 7 0x0080 Warning Motor Temperature 8 0x0100 Warning M...

Страница 100: ... panel and the PC software tool VPlus Use Parameter Application Warnings 274 to access the Application warning codes via CANopen Warning Messages Bit No Warning Code Description 0 0x0001 BELT 1 0x0002 reserved 2 0x0004 reserved 3 0x0008 reserved 4 0x0010 reserved 5 0x0020 reserved 6 0x0040 SERVICE 7 0x0080 User 1 8 0x0100 User 2 9 0x0200 reserved 10 0x0400 reserved 11 0x0800 reserved 12 0x1000 res...

Страница 101: ...o of received bytes different from the mapping 27 RxPDO2 length error 28 RxPDO3 length error F23 nn CAN Heartbeat nn Node ID of the failed node hex The Actual error message can also be read out by parameter access via parameter Actual Fault 260 Parameter Actual Error 259 shows the actual error in clear text on the operator panel and the PC soft ware tool VPlus In addition to the error messages lis...

Страница 102: ...Data Set Selection 85 Device profile objects 71 Device Profile Objects 35 E Electrical Installation Safety 9 Error Messages 100 G Guarding 28 H Heartbeat 29 L Local Remote 85 M Manufacturer objects 35 Manufacturer Objects 64 Monitoring 28 N NMT 26 27 Node number 20 O Operation Mode Synchronisation 31 OS Synchronisation 30 OS_SyncSource 30 P PDO 24 R Remote Contacts 86 S Safety 8 SDO 22 Statemachin...

Страница 103: ......

Страница 104: ...eno Bologna Italy tel 39 051 647 3111 fax 39 051 647 3126 bonfiglioli bonfiglioli com www bonfiglioli com VEC 676 R0 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry mobile machinery and renewable energy applications since 1956 ...

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