BONFIGLIOLI actice, active cube Instruction Manual

ACTIVE and
ACTIVE Cube

Expansion Module EM-ENC-03
Frequency Inverter 230V / 400V

General points on the documentation

The present supplement of the documentation is valid for the frequency inverter se­ries ACT and ACU. The information necessary for the assembly and application of
the EM-ENC-03 expansion module is documented in this guidance.

For better clarity, the user documentation is structured according to the customer-

The brief instructions describe the fundamental steps for mechanical and electrical

The operating instructions document the complete functionality of the frequency in-

The application manual supplements the documentation for purposeful installation and

The documentation and additional information can be requested via your local repre-

specific demands made of the frequency inverter.

Brief instructions

installation of the frequency inverter. The
selection of necessary parameters and the software configuration of the frequency
inverter.

Operating instructions

verter. The parameters necessary for specific applications for adaptation to the ap­plication and the extensive additional functions are described in detail.

Application manual

commissioning of the frequency inverter. Information on various subjects connected
with the use of the frequency inverter is described specific to the application.

Installation instructions

As a complement of the brief instructions and the operating instructions, the installa­tion instructions describe the installation and use of devices.

sentation of the company BONFIGLIOLI.

The following pictograms and signal words are used in the documentation:

Danger!

means a directly threatening danger. Death, serious damage to persons and consider­able damage to property will occur if the precautionary measure is not taken.

Warning!

marks a possible threat. Death, serious damage to persons and considerable damage
to property can be the consequence if attention is not paid to the text.

Caution!

refers to an indirect threat. Damage to people or property can be the result.

guided commissioning supports you in the

Attention!

refers to a possible operational behavior or an undesired condition, which can occur in
accordance with the reference text.

Note

marks information, which facilitates handling for you and supplements the corre­sponding part of the documentation.

Warning! In installation and commissioning, comply with the information in the

06/05 1

documentation. You as a qualified person must read the documentation
carefully before the start of the activity and obey the safety instructions.
For the purposes of the instructions, "qualified person" designates a per­son acquainted with the erection, assembly, commissioning and operation
of the frequency inverters and possessing the qualification correspondin
to the activity.

g

TABLE OF CONTENTS

1 General safety and application information .................................................................. 4

1.1 General information................................................................................................. 4

1.2 Proper use................................................................................................................ 4

1.3 Transport and storage ............................................................................................. 5

1.4 Handling and positioning......................................................................................... 5

1.5 Electrical connection................................................................................................ 5

1.6 Operation information ............................................................................................. 5

1.7 Maintenance and service ......................................................................................... 5

2 Introduction ................................................................................................................... 6

3 Installation of the EM-ENC-03 expansion module......................................................... 7

3.1 General .................................................................................................................... 7

3.2 Mechanical installation ............................................................................................ 7

3.3 Electrical installation ............................................................................................... 9

3.3.1 Circuit diagram........................................................................................................9

3.3.2 Sockets................................................................................................................. 10

4 System bus interface....................................................................................................11

4.1 Bus termination ..................................................................................................... 11

4.2 Cables .................................................................................................................... 12

4.3 Socket X410B......................................................................................................... 12

4.4 Baud rate setting/line length ................................................................................ 13

4.5 Setting node address ............................................................................................. 13

4.6 Functional overview .............................................................................................. 14

4.7 Network management ........................................................................................... 14

4.7.1 SDO channels (parameter data).............................................................................. 15

4.7.2 PDO channels (process data).................................................................................. 15

4.8 Master functionality............................................................................................... 16

4.8.1 Control boot-up sequence, network management..................................................... 16

4.8.2 SYNC telegram, generation..................................................................................... 18

4.8.3 Emergency message, reaction................................................................................. 19

4.8.4 Client SDO (system bus master).............................................................................. 20

4.9 Slave functionality .................................................................................................21

4.9.1 Implement boot-up sequence, network management................................................ 21

4.9.1.1 Boot-up message ............................................................................................ 21

4.9.1.2 Status control ................................................................................................. 21

4.9.2 Process SYNC telegram .......................................................................................... 22

4.9.3 Emergency message, fault switch-off....................................................................... 23

4.9.4 Server SDO1/SDO2................................................................................................ 24

06/052

TABLE OF CONTENTS

4.10 Communication channels, SDO1/SDO2.............................................................. 26

4.10.1 SDO telegrams (SDO1/SDO2) ................................................................................. 26

4.10.2 Communication via field bus connection (SDO1)....................................................... 28

4.10.2.1 Profibus-DP .................................................................................................... 28

4.10.2.2 RS232/RS485 with VECTRON bus protocol ........................................................ 28

4.11 Process data channels, PDO ............................................................................... 30

4.11.1 Identifier assignment process data channel.............................................................. 30

4.11.2 Operation modes process data channel.................................................................... 31

4.11.3 Timeout monitoring process data channel................................................................ 32

4.11.4 Communication relationships of the process data channel ......................................... 33

4.11.5 Virtual links ........................................................................................................... 34

4.11.5.1 Input parameters of the TxPDO’s for data to be transmitted ............................... 37

4.11.5.2 Source numbers of the RxPDO’s for received data.............................................. 39

4.11.5.3 Examples of virtual links .................................................................................. 40

4.12 Control parameters............................................................................................. 41

4.13 Handling of the parameters of the system bus .................................................. 42

4.14 Utilities ............................................................................................................... 44

4.14.1 Definition of the communication relationships........................................................... 45

4.14.2 Creating virtual links .............................................................................................. 46

4.14.3 Capacity planning of the system bus........................................................................ 47

5 Control inputs and outputs .......................................................................................... 49

5.1 Speed sensor input EM-ENC .................................................................................. 49

5.1.1 Termination resistor............................................................................................... 49

5.1.2 Division marks....................................................................................................... 50

5.1.3 Level ....................................................................................................................50

5.1.4 Actual speed source............................................................................................... 51

5.1.5 Actual value comparison......................................................................................... 51

5.2 Frequency and percentage reference channel ...................................................... 51

5.3 Actual value display ............................................................................................... 51

6 Parameter list............................................................................................................... 52

6.1 Actual value menu (VAL) ....................................................................................... 52

6.2 Parameter menu (PARA) ....................................................................................... 52

7 Annex ........................................................................................................................... 54

7.1 Error messages ...................................................................................................... 54

06/05 3

1 General safety and application information

This documentation has been created with greatest care and has been extensively and
repeatedly checked. For reasons of clarity, we have not been able to take all detailed
information on all the types of the products and also not every ima
positioning, operation or maintenance into account. If you require further information
or if particular problems not treated extensively enough in the operatin
occur, you can obtain the necessary information via the local representation of the
company BONFIGLIOLI.
In addition, we would point out that the contents of these operatin
not part of an earlier or existing agreement, assurance or legal relationship, nor are
they intended to amend them. All the manufacturer's obligations result from the pur­chase contract in question, which also contains the completely and solely valid war­ranty regulation. These contractual warranty provisions are neither extended nor lim­ited by the implementation of these operating instructions.
The manufacturer reserves the right to correct or amend the contents and product
information as well as omissions without specific announcement and assumes no kind
of liability for damage, injuries or expenditure to be put down to the aforementioned
reasons.

ginable case of

g instructions

g instructions are

1.1 General information

Warning! BONFIGLIOLI VECTRON frequency inverters have high voltage levels dur-

ing operating, depending on their protection class, drive moving parts and
have hot surfaces.
In the event of inadmissible removal of the necessary covers, improper
use, wron
persons or property.
To avoid the damage, only qualified staff may carry out the transport,
installation, setup or maintenance work required. Comply with the stan­dards EN 50178, IEC 60364 (Cenelec HD 384 or DIN VDE 0100),
IEC 60664-1 (Cenelec HD 625 or VDE 0110-1), BGV A2 (VBG 4) and na­tional provisions. Qualified persons within the meaning of this principal
safety information are people acquainted with the erection, fitting, com­missionin
and in possession of qualifications matching their activities.

g installation or operation, there is the risk of serious damage to

g and operating of frequency inverters and the possible hazards

1.2 Proper use

Warning! The frequency inverters are electrical drive components intended for in-

stallation in industrial plant or machines. Commissioning and start of in­tended operation are not allowed until it has been established that the
machine corresponds to the provisions of the EC machine directive
98/37/EEC and EN 60204. According to the CE sign, the frequency invert­ers additionally fulfill the requirements of the low-volta
73/23/EEC and the standards EN 50178 / DIN VDE 0160 and EN 61800-2.
Responsibility for compliance with the EMC directive 89/336/EEC is with
the user. Frequency inverters are available in a limited way and as com­ponents exclusively intended for professional use within the meanin
the standard EN 61000-3-2.
With the issue of the UL certificate according to UL508c, the requirements
of the CSA Standard C22.2-No. 14-95 have also been fulfilled.
The technical data and the information on connection and ambient condi­tions can be seen from the ratin
be complied with at all costs. The instructions must have been read and
understood before starting the work at the device.

g plate and the documentation and are to

ge directive

g of

06/054

1.3 Transport and storage

Transport and storage are to be done in an appropriate in the original packing. Store

the units only in dry rooms, which are protected against dust and moisture and are
subjected to little temperature deviations only. Observe the climatic conditions ac­cording to EN 50178 and the marking on the packaging. The duration of storage with­out connection to the admissible reference voltage may not exceed one year.

1.4 Handling and positioning

Warning! Damaged or destroyed components may not be put into operation be-

cause they may be a health hazard.

The frequency inverters are to be used according to the documentation, the directives

and the standards. Handle carefully and avoid mechanical overload. Do not bend the
components or change the isolation distances. Do not touch electronic components o
contacts. The devices contain construction elements with a risk of electrostatic, which
can easily be damaged by improper handling. Any use of damaged or destroyed com­ponents shall be considered as a non-compliance with the applicable standards. Do
not remove any warning signs from the device.

1.5 Electrical connection

Warning! Before any assembly or connection work, de-energize the frequency in-

While working on the frequency inverters, obey the applicable standards BGV A2 (VBG

4), VDE 0100 and other national directives. Comply with the information in the docu­mentation on electrical installation and the relevant directives. Responsibility for com­pliance with and examination of the limit values of the EMC product standard
EN 61800-3 for variable-speed electrical drive mechanisms is with the manufacturer o
the industrial plant or machine.
The documentation contains information on installation correct for EMC. The cables
connected to the frequency inverters may not be subjected to an isolation test with a
high test voltage without previous circuit measures.

verter. Make sure that the frequency inverter is de-energized.
Do not touch the sockets, because the capacitors may still be charged.
Comply with the information
the frequency inverter label.

given in the operating instructions and on

1.6 Operation information

Warning! Before commissioning and the start of the intended operation, attach all

the covers and check the sockets. Check additional monitoring and pro­tective devices pursuant to EN 60204 and the safety directives applicable
in each case (e.
etc.).
No connection work may be performed, while the system is in operation.

g. Working Machines Act, Accident Prevention Directives

r

f

1.7 Maintenance and service

Warning! Unauthorized opening and improper interventions can lead to physical

06/05 5

injury or damage to property. Repairs on the frequency inverters may
only be done by the manufacturer or persons authorized by the latter.

2 Introduction

This document describes the possibilities and the properties of the EM-ENC-03 expan-

The EM-ENC-03 expansion module is an optional hardware component to extend the

The EM-ENC-03 module extends the functionality of the frequency inverters of the

To assemble the expansion module it can be easily plugged into the frequency invert-

sion module for the frequency inverters of the ACT and ACU device series.

Note: This document exclusively describes the EM-ENC-03 expansion module. It

does not provide basic information on the operation of the ACT and
ACU series frequency inverters.

functionality of the frequency inverter. It enables the data exchange within the net­work and between the components, which have been directly connected, for example
control and regulation elements.

ACT and ACU device series by the following additional functions:

− CAN system bus

(CAN interface ISO-DIS 11898; CAN High Speed; max. 1 MBaud)

− Speed sensor input

(second incremental speed sensor input)

The EM-ENC-03 expansion module has been enclosed with the frequency inverter as a
separate component and must be fitted by the user. This is described in detail in the
chapter "Mechanical Installation".

The EM-ENC-03 expansion module is supported from device series ACU and as from
software version 4.1.0 of device series ACT.

ers of the ACT and ACU device series.

Warning! The assembly is done before the frequency inverter is put into operation,

and only in a voltage-free state.

The pluggable sockets of the expansion module enable economical overall fitting with

a safe function.

06/056

3 Installation of the EM-ENC-03 expansion module

3.1 General

The mechanical and electrical installation of the EM-ENC-03 expansion module is to be

carried out by qualified personnel according to the general and regional safety and
installation directives. Safe operation of the frequency inverter requires that the
documentation and the device specification be complied with in installation and star
of operation. For specific areas of application further provisions and guidelines must
be complied with where applicable.

The frequency inverters are designed according to the requirements and limit values

of product standard EN 61800-3 with interference immunity factor (EMI) for operation
in industrial applications. The electromagnetic interference is to be avoided by exper
installation and observation of the specific product information.

For further information, refer to the chapter "Electrical Installation" of the frequency

inverter operating instructions.

Danger! All connection sockets where dangerous voltage levels may be present

(e.g. motor connection sockets, mains sockets, fuse connection sockets,
etc.), must be protected against direct contact.

3.2 Mechanical installation

Danger! If the following instructions are not complied with, there is direct danger

with the possible consequences of death or severe injury by electrical
current. Further, failure to comply can lead to destruction of the fre­quency inverter and/or of the expansion module.

• Before assembly or disassembly of the EM-ENC-03 expansion module, the fre­quency inverter must be de-energized. Take appropriate measures to make sure it
is not energized unintentionally.

• Make sure that the frequency inverter is de-energized.

Danger! The mains, direct voltage and motor sockets can be live with dangerous

voltages after disconnection of the frequency inverter. Work may only be
done on the device after a waiting period of some minutes until the DC
link capacitors have been discharged.

t

t

06/05 7

The EM-ENC-03 expansion module is supplied in a housing for assembly on the lower

slot of the frequency inverter.

• Remove the lower cover (1) of the frequency inverter.
The slot for the EM-ENC-03 expansion module becomes accessible.

1

Caution! The EM-ENC-03 expansion module (2) is pre-fitted in a housing. Do NOT

• Plug the EM-ENC-03 expansion module (2) onto the slot (3).

• Re-install the lower cover (1).

This completes the assembly procedure.

When the supply voltage of the frequency inverter is switched on, the EM-ENC-03

expansion module is ready for operation.

touch the PCB visible on the back, as modules may be damaged.

3

2

1

06/058

3.3 Electrical installation

Danger! If the following instructions are not complied with, there is direct danger

• Before assembly or disassembly of the EM-ENC-03 expansion module, the fre-

• Make sure that the frequency inverter is de-energized.

Danger! The mains, direct voltage and motor sockets can have dangerous voltages

with the possible consequences of death or severe injury by electrical
current. Further, failure to comply can lead to destruction of the fre­quency inverter and/or of the expansion module.

quency inverter must be de-energized. Take appropriate measures to make sure it
is not energized unintentionally.

even after disconnection of the frequency inverter. Work may only be
done on the device after a waiting period of some minutes until the DC
link capacitors have discharged.

3.3.1 Circuit diagram

X410A

EM-ENC A+

1

EM-ENC A-

2

EM-ENC B+

3

EM-ENC B-

4

5

GND

6

7

X410B

1
2

3

4

CAN-Low

5

B

CAN-High

6
7

GND

Speed sensor input EM-ENC

Frequency signal, f

A

TTL (push-pull) according to specification RS-422A / RS-485: U
HTL (push-pull or unipolar): I

Communication interface system bus

B

= 300 kHz, voltage-proof until 30 V,

max

= 12 mA at 24 V

max

CAN actuation of the system bus according to ISO-DIS 11898 (CAN High Speed)

SYS

max

= 5 V,

The sockets without designations are not assigned any functions.

06/05 9

3.3.2 Sockets

The control and software functionality can be freely configured for economical opera-

tion with a safe function.

Expansion module EM-ENC-03

Wieland DST8 5 / RM3,5

0.2 … 0.3 Nm

1.8 … 2.7 lb-in

0.14 … 1.5 mm
AWG 30 … 16

0.14 … 1.5 mm
AWG 30 … 16

0.25 … 1.0 mm
AWG 22 … 18

0.25 … 0.75 mm
AWG 22 … 20

2

2

2

2

Caution! The control inputs and outputs must be connected and separated free of

power. Otherwise, components may be damaged.

Ter. Description

1 Speed sensor input EM-ENC A+
2 Speed sensor input EM-ENC A­ 3 Speed sensor input EM-ENC B+
4 Speed sensor input EM-ENC B­ 5 no function
6 Earth / GND
7 no function

Ter. Description

1 no function
2 no function
3 no function
4 no function
5 System bus, CAN low
6 System bus, CAN high
7 Earth / GND

Socket X410A

Socket X410B

06/0510

4 System bus interface

X

The CAN connection of the system bus is physically designed according to ISO-DIS

In the default version, the frequency inverter support a CAN protocol controller, which

11898 (CAN High Speed). The bus topology is the line structure.

may exist in either the CM-CAN communication module with CANopen interface OR in
an expansion module for the system bus, such as the EM-ENC-03 expansion module.

Attention! Installation of two optional components with CAN-Protocol controller re-

sults in a deactivation of the system bus interface in the EM-ENC-03 ex­pansion module!

4.1 Bus termination

The necessary bus terminator at the physically first and last node can alternatively be

activated via the two DIP switches S1 and S2 on the EM-ENC-03 expansion module.

Either set S1 to ON and S2 to OFF for a regular passive termination.

•

or set S1 and S2 to ON for an active termination. This results in an improved edge

•

shape of the CAN signals, which causes improvement of the signal shapes, in par­ticular in extended systems.

Note:

Switch S3 is used to configure a termination resistor of 150 Ω for the
speed sensor input EM-ENC (see chapter „Speed Sensor input EM-ENC“).

S1

S2

S3

X410A

410B

Attention! The factory setting for the bus termination is OFF.

The active termination via the DIP switches S2 and S2 may only be acti­vated in one expansion module. The other bus termination must be pas­sive.

Ω

Data line

Data line

06/05 11

CAN high (X410B.6)

Ω

120

CAN low (X410B.5)

passive active

Data line

Data line

332

CAN high ( X410B.6)

CAN low (X410B.5)

332

Ω

4.2 Cables

X

X

For the bus line, use a twisted cable with harness shield (no foil shield).

Attention! The control and communication lines are to be laid physically separate

from the power lines. The harness screen of the data lines is to be con­nected to ground (PE) on both sides on a large area and with good con­ductivity.

4.3 Socket X410B

The system bus is connected via the terminals 5, 6 and 7 of the socket X410B on the

EM-ENC-03 expansion module.

X410A

Socket X410B

Terminal Input/Output Description

(5): X410B.5 CAN-Low CAN-Low (System bus)
(6): X410B.6 CAN-High CAN-High (System bus)
(7): X410B.7 GND CAN-GND (System bus)

410B

410B

6

6

7

7

5

5

06/0512

4.4 Baud rate setting/line length

g

The setting of the baud rate must be identical in all nodes on the system bus. The

3 - 50 kBaud Transmission rate 50 kBaud 1000 meters
4 - 100 kBaud Transmission rate 100 kBaud 800 meters
5 - 125 kBaud Transmission rate 125 kBaud 500 meters
6 - 250 kBaud Transmission rate 250 kBaud 250 meters
7 - 500 kBaud Transmission rate 500 kBaud 100 meters
8 - 1000 kBaud Transmission rate 1000 kBaud 25 meters

A baud rate under 50 kBaud, as is defined according to CANopen, is not sensible for

The maximum line lengths stated are guidelines. If they are made complete use of, a

maximum possible baud rate is based on the necessary overall line length of the sys­tem bus. The baud rate is set via the parameter
possible line length.

Operation mode Function max. line length

the system bus as the data throughput is too low.

calculation of the admissible len
and the bus driver (PCA82C250T).

th is to be done on the basis of the line parameters

Baud-Rate 903 and thus defines the

4.5 Setting node address

A maximum of 63 slaves or frequency inverters with system bus can be operated on

900 Node-ID -1 63 -1

the system bus. Each frequency inverter is given a node ID, which may only exist once
in the system, for its unambiguous identification. The setting of the system bus node
ID is done via the parameter

No. Description min. max. Factory setting

Thus, the system bus possesses a maximum number of 63 nodes (Network nodes),
plus one frequency inverter as a master.

Note:

Parameter Setting

With the factory setting of parameter
is deactivated for this frequency inverter.
If the

Node-ID 900 = 0 is set, the frequency inverter is defined as a mas-

ter. Only one frequency inverter on the system bus may be defined as a
master.

Node-ID 900.

Node-ID 900 = -1, the system bus

06/05 13

4.6 Functional overview

The system bus connects different frequency inverters physically. Logical communica-

In the basic state (factory setting) the identifiers are set according to the Predefined

As a special feature, the properties of the CAN bus mean that the messages transmit-

tion channels are established via this physical medium. These channels are defined via
the identifiers. As CAN is not defined with a node-oriented, but a message-oriented
addressing via the identifiers, these identifiers can be used to define the logical chan­nels.

Connection Set of CANopen. These settings are aimed at one master serving all the
channels. In order to be able to build up process data movement via the PDO channels
between an individual and a number of inverters (transverse movement), the settin
of the identifiers in the nodes has to be adapted.

Note: For understanding, it is important to observe that the data exchange is

done message-oriented. A frequency inverter can transmit and receive a
number of messages, identified via various identifiers.

ted by one node can be received by a number of nodes simultaneously. The error
monitoring methods of the CAN bus result in the message being rejected by all recipi­ents and automatically transmitted again if there is a faulty reception in one receiver.

4.7 Network management

The network management controls the start of all the nodes on the system bus. Nodes
can be started or stopped individually or together. For node recognition in a CAL or
CANopen system, the slaves on the system bus generate a starting telegram (boot-up
report).
In the event of a fault the slaves automatically transmit a fault report (emer
message).

For the functions of the network management, the methods and NMT telegrams (net-

work management telegrams) defined according to CAN open (CiA DS 301) are used.

gency

g

PLC

Field bus

System bus Master

Parameter Function

SDO 2 SDO 1 PDO

System bus

Controller / PC

System bus Slave

Parameter Function

SDO 2 SDO 1 PDO

System bus

System bus

06/0514

4.7.1 SDO channels (parameter data)

Each frequency inverter possesses two SDO channels for the exchange of parameter

The identifier assignment for the SDO channels (Rx/Tx) is done according to the Pre-

Parameters are read/written via the SDO channels. With the limitation to the SDO

data. In a slave device, these are two server SDO's, in a device defined as a master a
client SDO and a server SDO. Attention must be paid to the fact that only one master
for each SDO channel may exist in a system.

Note: Only one master can initiate exchan

defined Connection Set.
This assignment can be changed via parameters in order to solve identifier conflicts in
a larger system in which other devices and frequency inverters are connected to the
CAN bus.

Attention! In a system where a frequency inverter works as a master, the identifier

gment Protocol Expedited, which minimizes the handling needed for the parameter

Se
exchange, the transmittable data are limited to the uint / int / long types. This permits
complete parameterization of the frequency inverters via the system bus, as all the
settings and practically all the actual values mapped to these data types.

system bus.

allocations for the SDO channel may not be altered.
In this way, an addressin
bus path of the master frequency inverter is possible.

g of individual nodes via the field bus/system

ge of data by its client SDO via the

4.7.2 PDO channels (process data)

Each frequency inverter possesses three PDO channels (Rx/Tx) for the exchange of

The identifier assignment for the PDO channel (Rx/Tx) is done by default according to

Each PDO channel can be operated with time or SYNC control. In this way, the opera-

0 - deactivated no exchange of data via the PDO channel (Rx and/or Tx)
1 - time-controlled Tx-PDO’s cyclically transmit according to the time specifica-

2 - SYNC controlled Tx-PDO’s transmit the data from the application that are

For synchronous PDO’s, the master (PC, PLC or frequency inverter) generates the

process data.

the Predefined Connection Set. This assignment corresponds to an alignment to a
central master control.
In order to establish lo
the system bus, the amendment of the PDO identifiers for Rx/Tx is necessary.

tion behavior can be set for each PDO channel:

The setting of the operation mode is done via the following parameters:

gical channels between the devices (transverse movement) on

TxPDO1 Function 930, TxPDO2 Function 932 und TxPDO3 Function 934
RxPDO1 Function 936, RxPDO2 Function 937 und RxPDO3 Function 938

Operation mode Function

tion
Rx-PDO‘s are read in with Ta = 1 ms and forward the data
received to the application

then current after the arrival of the SYNC telegram.
Rx-PDO’s forward the last data received to the application
after the arrival of the SYNC telegram.

SYNC telegram. The identifier assignment for the SYNC telegram is done by default
according to the Predefined Connection Set. This assignment can be altered by
parameterization.

06/05 15

4.8 Master functionality

An external control or a frequency inverter defined as a master (node ID = 0) can be

used as a master. The fundamental tasks of the master are controlling the start of the
network (boot-up sequence), generating the SYNC telegram and evaluating the emer­gency messages of the slaves.
Further, there can be access to the parameterization of all the frequency inverters on
the system bus by means of a field bus connection via the client SDO of the maste
frequency inverter.

4.8.1 Control boot-up sequence, network management

The Minimum Capability Boot-Up method defined according to CANopen is used for

After the initialization phase, all the nodes are in the pre-operational state. The system

As the slaves on the system bus need different lengths of time to conclude their ini-

904 Boot-Up Delay 3500 ms 50000 ms 3500 ms

the state control of the nodes (nodes).
This method knows the pre-operational, operational and stopped states.

bus master transmits the NMT command Start-Remote-Node. With this command,
individual nodes or all the nodes can be started together. A frequency inverter defined
as a master starts all the nodes with one command. After receipt of the Start Remote
Node command, the nodes chan
process data exchange via the PDO channels is activated.
A master in the form of a PLC/PC can start a node on the system bus individually and
also stop them again.

tialization phases (especially if external components exist alongside the frequency
inverters), an adjustable delay for the change to Operational state is necessary. The
setting is done in a frequency inverter defined as a system bus master via

Delay

904.

Parameter Setting

No. Description Min. Max. Factory setting

ge into the Operational state. From this time on,

Boot-Up

r

Properties of the states:

State Properties

Pre-Operational Parameterization via SDO channel possible

Exchange of process data via PDO channel not possible

Operational Parameterization via SDO channel possible

Exchange of process data via PDO channel possible

Stopped Parameterization via SDO channel not possible

Exchange of process data via PDO channel not possible

Note: Start-Remote-Node is cyclically transmitted with the set delay time by a

frequency inverter defined as a system bus master, in order to put slaves
added with a delay or temporarily separated from the network back into
the Operational state.

06/0516

Power on

(1)

Initialization

any state

Pre-Operational

(2)

(4)

(7)

(5)

Stopped

(3)

(6)

(8)

Operational

After Power On and initialization, the slaves are in the Pre-Operational state.

The identifier used for the NMT telegrams is "0" and may only be used by the system

Identifier = 0

The transition (2) is automatic. The system bus master (frequency inverter or PLC/PC)
triggers the transition (3) to Operational state.
The transitions are controlled via NMT telegrams.

bus master for NMT telegrams. The telegram contains two data bytes.

CS (Command Specifier) Node-ID

Is node ID ≠ 0, the NMT command addresses the node selected via the node ID. If
node ID = 0, all the nodes are addressed.

Transition Command Command Specifier

(3) , (6) Start Remote Node 1
(4) , (7) Enter Pre-Operational 128
(5) , (8) Stop Remote Node 2

- Reset Node 129

- Reset Communication 130

Note: A frequency inverter defined as a system bus master only transmits the

Byte 0 Byte 1

command "Start Remote Node” with node ID = 0 (for all nodes). Trans­mission of the command is done after completion of the initialization
phase and the time delay

Boot-Up Delay 904 following it.

06/05 17

4.8.2 SYNC telegram, generation

If synchronous PDO’s have been created on the system bus, the master must send the

If a PC or PLC is used as a master, the identifier of the SYNC telegrams can be

918 SYNC-Identifier 0 2047 0

The setting "0” results in identifier assignment according to the Predefined Connection

SYNC telegram cyclically. If a frequency inverter has been defined as a system bus
master, the latter must generate the SYNC telegram. The interval for the SYNC tele­gram of a frequency inverter defined as the system bus master is adjustable. The
SYNC telegram is a telegram without data.

The default identifier = 128 according to the Predefined Connection Set.

adapted by parameterization on the frequency inverter.
The identifier of the SYNC telegram must be set identically in all nodes on the system
bus.

The setting of the identifier of the SYNC telegram is done via the parameter

Identifier

Set.

Attention! The identifier range 129...191 may not be used as the emergency tele-

The temporal cycle for the SYNC is set on a frequency inverter defined as a system
bus master via the parameter

Note:

918.

No. Description Min. Max. Fact. sett.

Parameter Setting

grams can be found there.

SYNC-Time 919.

A setting of 0 ms for the parameter
telegram”.

SYNC-Time 919 means "no SYNC

SYNC-

06/0518

4.8.3 Emergency message, reaction

If a slave on the system bus enters a fault state, it transmits the emergency telegram.

After a fault has been acknowledged on the slave, the latter again transmits an emer-

The emergency telegram has the identifier 128 + node ID ( = 129 ... 191)

0 -Error The system bus master receives the emergency

1 -No Error Das Emergency Telegram is displayed as a warn-

Operation mode - parameter 989 = 0 – Error

As soon as the system bus master receives an emergency telegram, it also switches to

If a fault switch-off occurs on a number of slaves, the first slave to transmit its emer-

Operation mode - parameter 989 = 1 – No Error

As soon as the system bus master receives an emergency telegram, it reports the

The emergency telegram marks the node ID for the identification of the failed node
via its identifier and the existing fault message via its data contents (8 bytes).

gency telegram with the data content zero.

The system bus master evaluates the emergency telegrams of the slaves. Its reaction
to an emergency telegram can be set with

Operation mode Function

Behavior of the system bus master in

failure mode and reports the failed node on the basis of its ID via the kind of error.
Only the node is reported, not the cause of the error.

The fault message on the system bus master via
= node ID (hexadecimal) of the slave in which a fault switch-off exists.
In addition, the system bus master reports the warning Sysbus (0x2000) via the pa­rameter

Warnings 270 Bit 13.

gency telegram is displayed on the system bus master.

Behavior of system bus master in the case of
ror:

warning Sysbus (0x2000) via the parameter

Emergency Reaction 989.

telegram and switches-off

ing

Emergency Reaction 989 = 0 / Error:

Current error 260 is 21nn with nn

Emergency Reaction 989 = 1 / No Er-

Warnings 270 Bit 13.

Note: In both cases, the Boolean variable SysbusEmergency with source number

06/05 19

730 is set to TRUE in the system bus master. It can be used in the system
bus master and (in transmission via a TxPDO) in the slaves for a defined
shutdown.
SysbusEmergency is also set if the system bus master enters fault state.
Resetting of SysbusEmergency is done with the fault acknowledgment.

4.8.4 Client SDO (system bus master)

Each node on the system bus can be addressed via the SDO channels. In this way,

The service used is SDO Segment Protocol Expedited according to CANopen. A fre-

each node can be addressed and parameterized by one master via its client SDO1. All
the parameters of the data types uint/int/long are accessible. String parameters canno
be processed. If a frequency inverter has been defined as a system bus master, each
node on the system bus in this frequency inverter can be addressed by via the field bus
connection (RS232, RS485, Profibus-DP) and its client SDO1.

Attention! The second SDO channel SDO2 of the frequency inverters is planned for

quency inverter defined as a system bus master automatically generates the correct
telegrams. If the SDO channel is operated via a PLC/PC on the system bus, the tele­grams must be generated according to the specification.

PLC

the parameterization of the frequency inverters via a visualization tool on
the system bus.

Field bus

Inv.1 Inverter 2 Inverter 2

Field bus

t

Client-SDO 1

Inverter 1

Server-SDO 2

Client-SDO 2

Visualizationtool

Server-SDO 1

Server-SDO 1

Inverter 2 Inverter 2

Server-SDO 2

Server-SDO 2

System bus

System bus

06/0520

4.9 Slave functionality

4.9.1 Implement boot-up sequence, network management

4.9.1.1 Boot-up message

After the initialization, each slave on the system bus transmits its boot-up message

This telegram is used when a PLC/PC with CANopen functionality is used as a master.

(heartbeat message).

Note: The boot-up telegram has the identifier 1792 + node ID and a data byte

with contents = 0x00.

A frequency inverter defined as a system bus master does not evaluate the boot-up
message.

4.9.1.2 Status control

The identifier used for the NMT telegrams is "0" and may only be used by the system
bus master for NMT telegrams. The telegram contains two data bytes.

Byte 0 Byte 1

Identifier = 0

After a slave has received the command "Start Remote Node”, it activates the PDO

CS (Command Specifier) Node-ID

If node ID ≠ 0, the NMT command acts on the node selected via the node ID. If node
ID = 0, all the nodes are addressed.

(3),(6) Start Remote Node 1
(4),(7) Enter Pre-Operational 128
(5),(8) Stop Remote Node 2

- Reset Node 129

- Reset Communication 130

Attention! The reset node and reset communication command specified according

channels and is ready for the exchange of process data.

Byte 0 Byte 1

Transition Command Command Specifier

to DS 301 lead to a change to Pre-Operational via Initialization in the
frequency inverters. A new boot-up message is generated.

06/05 21

4.9.2 Process SYNC telegram

If synchronous PDO’s have been created in a frequency inverter, their processing is

If a PC or PLC is used as a master, the identifier of the SYNC telegrams can be adapted

918 SYNC-Identifier 0 2047 0

The data of the Rx-PDO’s are forwarded to the application after the arrival of the SYNC

synchronized with the SYNC telegram. The SYNC telegram is generated by the system
bus master and is a telegram without data.

The identifier is 128 according to the Predefined Connection Set.

by parameterization on the frequency inverter. The identifier of the SYNC telegram
must be set identically in all nodes on the system bus.

Attention! The identifier range 129 ... 191 may not be used as the emergency tele-

The setting of the identifier of the SYNC telegram is done via the parameter

Identifier

No. Description Min. Max. Factory setting

The setting "0” results in identifier assignment according to the Predefined Connection
Set.

telegram. At the same time, the transmission of the Tx-PDO’s with the currently avail­able data from the application is triggered.

grams can be found there.

918.

Parameter Setting

SYNC

SYNC

SYNC-

RxPDO's RxPDO'sTxPDO's TxPDO's

This method enables pre-occupancy of set points in the system bus nodes and a syn-

chronous / parallel take-over of the data.

Zeit

06/0522

4.9.3 Emergency message, fault switch-off

As soon as a fault switch-off occurs in a slave frequency inverter, the emergency tele-

The emergency telegram has the identifier 128 + node ID.

After a fault acknowledgment, another emergency telegram is transmitted, with the

The acknowledgment sequence is based on the definitions according to CANopen.

Data contents of the emergency telegram:

0 0x00 low-byte Error-Code
1 0x10 high-byte Error-Code
2 0x80 Error-Register
3 0x00 -
4 0x00 -
5 0x00 -
6 0xnn internal Error-Code, low-byte
7 0xmm internal Error-Code, high-byte

Bytes 0, 1 and 2 are firmly defined and compatible with CANopen.

Error-Code = 0x1000 = general error
Error-Register = 0x80 = manufacturer-specific error

The explanation and description of the product-specific VECTRON error code can be

gram is transmitted. The emergency telegram marks the node ID for the identification
of the failed node via its identifier and the existing fault message via its data contents
(8 bytes).

data content (Byte 0 ...7) being set to zero this time. This identifies the node's re­peated readiness for operation. Any further faults are transmitted in a new emer
telegram.

Emergency telegram

Byte Value Meaning

Bytes 6/7 contain the product specific VECTRON error code.

found in the annex "Error messages".

gency

06/05 23

4.9.4 Server SDO1/SDO2

The communication channel for the exchange of parameter data is the SDO channel.

For the frequency inverter, two server SDO channels have been implemented.

Identifier Rx-SDO = 1536 + Node-ID (Node-ID = 1 ... 127, Identifier = 1537...1663)
Identifier Tx-SDO = 1408 + Node-ID (Node-ID = 1 ... 127, Identifier = 1409...1535)

Identifier Rx-SDO1 = 1536 + Node-ID (Node-ID = 1
Identifier Tx-SDO1 = 1408 + Node-ID (Node-ID = 1

Identifier Rx-SDO2 = 1600 + Node-ID (Node-ID = 0
Identifier Tx-SDO2 = 1472 + Node-ID (Node-ID = 0

This corresponds to the factory settings of the frequency inverters for the SDO‘s.

If a frequency inverter has been defined as the system bus master, the above settings

Communication works according to the client/server model. The server is the node
holding the data (here the frequency inverter), the client is the node requesting or
wanting to alter the data (PLC, PC or frequency inverter as system bus master).

The first SDO channel SDO1 is used for the parameterization of the PLC/PC as a mas­ter or frequency inverter with field bus connection as a system bus master.
The second SDO channel SDO2 is reserved for a visualization tool for parameteriza­tion. An exchange of data can only be implemented by the master via a client SDO.

The SDO channels are stipulated for the server SDO’s via identifiers according to the
Predefined Connection Set to CANopen. As CANopen only provides for and defines one
SDO channel in the Predefined Connection Set, the second SDO channel can be deac­tivated.
In addition, the number of system bus nodes and the adjustable node ID are limited to

63.

Identifier assignment according to the Predefined Connection Set:

Identifier assignment for SDO1/SDO2 compatible with the Predefined Con­nection Set:

...

63, Identifier

...

63, Identifier = 1409

...

63, Identifier = 1600

...

63, Identifier = 1472

The node ID = 0 for SDO2 is the system bus master.

Attention! The SDO2 must be deactivated in a CANopen system in order not to

for the SDO1 must be maintained in all the frequency inverters. In this way, access to
the parameterization of the frequency inverters via a field bus connection on the mas­ter frequency inverter is possible.
The client SDO1 in the master frequency inverter addresses the server SDO1 of the
slaves via the above identifiers.

Attention! The identifiers for a visualization tool on the second SDO channel SDO2

generate any compatibility problems.

cannot be changed.

=

1537

...
...

...
...

1599)

1471)

1663)

1535)

06/0524

If a PC or a PLC is used as a master, the identifiers of the Rx/Tx-SDO1 can be

921 RxSDO1-Identifier 0 2047 0

The setting of the identifiers of the TxSDO1 is done via parameter number 922.

922 TxSDO1-Identifier 0 2047 0

The setting "0” results in identifier assignment according to the Predefined Connec-

0 -SDO2 deactivated Communication channel deactivated
1 -SDO2 activated Communication channel activated for the visuali-

Identifier Rx-SDO2 = 1600 + Node-ID
Identifier Tx-SDO2 = 1472 + Node-ID

adapted by parameterization on the frequency inverter.

Attention! In free assignment of identifiers, there may not be any double occu-

The setting of the identifiers of the RxSDO1 is done via the parameter

Identifier

No. Description Min. Max. Fact. sett.

No. Description Min. Max. Fact. sett.

tion Set.

The second SDO channel can be deactivated via the

The identifier assignment for the second SDO channel is always to following
specification:

pancy!

The identifier range 129...191 may not be used as the emergency tele­grams can be found there.

RxSDO1-

921.

Parameter Setting

Parameter Setting

SDO2 Set Active 923.

Operation mode Function

zation tool

Note: In this way, constant identifiers for communication are available for the

06/05 25

visualization tool.

4.10 Communication channels, SDO1/SDO2

4.10.1 SDO telegrams (SDO1/SDO2)

The service used for the exchange of parameter data is SDO Segment Protocol

Access to the parameters in the frequency inverters with a statement of parameter

The length of data to be transmitted is 2 bytes for uint/int and 4 bytes for long. As

The data are on bytes 4...7 of the SDO telegram.

- uint/int variables are transmitted in bytes 4 and 5

- long variables are transmitted in bytes 4...7.

0 1 2 3 4 5 6 7

0x22 LSB MSB 0xnn LSB MSB

0 1 2 3 4 5 6 7

0x60 LSB MSB 0xnn 0

Expedited. The data (of type uint, int, long) are exchanged in a telegram.

number and data set is displayed via the addressing defined for object access pursuant
to the specifications of CANopen via Index/Sub-Index.
Index = parameter number / Sub index = data set.

standardization and simplification, always 4 bytes are transmitted.

with bytes 6 und 7 = 0.

Writing parameters:

Client Î Server

Ctrl. byte Parameter number Data set Data

uint/int LSB MSB 0x00 0x00

long LSB ... ... MSB

Server Î Client Download Response Î Writing process free of errors

Ctrl. byte Parameter number Data set Data

SDO Download (expedited)

Server Î Client Abort SDO Transfer Î Writing process faulty

0 1 2 3 4 5 6 7

0x80 LSB MSB 0xnn Code 0 0 0

The error code is stated in byte 4 in a faulty writing process.

Ctrl. byte Parameter number Data set Data

(see Table, failure codes).

Attention! Control byte 0x22 for the identification "SDO Download expedited” does

not consider the bits "s” (data size indicated) and "n” (number of bytes
not containin
the number of bytes matching the type of data.

g data). If set, they are ignored. The user is responsible for

06/0526

Reading parameters:

Client Î Server

SDO Upload (expedited)

0 1 2 3 4 5 6 7

Ctrl. byte Parameter number Data set Data

0x40 LSB MSB 0xnn 0

Server Î Client Upload Response Î Reading process free of errors

0 1 2 3 4 5 6 7

Ctrl. byte Parameter number Data set Data

0x42 LSB MSB 0xnn LSB MSB

uint/int LSB MSB 0x00 0x00

long LSB ... ... MSB

Server Î Client Abort SDO Transfer Î Reading process faulty

0 1 2 3 4 5 6 7

Ctrl. byte Parameter number Data set Data

0x80 LSB MSB 0xnn Code 0 0 0

The error code is stated in byte 4 in a faulty reading process.

(see Table, failure codes).

failure codes

Code Description

1 inadmissible parameter figure
2 inadmissible data set
3 parameter not readable
4 parameter not writable
5 reading error EEPROM
6 writing error EEPROM
7 checksum error EEPROM
8 parameter cannot be written during running drive
9 values of the data sets differ
10 parameter of wrong type
11 unknown parameter

12 BCC error in VECTRON bus protocol

15 unknown error

20 system bus node not available only in access via field bus

connection

21 string parameter not admissible only in access via VEC-

TRON bus protocol

Errors marked in the table are generated by the field bus side, not in the Abort SDO

Transfer of the system bus.

06/05 27

4.10.2 Communication via field bus connection (SDO1)

If a frequency inverter has been defined as the system bus master and equipped with

a field bus interface, access to the parameterization of all the nodes on the system bus
is possible via this field bus interface and the first SDO channel (SDO1). An extension
has been created in the protocol frame of the field buses for this purpose.

Attention! The prerequisite for this mechanism is that the identifier setting for the

first SDO channel (SDO1) corresponds to the Predefined Connection Set.
The parameter addressed must also be existent in the system bus mas­ter.

4.10.2.1 Profibus-DP

If an object with communication channel (PKW) is used in Profibus-DP, access to all

0 1 2 3 4 5 6 7

Byte 3 is used to transmit the node ID of the required node on the system bus. If byte

other nodes on the system bus is possible. The structure of the communication chan­nel permits an additional addressin
an unused byte in the communication channel.

Communication channel PKW

PKE Index - Data

AK/SPM Parameter

number

3 = 0, the master inverter of the system bus is addressed. The display is binary
(0...63).

g of a system bus node. This is done by the use of

Data set Node-ID

system bus

4.10.2.2 RS232/RS485 with VECTRON bus protocol

In the VECTRON bus protocol, there is a byte in the telegram header that is always

Address 0 p n n n ENQ

Address STX 0 p n n n ...

Byte 1 in the enquiry and byte 2 in the select telegram are not defined and are used to

transmitted with 0 as a standard feature.

ENQUIRY

0 1 2 3 4 5 6

Node-ID

system bus

SELECT

0 1 2 3 4

Node-ID

transmit the node ID of the required node on the system bus. If this byte = 0, the
master inverter of the system bus is addressed. The display is ASCII correspondin
the conventions for the display of the address in the VECTRON bus protocol.

Note: If there is an NAK fault message, the error is to be read out from the

system bus master with node ID = 0 via parameter 11!

Data set Parameter number

Data set Parameter number

System bus

g to

06/0528

Display of node ID system bus in the VECTRON bus protocol:

System bus Node-ID

System bus

address

(ASCII-)

character

HEX value System bus

address

(ASCII-)

character

HEX value

1 A 41 31 _ 5F
2 B 42 32 ` 60
3 C 43 33 a 61
4 D 44 34 b 62
5 E 45 35 c 63
6 F 46 36 d 64
7 G 47 37 e 65
8 H 48 38 f 66
9 I 49 39 g 67
10 J 4A 40 h 68
11 K 4B 41 i 69
12 L 4C 42 j 6A
13 M 4D 43 k 6B
14 N 4E 44 l 6C
15 O 4F 45 m 6D
16 P 50 46 n 6E
17 Q 51 47 o 6F
18 R 52 48 p 70
19 S 53 49 q 71
20 T 54 50 r 72
21 U 55 51 s 73
22 V 56 52 t 74
23 W 57 53 u 75
24 X 58 54 v 76
25 Y 59 55 w 77
26 Z 5A 56 x 78
27 [ 5B 57 y 79
28 \ 5C 58 z 7A
29 ] 5D 59 { 7B
30 ^ 5E 60 | 7C
61 } 7D
62 ~ 7E
63



7F

06/05 29

4.11 Process data channels, PDO

4.11.1 Identifier assignment process data channel

The process channel for the exchange of process data under CANopen is the PDO

Identifier 1. Rx-PDO = 512 + Node-ID
Identifier 1. Tx-PDO = 384 + Node-ID

Identifier 2. Rx-PDO = 768 + Node-ID
Identifier 2. Tx-PDO = 640 + Node-ID

Identifier 3. Rx-PDO = 1024 + Node-ID
Identifier 3. Tx-PDO = 896 + Node-ID

This corresponds to the factory settings of the frequency inverters for the

Setting of the identifiers of the Rx/TxPDO’s:

924 RxPDO1 Identifier 0 2047 0
925 TxPDO1 Identifier 0 2047 0
926 RxPDO2 Identifier 0 2047 0
927 TxPDO2 Identifier 0 2047 0
928 RxPDO3 Identifier 0 2047 0
929 TxPDO3 Identifier 0 2047 0

The setting "0” results in identifier assignment according to the Prede-

channel. Up to three PDO channels with differing properties can be used in one device.

The PDO channels are defined via identifiers according to the Predefined Connection
Set to CANopen:

Rx/Tx-PDO‘s. This occupancy is aligned to an external master (PLC/PC) serving all the
channels.
If the PDO channels are used for a connection of the frequency inverters amon

gst one

another, the identifiers are to be set accordingly by parameterization.

Attention! In free assignment of identifiers, there may not be any double occu-

pancy!

The identifier range 129...191 may not be used as the emergency tele­grams can be found there.

Parameter Setting

No. Description Min. Max. Fact. sett.

fined Connection Set.

06/0530

4.11.2 Operation modes process data channel

The transmit/receive behavior can be time controlled or controlled via a SYNC tele-

931 TxPDO1 Time 1 ms 50000 ms 8 ms
933 TxPDO2 Time 1 ms 50000 ms 8 ms
935 TxPDO3 Time 1 ms 50000 ms 8 ms

0 - Not Active No data are sent
1 - Controlled by time In the cycle of the adjusted time interval the data

2 - Controlled by SYNC To arrival of a SYNC telegram the data are sent

0 - Controlled by time The received data are passed on immediately
1 - Controlled by SYNC After arrival of a SYNC telegram the received data

gram. The behavior can be parameterized for each PDO channel.

Tx-PDO’s can work time controlled or SYNC controlled. A time controlled TxPDO
transmits its data at the interval of time set. A SYNC controlled TxPDO transmits its
data after the arrival of a SYNC telegram.

RxPDO’s in the time controlled setting forward the received data to the application
immediately. If an RxPDO has been defined as SYNC controlled, its forwards its re­ceived data to the application after the arrival of a SYNC telegram.

Settings TxPDO1/2/3

Parameter Setting

No. Description Min. Max. Fact. sett.

The setting of the operation mode is done via the following parameters:

TxPDO1 Function 930, TxPDO2 Function 932 und TxPDO3 Function 934

Operation mode Function

are sent

Settings RxPDO1/2/3

The setting of the operation mode is done via the following parameters:

RxPDO1 Function 936, RxPDO2 Function 937 und RxPDO3 Function 938

Operation mode Function

are passed on

Note: In the "controlled by time” operation mode, there is a polling of the re-

ceived data with the trigger cycle of Ta = 1 ms.

06/05 31

4.11.3 Timeout monitoring process data channel

Each frequency inverter monitors its received data for whether they are updated

939 SYNC Timeout 0 ms 60000 ms 0 ms
941 RxPDO1 Timeout 0 ms 60000 ms 0 ms
942 RxPDO2 Timeout 0 ms 60000 ms 0 ms
945 RxPDO3 Timeout 0 ms 60000 ms 0 ms

Setting 0 means no timeout monitoring.

within a defined time window.
The monitoring is done onto the SYNC telegram and the RxPDO channels.

Monitoring SYNC / RxPDO‘s

Parameter Setting

No. Description Min. Max. Fact. sett.

Attention! There is only monitoring for the SYNC telegram if at least one RxPDO or

one TxPDO channel is defined as SYNC controlled.

If a timeout period is exceeded, the frequency inverter switches to failure mode and
reports one of the faults:

F2200 System bus Timeout SYNC

F2201 System bus Timeout RxPDO1
F2202 System bus Timeout RxPDO2
F2203 System bus Timeout RxPDO3

06/0532

4.11.4 Communication relationships of the process data
channel

Regardless of the process data to be transmitted, the communication relationships of

This process is documented in a tabular form via a communication relationship list.

PDO Identifier PDO Identifier PDO Identifier

RxPDO1 RxPDO1 385 RxPDO1 385

RxPDO2 RxPDO2 641 RxPDO2
TxPDO3 TxPDO3 TxPDO3
RxPDO3 RxPDO3 642 RxPDO3

the process data channels must be defined. The connection of PDO channels is done via
the assignment of the identifiers. The identifiers of Rx-/Tx-PDO must match in each
case.

There are two principal possibilities:

- one Rx-PDO to one Tx-PDO (one to one)

- connect several Rx-PDO’s to one TxPDO (one to many)

Example:

Frequency inverter 1 Frequency inverter 2 Frequency inverter 3

TxPDO1 385 TxPDO1 TxPDO1

TxPDO2 641 TxPDO2 TxPDO2 642

Attention! All the TxPDO’s used must have different identifiers !

The Identifier must be unique in the system bus network.

Frequency inverter 1

Frequency inverter 2

Frequency inverter 3

PDO1

PDO2

Rx

Tx

Rx

385

06/05 33

Tx

641

PDO3

Rx

Tx

PDO1

Rx

Tx

Rx Tx

385 641

PDO2

PDO3

Rx Tx

PDO1

Rx

385642

PDO2
Rx Tx

PDO3

Rx Tx

Tx

642

4.11.5 Virtual links

A PDO telegram according to CANopen contains 0 ...8 data bytes. A mapping for any

For the system bus, the PDO telegrams are firmly defined with 8 data bytes. The map-

Each function provides its output data via a source. These sources are defined via

kind of objects can be done in these data bytes.

ping is not done via mapping parameters as with CANopen, but via the method of
sources and links.

source numbers. The input data of functions are defined via parameters. The link of a
data input to a data output is done via the assignment of parameters to source num­bers.

Example 1:

Function A

Source no. 27

Function C

Parameter 125

Function B

Parameter 187

Source no. 5

In example 1, the two inputs of function C are connected to the outputs of functions A

Parameter 125 = Source-No. 27
Parameter 187 = Source-No. 5

The assignment of the operation modes to the software functions available can be

and B. The parameterization for this connection is thus:

Function C

Example of a virtual link in VPlus:

Parameter

(Softwarefunction)

e.g.

Start-clockwise

adapted to the application in question.

068

Source-No.

(Operation mode)

e.g. 71-S2IND

Digital input

06/0534

For the system bus, the input data of the TxPDO’s are also displayed as input parame-

ters and the output data of the RxPDO’s as sources.

Example 2:

Function A
Inverter 1

TxPDO
Inverter 1

Source-No. 27

Parameter 977

system bus
Function B
Inverter 1

Source-No. 5

RxPDO
Inverter 2

Source-No. 727

Parameter 972

Function C
Inverter 2

Parameter 125

system bus

Source-No. 724

Parameter 187

Example 2 displays the same situation as Example 1. But now, the functions A and B

are in frequency inverter 1 and function C in frequency inverter 2. The connection is
done via a TxPDO in frequency inverter 1 and a RxPDO in frequency inverter 2. Thus,
the parameterization for this connection is:

Frequency inverter 1

Parameter 977 = Source-No. 27
Parameter 972 = Source-No. 5

Frequency inverter 2

Parameter 125 = Source-No. 727
Parameter 187 = Source-No. 724

As the links used with the system bus exceed the device limits, they are termed "vir-

tual links".

06/05 35

The virtual links with the possible sources are related to the Rx/TxPDO channels. For
this purpose, the eight bytes of the Rx-/TxPDO’s are defined structured as inputs and
sources. This exists for each of the three PDO channels.

Each transmit PDO and receive PDO can be occupied as follows:

4 Boolean variables

4 uint/int variables

a mixture paying attention to the eight bytes available

Assignment data type / number of bytes:

Assignment

Data type Length

Boolean 2 Bytes
uint/int 2 Bytes
long 4 Bytes

or

or

2 long variables

or

06/0536

4.11.5.1 Input parameters of the TxPDO’s for data to be
transmitted

The listed parameters can be used to stipulate the data that are to be transported
there for each position in the TxPDO telegrams. The setting is done in such a way that
a source number is entered for the required data in the parameters.

TxPDO1

Byte

0 0 0

1

2 2 2

3
4 4 4
5
6 6 6
7

P. No.

Boolean

input

946

Boolean1

947

Boolean2

948

Boolean3

949

Boolean4

TxPDO1

Byte

1

3

5

7

P. No.

uint/int

input

950

Word1

951

Word2

952

Word3

953

Word4

TxPDO1

Byte

1

3

5

7

P. No.

long input

954

Long1

955

Long2

TxPDO2

Byte

0 0 0

1
2 2 2

3
4 4 4
5
6 6 6
7

TxPDO3

Byte

0 0 0

1
2 2 2

3
4 4 4
5
6 6 6
7

Note: Depending on the selected data information the uint/int inputs are

P. No.

Boolean

input

956

Boolean1

957

Boolean2

958

Boolean3

959

Boolean4

P. No.

Boolean

input

966

Boolean1

967

Boolean2

968

Boolean3

969

Boolean4

mapped to percentage values.

TxPDO2

Byte

1

3

5

7

TxPDO3

Byte

1

3

5

7

P. No.

uint/int

input

960

Word1

961

Word2

962

Word3

963

Word4

P. No.

uint/int

input

972

Word1

973

Word2

974

Word3

975

Word4

TxPDO2

Byte

1

3

5

7

TxPDO3

Byte

1

3

5

7

P. No.

long input

964

Long1

965

Long2

P. No.

long input

976

Long1

977

Long2

06/05 37

With this method, there are up to three possibilities for a meaning of the contents of

the individual bytes. Each byte may only be used for one possibility.

To ensure this, the processing of the input links is derived from the setting.

If an input link has been set to the fixed value of zero, it is not processed.

The settings for the fixed value zero are:

Source = 7 (FALSE) for Boolean variables
Source = 9 (0) for uint, int, long variables

This is the factory setting.

Examples Boolean source

Boolean source

Source Data

6 TRUE
7 FALSE
70 Contact input 1
71 Contact input 2
72 Contact input 3
161 Running message
163 Nominal figure reached
164 Set frequency reached (P. 510)

Examples uint/int source

unit/int source

Source Data

9 0
63 Reference percentage 1
64 Reference percentage 2
52 Percentage MFI1
133 Output percentage ramp
137 Output reference percentage

channel
138 Output actual percentage channel
740 Control word
741 State word

Examples long source

long source

Source Data

9 0
0 Output frequency ramp
1 Fixed frequency 1
5 Reference line value
62 Output frequency reference value

channel
50 Reference frequency MFI1

06/0538

4.11.5.2 Source numbers of the RxPDO’s for received data

Equivalent to the input links of the TxPDO’s, the received data of the RxPDO’s are

mapped to sources or source numbers. The sources existing in this way can be used in
the frequency inverter via the local input links for the data targets.

RxPDO1

Byte

0 0 0

2 2 2

4 4 4
5
6 6 6
7

RxPDO2

Byte

0 0 0

2 2 2

4 4 4
5
6 6 6
7

RxPDO3

Byte

0 0 0

2 2 2

4 4 4
5
6 6 6
7

With this method, there are up to three possibilities for a meaning of the contents of

the individual bytes. Each byte may only be used for one possibility.

Note: Depending on the selected data information the uint/int inputs are

Source No.

Boolean

value

700

1

3

1

3

1

3

Boolean1

701

Boolean2

702

Boolean3

703

Boolean4

Source No.

Boolean

value

710

Boolean1

711

Boolean2

712

Boolean3

713

Boolean4

Source No.

Boolean

value

720

Boolean1

721

Boolean2

722

Boolean3

723

Boolean4

mapped to percentage values.

RxPDO1

Byte

1

3

5

7

RxPDO2

Byte

1

3

5

7

RxPDO3

Byte

1

3

5

7

Source No.

uint/int

value

704

Word1

705

Word2

706

Word3

707

Word4

Source No.

uint/int

value

714

Word1

715

Word2

716

Word3

717

Word4

Source No.

uint/int

value

724

Word1

725

Word2

726

Word3

727

Word4

RxPDO1

Byte

1

3

5

7

RxPDO2

Byte

1

3

5

7

RxPDO3

Byte

1

3

5

7

Source No.

long-

Value

708

Long1

709

Long2

Source No.

long

value

718

Long1

719

Long2

Source No.

long

value

728

Long1

729

Long2

06/05 39

4.11.5.3 Examples of virtual links

Example 1:

Frequency inverter 1 Frequency inverter 2

Source

- No.

740

2 2
3 3

Output ref­erence fre-

quency

channel 62

Parameter 950 = Source-No. 740 Parameter 99 = Source-No. 704
Parameter 955 = Source-No. 62 Parameter 137 = Source-No. 709

The control word of frequency inverter 1 is linked with the control word of frequency
inverter 2. In this way, both frequency inverters can be operated synchronously via
the remote control. The output of the reference value channel of frequency inverter 1
is laid onto the output of the ramp of frequency inverter 2. In this way, both frequency
inverters have a
internal notation.

As an extension, a number of frequency inverters can also exist on the receiving side

(Rx), which are supplied simultaneously with data parallel.

The input links not used in the TxPDO1 of frequency inverter 1 are set to ZERO and is
thus not be served.

Example 2:

Example of a virtual link with transmission via the system bus:

Input link TxPDO1

Byte

950

0 0Control word
1 1

955

4 4
5 5
6 6

RxPDO1

Byte

Source

Target

- No.

704 Control input,

Control word

99

709 Ramp input,

Line set value

137

7 7

joint source of reference values and are given reference values in the

system bus

TxPDO1 Identifier

925

Parameter

TxPDO1 Boolean1

946

Parameter

RxPDO1 Identifier

924

Parameter

Start-clockwi se

068

Parameter

385

Inverter 1

Identifier

71-S2IND

Source-No.

385

Inverter 2

Identifier

700-RxPDO1 Boolean

Source-No.

06/0540

4.12 Control parameters

For the monitoring of the system bus and the display of the internal states, two con-

After Bus-OFF, the system bus in the frequency inverter is completely reinitialized.

978 Node-State 1 - Pre-Operational

979 CAN-State 1 - OKAY

trol parameters are provided. There is a report of the system bus state and a report of
the CAN state via two actual value parameters.

The parameter
erational, Stopped state. A PDO transfer is only possible in the Operational state. The
state is controlled by the system bus master (PLC / PC / frequency inverter) via NMT
telegrams.

The parameter
layer. If there are transmission errors, the state changes from OKAY to WARNING
until the cancellation of the communication with BUS-OFF. After BUS-OFF, the CAN
controller is automatically re-initialized and the system bus started again.

Note: If the BUS-OFF state occurs, the frequency inverter enters fault state with

There is a new boot-up message from the node and an emergency telegram with the
Bus-OFF message is transmitted. The change of state of the node to Operational is
done by the Start-Remote-Node telegram cyclically sent by the system bus master.

No. Description Display

Node-State 978 provides information about the Pre-Operational, Op-

CAN-State 979 provides information about the state of the physical

"F2210 BUS-OFF".

Actual values of the system bus

2 - Operational
3 - Stopped

2 - WARNING
3 - BUS-OFF

06/05 41

4.13 Handling of the parameters of the system bus

As soon as the system bus expansion module EM-SYS exists in a frequency inverter,

All the setting parameters for the configuration of the system bus are not directly ac-

The method of working via an XPI file has its reasoning in the fact that deep interven-

Experienced users have complete access to all the existing sources and possible input

the actual value parameters for system state and bus state are activated and can be
monitored in the actual value menu VAL of the control unit KP500 or with the VPlus
PC program in the menu Actual values \ Systembus.

Note: The actual value parameters are on control level 3 and are thus available

for the user at any time.

cessible for the user. For defined customer applications, pre-defined XPI files can be
generated by VECTRON for the VPlus PC program, with which the necessary parame­ters are visible for the user. The application-relevant variables are then available in
these XPI files.

Note: XPI files can be read in addition to the loaded parameter information of

the frequency inverter into the VPlus PC program.
In the menu of the software under the point Edit you find the command
"Read in XPI file".

tions in the system are possible via the system bus and can lead to serious problems
in the application with an untrained user. Via the XPI files, a user is

given a selection

list pre-defined by VECTRON.

Attention! The configuration of the necessary parameters for the system bus are

accessible by a XPI file with the help of the VPlus PC program.
The control unit KP500 does not support this functionality.
If the expansion module system bus EM-SYS is installed additionally to a
communication module for the field bus connection (CM-232, CM-485 o
CM-PDP) in the frequency inverter, the parameterization can be made
with the interface adapter KP232.

links with the XPI file of the active functions. The selection depends on the selected
configuration and control procedure.

r

The display of the parameters when using the XPI file is according to the following
structure:

System bus

903Baud-Rate

919SYNC-Time

922TxSDO1-Identifier

925TxPDO1-Identifier
926RxPDO2-Identifier
927TxPDO2-Identifier
928RxPDO3-Identifier
929TxPDO3-Identifier

Basic Settings 900Node-ID

Master Functions 904Boot-Up Delay

SYNC-Identifier 918SYNC-Identifier

SDO1-Identifier 921RxSDO1-Identifier

SDO2 Set Active 923SDO2 Set Active

PDO-Identifier 924RxPDO1-Identifier

06/0542

931TxPDO1 Time
932TxPDO2 Function
933TxPDO2 Tome
934TxPDO3 Function
935TxPDO3 Time

937RxPDO2 Function
938RxPDO3 Function

941RxPDO1 Timeout
942RxPDO2 Timeout
945RxPDO3 Timeout

947TxPDO1 Boolean2
948TxPDO1 Boolean3
949TxPDO1 Boolean4
950TxPDO1 Word1
951TxPDO1 Word2
952TxPDO1 Word3
953TxPDO1 Word4
954TxPDO1 Long1
955TxPDO1 Long2

957TxPDO2 Boolean2
958TxPDO2 Boolean3
959TxPDO2 Boolean4
960TxPDO2 Word1
961TxPDO2 Word2
962TxPDO2 Word3
963TxPDO2 Word4
964TxPDO2 Long1
965TxPDO2 Long2

967TxPDO3 Boolean2
968TxPDO3 Boolean3
969TxPDO3 Boolean4
972TxPDO3 Word1
973TxPDO3 Word2
974TxPDO3 Word3
975TxPDO3 Word4
976TxPDO3 Long1
977TxPDO3 Long2

Actual values

979CAN-State

TxPDO-Function 930TxPDO1 Function

RxPDO-Function 936RxPDO1 Function

Timeout 939SYNC Timeout

TxPDO1 Objects 946TxPDO1 Boolean1

TxPDO2 Objects 956TxPDO2 Boolean1

TxPDO3 Objects 966TxPDO3 Boolean1

System bus 978Node-State

06/05 43

4.14 Utilities

For the planning of the system bus according to the drive tasks in question, there are

1. Definition of the communication relationships

The priority assignment of the identifiers is relevant for the definition of the communi-

utilities in the form of tables.

The planning of the system bus is done in three steps:

2. Production of the virtual links

3. Capacity planning of the system bus

cation relationships. Data that are to be transmitted with a higher priority must be
given low identifiers. This results in the message with the higher priority being trans­mitted first with a simultaneous access of two nodes to the bus.

Note: The recommended identifier range for the communication relationships via

the PDO channels is 385 ...1407.

The identifiers below 385 are used for the NMT telegrams (boot-up se-

quence, SYNC telegram) and emergency message.

The identifiers above 1407 are used for the SDO channel for parameteri-

zation.

06/0544

4.14.1 Definition of the communication relationships

The communication relationships are planned and documented with the help of the
table. The table is available as a Microsoft Word document "kbl.doc" on the
BONFIGLIOLI VECTRON product CD or upon request.

________

________

________

________

________

Node-ID:

________

Node-ID:

________

Node-ID:

________

PDO Identifier

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO3

RxPDO3

PDO Identifier

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO3

RxPDO3

PDO Identifier

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO3

RxPDO3

PDO Identifier

Node-ID:

________

Inverter: Inverter: Inverter:Inverter:Inverter:

06/05 45

________

Node-ID:

PDO Identifier

TxPDO1

RxPDO1

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO2

RxPDO2

TxPDO3

RxPDO3

TxPDO3

RxPDO3

4.14.2 Creating virtual links

The virtual links are planned and documented with the help of the table. The table is
available as a Microsoft Word document "vvk.doc" on the BONFIGLIOLI VECTRON
product CD or upon request.

No.

Source-

________

: ___________________________

Inverter

Node-ID: ________

Identifier: ___________

: ____________________ _______

Inverter

Node-ID: ________

Boolean u int/int long

Input Link/Parameter-No.

RxPDO-No.:

(Tx/RxPDO)

________

Boolean uint/int long

Input Link/Parameter-No.

No.

TxPDO-No.:

Source-

06/0546

4.14.3 Capacity planning of the system bus

Each PDO telegram contains 8 Bytes of usable data. According to the worst case, this

1000 140
500 280
250 560
125 1120
100 1400
50 2800

As a function of the set baud rate and the transmission interval of the TxPDO’s se-

Bus load as a function of the transmission for one TxPDO in %

1.000 14 7 4.7 3.5 2.8 2.3 2 1.8 1.6 1.4
500 28 14 9.3 7 5.6 4.7 4 3.5 3.1 2.8
250 56 28 18.7 14 11.2 9.3 8 7 6.2 5.6
125 112 56 37.3 28 22.4 18.7 16 14 12.4 11.2
100 140 70 46.7 35 28 23.3 20 17.5 15.6 14
50 280 140 93.3 70 56 46.7 40 35 31.1 28

results in a maximum telegram length of 140 bits. The maximum telegram run time of
the PDO’s is thus stipulated via the set baud rate.

Baud rate /

lected, the following bus loads results:

Baud rate /

kBaud

Attention! A bus load >100% means that a telegram cannot be dispatched com-

This calculation must be done for each TxPDO. The sum of all the TxPDO’s decides on
the entire bus load. The bus load must be designed in such a way that any telegram
repetitions for transmission errors are possible without exceeding the bus capacity.

Note: To facilitate capacity planning, an Microsoft Excel file with the name

1ms 2ms 3ms 4ms 5ms 6ms 7ms 8ms 9ms 10ms

pletely between two transmission times.

"Load_Systembus.xls” is available.

Capacity planning

Telegram run time / μ

kBaud

Capacity of the system bus

Such a setting is not permitted!

s

06/05 47

The capacity planning are planned and documented with the help of the table. The

work sheet is available as a Microsoft Excel document "Load_Systembus.xls" on the
BONFIGLIOLI VECTRON product CD or by request.

Frequency

1 0 0
2 0 0

1 0 0
2 0 0

1 0 0
2 0 0

1 0 0
2 0 0

1 0 0
2 0 0

1 0 0
2 0 0

1 0 0
2 0 0

1 1 14
2 1 14

1 1 14
2 1 14

1 0 0
2 0 0

Baud rate [kBaud]:

50, 100, 125, 250, 500, 1000

inverter

1

2

3

4

5

6

7

8

9

10

TxPDO

Number

3 0 0

3 0 0

3 0 0

3 0 0

3 0 0

3 0 0

3 0 0

3 1 14

3 0 0

3 0 0

Ta

[ms]

1000

Workload

[%]

Total workload [%] 70

System bus load

In the table, the set baud rate is entered from the parameter
kBaud. For each frequency inverter, the set time for the transmission interval (e.

Baud-Rate 903 in

TxPDO1 Time 931) in ms is entered for the TxPDO being used at the time. In the

column Load the bus load caused by the individual TxPDO appears, under
Load the entire bus load.

For the bus load (Total load) the following limits have been defined:

OKAY

80 %

≤

80 ... 90 %
> 90 %

Î
Î

CRITICAL

Î NOT POSSIBLE

Total

g.

06/0548

5 Control inputs and outputs

X

5.1 Speed sensor input EM-ENC

The four speed sensor inputs of the EM-ENC-03 expansion module can be set via the

0 - Off Speed measurement not active

Unlike the standard sockets available according to specification RS-422A / RS-485, the

parameter
operation mode for the evaluation of a unipolar 24V two-channel speed sensor (incre­mental speed sensor).

4 - Quadruple evaluation

104 -

interface is suitable for a 5 V push-pull signal.

Operation mode Speed sensor 2 493 and selection of the corresponding

Operation mode Function

Two-channel speed sensor with recognition of direction
of rotation via track signals A and B;
four signal edges are evaluated per division mark.

Quadruple evaluation
inverted

As operation mode 4; the actual speed value is in­verted.
(Alternative to exchanging the track signals).

5.1.1 Termination resistor

The termination resistor of 150 Ω for the speed sensor of the EM-ENC-03 speed sensor
is deactivated by default.

Caution! The termination resistor may only be activated for a 5 V push-pull signal

according to specification RS-422A / RS-485.
For activating the termination resistor, both slide switches S3 must be
set to “ON” position. Setting both slide switches to different positions ma
destroy components.
If an unipolar speed sensor is used, e.
resistor is required.

g. with a 24V signal, no termination

y

S1

S2

S3

Operation mode of switches S3 Function

OFF - no termination resistor OFF (to the right)
ON - termination resistor ON (to the left)

Note: With the two switches S1 and S2, the bus connection of the system bus

interface is configured (refer to chapter "System Bus Interface").

06/05 49

X410A

410B

assignment of the inputs:

Socket X410A

Terminal input

(1): X410A.1 Speed sensor input EM-ENC track A+
(2): X410A.2 Speed sensor input EM-ENC track A­ (3): X410A.3 Speed sensor input EM-ENC track B+
(4): X410A.4 Speed sensor input EM-ENC track B-

1

X410A

2

3

4

X410B

5.1.2 Division marks

The number of increments of the connected speed sensor can be parameterized via
the parameter
the speed sensor is to be selected according to the speed range of the application.
The maximum number of division marks S
300 kHz of the speed sensor inputs EM-ENC (track A) and EM-ENC (track B).

max

To ensure a good true running of the drive mechanism, a sensor signal must be

evaluated at least every 2 ms (signal frequency f = 500 Hz). The minimum number of
division marks S
can be calculated from this requirement. The evaluation of four signal edges per mark
is firmly defined in the function of speed sensor 2.

min

No. Description Min. Max. Fact. Sett.

494 Division marks speed sensor 2 1 8192 1024

Division marks speed sensor 2 494. The number of division marks of

is defined by the limit frequency of f

max

s/min60

Hz000300S ⋅=

n

max

of the incremental speed sensor for a required minimum speed n

min

s/min60

Hz500S

⋅=

nA

⋅

min

Parameter Setting

= Max. speed of the motor in RPM

n

max

n

=

Min. speed of the motor in RPM

min

A =

4 (quadruple evaluation)

max

=

min

5.1.3 Level

Via the parameter
selected:

Operation mode Function

0 - push-pull

2 - unipolar

Operation mode Level 495, the following operation modes can be

Push-pull signals (5 V) are evaluated
(according to specification RS-422A/RS-485).
Unipolar signals (10 V…24 V) at A+ and B+ are evalu­ated.

06/0550

5.1.4 Actual speed source

N

d

If speed sensor 2 of the expansion module is to deliver the actual value signal for the

speed controller, speed sensor 2 must be selected as the source. Switch-over is ef­fected via parameter
the actual speed source.

Operation mode Function

1 - Speed sensor 1

2 - Speed sensor 2

Actual Speed Source 766. By default, speed sensor 1 is used as

The actual speed source is speed sensor 1 of the
basic device (factory setting).
The actual speed source is speed sensor 2 of the
EM-ENC-03 expansion module.

5.1.5 Actual value comparison

The expansion module provides two additional operation modes for parameters Op-

eration Mode Comparator 1

described in the operatin
speed sensor 2 to the maximum speed.

Operation mode Function

540 and Operation Mode Comparator 2 543 which are

g instructions. These enable a comparison of the speed of

Speed Sensor 2 Speed 220 > maximum speed

8 - Abs. Actual speed 2

(calculated from

Maximum Frequency 419 and

o. of Pole Pairs 373)

108 Operation mode 8 with sign (+/-)

5.2 Frequency and percentage reference channel

The varied functions for the specification of the reference values are connected in the

134 and 135 Operation modes with signs (+/-)

Alongside the operation modes listed, those stated in the operating instructions of the

various configurations by the frequency or percentage reference channel. The

ence frequency source

additive connection of the available reference sources as a function of the installed
hardware.

Operation mode Function

speed sensor 2 (F2), abso-

34 -

lute value

35 - MFI1A + F2, absolute value

frequency inverter in the chapter "Frequency reference channel“, and in the chapter
"Percentage reference channel“ also apply.

475, and the Reference percentage source 476 determine the

The frequency signals in

sensor 2

493 are evaluated as a reference value.
Reference sources are the multifunctional input
MFI1A, and the frequency signals in

Mode Speed Sensor 2

Operation mode Speed

493.

Refer-

Operation

5.3 Actual value display

The actual value of speed sensor 2 can be read via the parameters

sensor 2 219 and Speed, speed sensor 2 220.

06/05 51

Frequencyspee

6 Parameter list

The parameter list is structured according to the menu branches of the control unit.
For better clarity, the parameters are marked with pictograms:

The parameter is available in the four data sets.

The parameter value is set by the SETUP routine.

This parameter cannot be written in the operation of the frequency inverter.

6.1 Actual value menu (VAL)

219 Frequency speed sensor 2 Hz 0.0 ... 999.99 5.3

No. Description Unit Display range Chapter

220 Speed, speed sensor 2 rpm 0 ... 60000 5.3

978 Node-State - 1 ... 3 4.12
979 CAN-State - 1 ... 3 4.12

Actual values of the machine

Actual values of the system bus

6.2 Parameter menu (PARA)

No. Description Unit Setting range Chapter

493 Operation mode speed sensor 2 - Selection 5.1
494 Division marks speed sensor 2 - 1 ... 8192 5.1.2

495 Level - Selection 5.1.3

766 Actual speed source - Selection 5.1.4

900 Node-ID - -1... 63 4.5
903 Baud-Rate - Selection 4.4
904 Boot-Up Delay ms 3500 ... 50000 4.8.4
918 SYNC-Identifier - 0 ... 2047 4.8.2
919 SYNC-Time ms 0 ... 50000 4.9.2
921 RxSDO1-Identifier - 0 ... 2047 4.9.4
922 TxSDO1-Identifier - 0 ... 2047 4.9.4
923 SDO2 Set Active - Selection 4.9.4
924 RxPDO1-Identifier - 0 ... 2047 4.11.1
925 TxPDO1-Identifier - 0 ... 2047 4.11.1
926 RxPDO2-Identifier - 0 ... 2047 4.11.1
927 TxPDO2-Identifier - 0 ... 2047 4.11.1
928 RxPDO3-Identifier - 0 ... 2047 4.11.1
929 TxPDO3-Identifier - 0 ... 2047 4.11.1
930 TxPDO1 Function - Selection 4.11.2
931 TxPDO1 Time ms 0 ... 50000 4.11.2
932 TxPDO2 Function - Selection 4.11.2
933 TxPDO2 Time ms 0 ... 50000 4.11.2
934 TxPDO3 Function - Selection 4.11.2
935 TxPDO3 Time ms 0 ... 50000 4.11.2
936 RxPDO1 Function - Selection 4.11.2
937 RxPDO2 Function - Selection 4.11.2

Speed sensor 2 EM-ENC

Speed controller

System bus

06/0552

System bus

No. Description Unit Setting range Chapter

938 RxPDO3 Function - Selection 4.11.2
939 SYNC Timeout ms 0 ... 60000 4.11.3
941 RxPDO1 Timeout ms 0 ... 60000 4.11.3
942 RxPDO2 Timeout ms 0 ... 60000 4.11.3
945 RxPDO3 Timeout ms 0 ... 60000 4.11.3
946 TxPDO1 Boolean1 - Selection 4.11.5.1
947 TxPDO1 Boolean2 - Selection 4.11.5.1
948 TxPDO1 Boolean3 - Selection 4.11.5.1
949 TxPDO1 Boolean4 - Selection 4.11.5.1
950 TxPDO1 Word1 - Selection 4.11.5.1
951 TxPDO1 Word2 - Selection 4.11.5.1
952 TxPDO1 Word3 - Selection 4.11.5.1
953 TxPDO1 Word4 - Selection 4.11.5.1
954 TxPDO1 Long1 - Selection 4.11.5.1
955 TxPDO1 Long2 - Selection 4.11.5.1
956 TxPDO2 Boolean1 - Selection 4.11.5.1
957 TxPDO2 Boolean2 - Selection 4.11.5.1
958 TxPDO2 Boolean3 - Selection 4.11.5.1
959 TxPDO2 Boolean4 - Selection 4.11.5.1
960 TxPDO2 Word1 - Selection 4.11.5.1
961 TxPDO2 Word2 - Selection 4.11.5.1
962 TxPDO2 Word3 - Selection 4.11.5.1
963 TxPDO2 Word4 - Selection 4.11.5.1
964 TxPDO2 Long1 - Selection 4.11.5.1
965 TxPDO2 Long2 - Selection 4.11.5.1
966 TxPDO3 Boolean1 - Selection 4.11.5.1
967 TxPDO3 Boolean2 - Selection 4.11.5.1
968 TxPDO3 Boolean3 - Selection 4.11.5.1
969 TxPDO3 Boolean4 - Selection 4.11.5.1
972 TxPDO3 Word1 - Selection 4.11.5.1
973 TxPDO3 Word2 - Selection 4.11.5.1
974 TxPDO3 Word3 - Selection 4.11.5.1
975 TxPDO3 Word4 - Selection 4.11.5.1
976 TxPDO3 Long1 - Selection 4.11.5.1
977 TxPDO3 Long2 - Selection 4.11.5.1
989 Emergency Reaction - Selection 4.8.3

06/05 53

7 Annex

g

7.1 Error messages

The various control functions and methods and the hardware of the frequency inverter

02 Reference value signal on analog input EM-S1INA faulty, check signal

30 Speed sensor signal is faulty, check connections
31 One track of the speed sensor signal is missing, check connections

F21 nn Fault report to system bus master in fault in system bus slave

00 Communication fault, system bus, timeout SYNC telegram
01 Communication fault, system bus, timeout RxPDO1
02 Communication fault, system bus, timeout RxPDO2
03 Communication fault, system bus, timeout RxPDO3

Additional to the listed fault messages, there are further fault messages for internal

contain functions which continuously monitor the application. As a supplement to the
messages documented in these operating instructions, the followin
activated by the EM-ENC-03 expansion module.

Control connections

F14

32 Direction of rotation of speed sensor wrong, check connections

System bus

nn = Node ID of slave (hex)

System bus

F22

10 Communication fault, system bus, bus OFF

purposes and not listed here. If you receive fault messages which are not listed here,
please contact us by phone.

failure keys are

06/0554

Bonfiglioli has been designing and developing innovative
and reliable power transmission and control solutions
for industry, mobile machinery and renewable energy
applications since 1956.

www.bonfiglioli.com

Bonfiglioli Riduttori S.p.A.

Via Giovanni XXIII, 7/A
40012 Lippo di Calderara di Reno
Bologna, Italy

tel: [phone]
fax: [phone]
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