BONFIGLIOLI Vectron User Manual

ACTIVE CUBE

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

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General points on the documentation

The present supplement of the documentation is valid for the frequency inverter se­ries ACU 201 and ACU 401. The information necessary for the assembly and applica­tion of the EM-RES-03 expansion module is documented in this guidance.

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

specific demands made of the frequency inverter.

Brief instructions
The brief instructions describe the fundamental steps for mechanical and electrical

installation of the frequency inverter. The

uided commissioning supports you in the
selection of necessary parameters and the software configuration of the frequency
inverter.

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

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

Application manual
The application manual supplements the documentation for purposeful installation and

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

The installation instructions describe the mechanical installation and use of devices
which differ from those described in the brief instructions and the operating instruc­tions.

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

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.

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 commissionin

, comply with the information in the
documentation. You as a qualified person must have read the documenta­tion carefully and understood it. Comply with the safety instructions. Fo
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 corresponding to
the activity.

EM-RES-03 110/07

TABLE OF CONTENTS

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

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

1.2 Proper use................................................................................................................ 5

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

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

1.5 Electrical connection................................................................................................ 6

1.6 Operation information ............................................................................................. 6

1.7 Maintenance and service ......................................................................................... 6

2 Introduction ................................................................................................................... 7

3 Technical data of the expansion module EM-RES-03 .................................................... 8

4 Installation of the EM-RES-03 expansion module ......................................................... 9

4.1 General .................................................................................................................... 9

4.2 Mechanical installation ............................................................................................ 9

4.3 Electrical installation ............................................................................................. 11

4.3.1 Circuit diagram...................................................................................................... 11

4.3.2 Control terminals ................................................................................................... 12

5 System bus interface.................................................................................................... 14

5.1 Bus termination ..................................................................................................... 14

5.2 Cables .................................................................................................................... 15

5.3 Socket X410B......................................................................................................... 15

5.4 Baud rate setting/line length ................................................................................ 16

5.5 Setting node address ............................................................................................. 16

5.6 Functional overview .............................................................................................. 17

5.7 Network management ........................................................................................... 17

5.7.1 SDO channels (parameter data).............................................................................. 18

5.7.2 PDO channels (process data).................................................................................. 18

5.8 Master functionality............................................................................................... 19

5.8.1 Control boot-up sequence, network management..................................................... 19

5.8.2 SYNC telegram, generation..................................................................................... 21

5.8.3 Emergency message, reaction................................................................................. 22

5.8.4 Client SDO (system bus master).............................................................................. 23

5.9 Slave functionality ................................................................................................. 24

5.9.1 Implement boot-up sequence, network management................................................ 24

5.9.1.1 Boot-up message ............................................................................................ 24

5.9.1.2 Status control ................................................................................................. 24

5.9.2 Process SYNC telegram .......................................................................................... 25

5.9.3 Emergency message, fault switch-off....................................................................... 26

5.9.4 Server SDO1/SDO2................................................................................................ 27

5.10 Communication channels, SDO1/SDO2.............................................................. 29

5.10.1 SDO telegrams (SDO1/SDO2) .................................................................................29

5.10.2 Communication via field bus connection (SDO1)....................................................... 31

5.10.2.1 Profibus-DP .................................................................................................... 31

5.10.2.2 RS232/RS485 with VECTRON bus protocol ........................................................ 31

EM-RES-03 10/072

5.11 Process data channels, PDO ............................................................................... 33

5.11.1 Identifier assignment process data channel.............................................................. 33

5.11.2 Operation modes process data channel.................................................................... 34

5.11.3 Timeout monitoring process data channel................................................................ 35

5.11.4 Communication relationships of the process data channel ......................................... 36

5.11.5 Virtual links ........................................................................................................... 37

5.11.5.1 Input parameters of the TxPDO’s for data to be transmitted ............................... 40

5.11.5.2 Source numbers of the RxPDO’s for received data.............................................. 42

5.11.5.3 Examples of virtual links .................................................................................. 43

5.12 Control parameters............................................................................................. 44

5.13 Handling of the parameters of the system bus .................................................. 45

5.14 Ancillaries ........................................................................................................... 47

5.14.1 Definition of the communication relationships........................................................... 48

5.14.2 Production of the virtual links.................................................................................. 49

5.14.3 Capacity planning of the system bus........................................................................ 50

6 Control inputs and outputs .......................................................................................... 52

6.1 Analog input EM-S1INA ......................................................................................... 52

6.1.1 General................................................................................................................. 52

6.1.2 Characteristic ........................................................................................................ 52

6.1.3 Operation modes ................................................................................................... 53

6.1.3.1 Examples........................................................................................................ 53

6.1.4 Scaling..................................................................................................................56

6.1.5 Tolerance band and hysteresis................................................................................ 57

6.1.6 Error and warning behavior .................................................................................... 58

6.1.7 Adjustment ........................................................................................................... 59

6.1.8 Filter time constant................................................................................................ 59

6.2 Digital outputs EM-S1OUTD and EM-S2OUTD ....................................................... 60

6.2.1 General................................................................................................................. 60

6.2.2 Operation modes ................................................................................................... 60

6.2.3 Fixed reference values and fixed value switch-over................................................... 60

6.3 Digital inputs EM-SxIND ........................................................................................ 61

6.4 Resolver input EM-RES .......................................................................................... 62

6.4.1 Offset ...................................................................................................................62

6.4.2 Actual speed source............................................................................................... 65

6.4.3 Evaluation mode.................................................................................................... 65

6.5 Frequency and percentage reference channel ...................................................... 65

6.6 Actual value display ............................................................................................... 65

6.7 Status of the digital signals ................................................................................... 66

6.8 Motor temperature ................................................................................................ 67

7 Parameter list............................................................................................................... 68

7.1 Actual value menu (VAL) ....................................................................................... 68

7.2 Parameter menu (PARA) ....................................................................................... 68

8 Annex ........................................................................................................................... 70

8.1 Error messages ...................................................................................................... 70

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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 operating instructions
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.

he manufacturer reserves the right to correct or amend the contents and produc
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.

1.1 General information

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

in
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.

ginable case of

g instructions are

operating, depending on their protection class, drive moving parts and

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

g and operating of frequency inverters and the possible hazards

EM-RES-03 10/074

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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 stated on the ratin

g plate and the documentation must be complied
with. The instructions must have been read and understood before start­ing work at the device.

1.3 Transport and storage

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

units only in dry rooms, which are protected against dust and moisture and are sub-

ected to little temperature deviations only. Observe the climatic conditions accordin
to standard EN 50178 and to the information on the label of the original packing. The
duration of storage without connection to the admissible reference volta
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 accordin

and the standards. Handle carefully and avoid mechanical overload. Do not bend the
components or chan

e 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.

e directive

e may not

to the documentation, the directives

EM-RES-03 510/07

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1.5 Electrical connection

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

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

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

Do not touch the sockets, because the capacitors may still be charged.
Comply with the information

given in the operating instructions and on

the frequency inverter label.

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.

he 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.

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.

g. Working Machines Act, Accident Prevention Directives
etc.).
No connection work may be performed, while the system is in operation.

1.7 Maintenance and service

Warning! Unauthorized openin

ury or damage to property. Repairs on the frequency inverters may

in
only be done by the manufacturer or persons authorized by the latter.

and improper interventions can lead to physical

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EM-RES-03 10/076

2 Introduction

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

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

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

Note: The expansion module EM-RES-03 can be used only with frequency in-

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

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

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

ACU device series by the following additional functions:

− CAN system bus

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

− Analog input
(second bipolar analog input)

− Resolver input including PTC evaluation via SubD-9 connection

− Three digital inputs

is not to be understood as fundamental information for the operation o
the frequency inverters of the ACU device series.

verters of the ACU series. It is not applicable for frequency inverters o
the ACT series.

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− Two digital outputs

− Voltage output DC 24V

Note: The EM-RES-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".

To assemble the expansion module it can be simply plugged into the frequency in-

verter of the 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.

Note: The EM-RES-03 expansion module differs in the resolver evaluation from

the expansion modules EM-RES-01 and EM-RES-02. The frequency of the
excitation signal is set to the fixed value 8 Hz. This module is applicable
for BONFIGLIOLI motor types BCR and BTD.

EM-RES-03 710/07

3 Technical data of the expansion module EM-RES-03

For usage of the expansion module comply with the technical data of the basic de-

vice.

X410A.1 DC-24 V output

(max. 180 mA)
X410A.2 Ground 24 V X410B.2 Digital input EM-S1IND 2)
X410A.3 Digital output EM-S1OUTD 2) X410B.3 Digital input EM-S2IND 2)
X410A.4 Digital output EM-S2OUTD 2) X410B.4 Digital input EM-S3IND 2)
X410A.5 Not connected. X410B.5 System bus, CAN-Low
X410A.6 Analog input EM-S1INA 2) X410B.6 System bus, CAN-High
X410A.7 Ground 10 V X410B.7 Ground 10 V

1)

The power supply at terminal X410A.1 may be loaded with a maximum current of

= 180 mA. Relative to the application, the maximum current available will be

I

max

reduced by the further control outputs of the frequency inverter and expansion
module.

2)

The control electronics can be freely parameterized.

Resolver: PTC input 2)

Number of pole pairs: 1 … 7 Tripping resistance = 2.4 kΩ acc. DIN 44081
Input voltage 7 V
Input frequency 8 kHz
Input current <= 60 mA PTC thermistor respectively
U

= 0.5 bimetallic temperature sensor (normally closed

in/Uref

Warning! The PTC input is not insulated. Only PTC thermistors with safe insulation

Note: BONFIGLIOLI servomotors of types BCR and BTD are designed with safe

Digital inputs (X410B.2) … (X210B.4):
Low signal: 0 V … 3 V, High signal: 12 V … 30 V, Input resistance: 2.3 kΩ,
Response time: 4 ms, PLC compatible
Frequency signal: 0 ... 30 V, 10 mA at 24 V, fmax
Digital outputs (X410A.3), (X410A.4):
Low signal: 0 V … 3 V,
High signal: 12 V … 30 V, output current: 40 mA, PLC compatible
Analog input (X410A.6):
Analog signal: input voltage: -10 V … 10 V / 0 V … 10 V (R
Resolution 10 Bit
DC-24 V output (X410A.1):

= 180 mA. This value can be lower dependent on the load at the digital outputs

I

max

of the basic device and expansion module.
Conductor cross section:
Suitable cross sections of the control terminals are:
With wire end ferrule: 0.25…1.0 mm²
Without wire end ferrule: 0.14…1.5 mm²

Terminal X410A Terminal X410B

1)

X410B.1 Not connected.

Resolver- and PTC-input X412 (SubD-9)

RMS

Hysteresis = 1.3 kΩ

contact)

from the motor winding acc. to EN61800-5-1 may be connected.

insulation from the motor winding.

Technical data of the control terminals

= 150 kHz

= 100 kΩ),

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EM-RES-03 10/078

4 Installation of the EM-RES-03 expansion module

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

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

For further information, refer to the operating instructions of the frequency inverter.

4.1 General

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 durin
start of operation. For specific areas of application further provisions and guidelines
must be complied with where applicable.

of product standard EN 61800-3 with an interference immunity factor (EMI) for opera­tion in industrial applications. The electroma
expert installation and observation of the specific product information.

Warning! All connection sockets where dan

g installation and

gnetic interference is to be avoided by

erous voltage levels may be presen
(e.g. motor connection sockets, mains sockets, fuse connection sockets,
etc.) must be protected against direct contact.

4.2 Mechanical installation

Danger! If the followin

with possible consequences of death or severe injury by electrical current.
To disregard the instructions can lead to destruction of the frequency
inverter and/or of the expansion module.

• Before assembly or disassembly of the EM-RES-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 terminals can be live with dangerous

voltage after disconnection of the frequency inverter. Work may only be
done on the device after a waitin
link capacitors have been discharged.

instructions are not complied with, there is direct danger

g period of some minutes until the DC

EM-RES-03 910/07

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

• Remove the lower cover (1) of the frequency inverter.

slot of the frequency inverter.

The slot for the EM-RES-03 expansion module becomes accessible.

1

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

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

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

3

2

• Re-install the lower cover (1).

This completes the assembly procedure.

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

expansion module is ready for operation.

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4.3 Electrical installation

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

• Before electrical installation of the EM-RES-03 expansion module, the frequency
inverter must be de-ener
energized unintentionally.

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

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.

ized. Take appropriate measures to make sure it is no

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

even after disconnection of the frequency inverter. Work may only be
done on the device after a waitin
link capacitors have been discharged.

4.3.1 Circuit diagram

410A

1

+24 V / 180 mA
GND 24 V

2

EM-S1OUTD

3

A

EM-S2OUTD

4

N.C.

5

EM-S 1I NA

6

B

GND 10 V

7

period of some minutes until the DC

A

D

X410B

N.C.

1

EM-S1IND

2

C

D

E

Digital outputs EM-S1OUTD, EM-S2OUTD

A

Digital signal, DC-24 V, I

Analog input EM-S1INA

B

max

Analog signal, resolution 10 Bit, U

Digital inputs EM-S1IND … EM-S3IND

C

EM-S2IND

3

EM-S3IND

4

CAN-L ow

5

CAN-H igh

6

7

GND

X412

Resolver

PTC

= 40 mA, PLC compatible, overload and short-circuit proof

= ±10 V (Ri = 100 kΩ)

max

Digital signal, , response time approx. 16 ms, U

PLC compatible,
Frequency signal, 0 ... 30 V, 10 mA at 24 V, f

max

SYS

= 30 V, 10 mA at 24 V,

max

= 150 kHz

EM-RES-03 1110/07

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

Communication interface system bus

D

Resolver- and PTC thermistor input (SubD9)

E

he resolver interface is suitable for the connection of standard resolvers with the
following specifications:
Input impedance > 95 Ω at 8 kHz, number of pole pairs up to 7,
30 000 rpm at number of pole pairs = 1

Excitation voltage U
Input voltage U
Phase shift (at excitation frequency): 7° (5 kHz), 14° (10 kHz), 26° (20 kHz)

Tripping resistance > 2.4 kΩ (PTC) acc. DIN 44081,

min rms

= 3.5 V, I

REF rms

= 1.8 V, voltage proof up to 30 V

= 60 mA

max

PTC thermistor or bimetal temperature sensor (normally closed contact)

Use PTC thermistors with safe insulation from the motor winding acc. to
EN 61800 5-1.

4.3.2 Control terminals

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

tion with a safe function.

Expansion module EM-RES-03

Wieland DST85 / RM3,5

0.14 … 1.5 mm

2

AWG 30 … 16

0.14 … 1.5 mm

2

AWG 30 … 16

0.25 … 1.0 mm

2

AWG 22 … 18

0.25 … 0.75 mm

0.2 … 0.3 Nm

AWG 22 … 20

1.8 … 2.7 lb-in

2

Caution! The control inputs and outputs must be connected and disconnected free

of electrical power. Otherwise components may be damaged.

Attention! In order to minimize electromagnetic interference and to obtain a good

signal quality, the line screen is to be connected to PE on a plane at both
ends.

EM-RES-03 10/0712

Control terminal X410A

Ter. Description
1 DC-24 V output (max. 180 mA) 1)
2 Ground 24 V
3 Digital output EM-S1OUTD 2)
4 Digital output EM-S2OUTD 2)
5 Not connected
6 Analog input EM-S1INA 2)
7 Ground 10 V

Control terminal X410B
Ter. Description
1 Not connected
2 Digital input EM-S1IND 2)
3 Digital input EM-S2IND 2)
4 Digital input EM-S3IND 2)
5 System bus, CAN-Low
6 System bus, CAN-High
7 Ground

1)

The power supply at terminal X410A.1 may be loaded with a maximum current of

= 180 mA. Relative to the application, the maximum current available will be

I

max

reduced by the further control outputs of the frequency inverter and expansion
module.

2)

The control electronics is freely programmable.

Resolver- and PTC input (SubD-9)
Pin Designation Function
socket shielding Connected with PE
1 PE Protective earth conductor
2 PTC+ PTC thermistor connection

5

3 COS+ Cosinus track

9

4 SIN+ Sinus track
5 +UE Excitation voltage
6
7

PTC­COS-

PTC thermistor connection
Cosinus track

6

1

8 SIN- Sinus track
9

Note: If a synchronous motor should be connected to the resolver input which is

-UE

Excitation voltage

not from BONFIGLIOLI it can be necessary to change the sign of the sinus
track. This can be set via parameter

Evaluation Mode 492. Refer to chapter

6.4.3.

• Use PTC thermistors with safe insulation from the motor winding acc. to
EN 61800-5-1.

• Use shielded twisted pair.

• The resolver cable must be kept physically separate from the motor cable.

• Place the cable shield of the resolver cable on both sides with large area contact.

• BONFIGLIOLI VECTRON recommends ready-made cable for the connection of

synchronous motors of types BCR and BTD.

EM-RES-03 1310/07

5 System bus interface

)

D

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

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

The frequency inverter supports a CAN protocol controller, which may exist in either the

CM-CAN communication module with CANopen interface OR in an extension module for
the system bus, such as the EM-RES-03 extension module.

Attention: Installation of two optional components with CAN-Protocol controller

5.1 Bus termination

The necessary bus termination at the physically first and last node can be activated via

the DIP switch S1 on the EM-RES-03 expansion module.

− S1 built the normal passive termination.

•

Switch S1 to ON for a passive termination. This is necessary for the first and last
node.

results in a deactivation of the system bus interface in the EM-RES-03
extension module.

S1

Attention: The factory setting for the bus termination is OFF (switch in

lower position).

ata line

CAN high (X410B.6

120

Data line

CAN low (X410B.5)

passive

EM-RES-03 10/0714

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5.2 Cables

For the bus line, use twisted a 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.

The system bus is connected via three sockets of the plug X410B on the EM-RES-03

5.3 Socket X410B

expansion module.

X410A

410B

2

2

4

4

6

6

3

3

5

1

1

5

410B

7

7

Socket X410B
Socket Input/Output Description
X410B.1 Not connected
X410B.2 Digital input S1IND
X410B.3 Digital input S2IND

Chapter

„Control inputs and outputs“
X410B.4 Digital input S3IND
X410B.5 CAN-Low CAN-Low (System bus)
X410B.6 CAN-High CAN-High (System bus)
X410B.7 GND CAN-GND (System bus)

EM-RES-03 1510/07

5.4 Baud rate setting/line length

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

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

Baud-Rate 903 and thus defines

the possible line length.

Operation mode Function max. line length
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 defined according to CANopen, is not sensible for the

system bus as the data throughput is too low.

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

the admissible length is to be calculated on the basis of the line parameters and the
bus driver (PCA82C250T)

5.5 Setting node address

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

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

Node-ID 900.

Parameter Setting
No. Description Min. Max. Factory setting

900 Node-ID -1 63 -1

Thus, the system bus possesses a maximum number of 63 subscribers (Network

nodes), plus one frequency inverter as a master.

Note:

With the factory setting of parameter

Node-ID 900 = -1, the system bus

is deactivated for this frequency inverter.
If the

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

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

EM-RES-03 10/0716

The system bus produces the physical connection between the frequency inverters.

5.6 Functional overview

Logical communication channels are produced via this physical medium. These chan­nels are defined via the identifiers. As CAN does not possess a subscriber-oriented,
but a message-oriented addressing via the identifiers, the logical channels can be
displayed via it.

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

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 individual or a number of inverters (transverse movement), the setting
of the identifiers in the subscribers has to be adapted.

Note: The exchange of data is done message-oriented. An frequency inverter

can transmit and receive a number of messages, identified via various
identifiers.

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

ted by one subscriber can be received by a number of subscribers 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.

5.7 Network management

The network management controls the start of all the subscribers on the system bus.

Subscribers can be started or stopped individually or together. For subscriber recogni­tion in a CAL or CAN open 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 (emergency
message).

For the functions of the network management, the methods and NMT telegrams

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

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

EM-RES-03 1710/07

5.7.1 SDO channels (parameter data)

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

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 by the system bus an exchange of data via

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

defined Connection Set.
This assignment can be amended by parameterization, in order to solve identifier con­flicts in a larger system in which further devices are on the CAN bus alongside the
frequency inverters.

Attention: If a system in which an frequency inverter works as a master is pro-

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

Segment Protocol Expedited, which minimizes the requirements of the parameter 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 are displayed via these data types.

5.7.2 PDO channels (process data)

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

process data.

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

the Predefined Connection Set. This assignment corresponds to an alignment to a
central master control.
In order to produce the logical channels between the devices (transverse movement)
on the system bus, the amendment of the PDO identifiers for Rx/Tx is necessary.

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

tion behavior can be set for each PDO channel:

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

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

Operation mode Function
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 specifi-

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

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.

its client SDO.

duced, the identifier allocations for the SDO channel may not be altered.
In this way, an addressing of individual subscribers via the field
bus/system bus path of the master frequency inverter is possible.

cation
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.

EM-RES-03 10/0718

5.8 Master functionality

An external control or an 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 master
frequency inverter.

5.8.1 Control boot-up sequence, network management

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

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

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

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

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

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

Delay

904.

Parameter Setting
No. Description Min. Max. Factory setting
904 Boot-Up Delay 3500 ms 50000 ms 3500 ms

Properties of the states:

State Properties

Pre-Operational Parameterization via SDO channel possible

Operational Parameterization via SDO channel possible

Stopped Parameterization via SDO channel not possible

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

Boot-Up

Exchange of process data via PDO channel not possible

Exchange of process data via PDO channel possible

Exchange of process data via PDO channel not possible

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.

EM-RES-03 1910/07

Power on

(1)

Initialization

any state

Pre-Operational

(2)

(4)

(7)

(5)

Stopped

(3)

(6)

(8)

Operational

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

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.

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
CS (Command Specifier) Node-ID

Identifier = 0

With the statement of the node ID ≠ 0, the NMT command acts on the subscriber
selected via the node ID. If node ID = 0, all the subscribers are addressed. If Node­ID = 0, all 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

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

Boot-Up Delay 904 following it.

EM-RES-03 10/0720

5.8.2 SYNC telegram, generation

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

SYNC telegram cyclically. If an frequency inverter has been defined as a system bus
master, the latter must generate the SYNC telegram. The interval for the SYNC tele­gram of an 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.

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

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

Parameter Setting
No. Description Min. Max. Fact. sett.

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

Identifier

918.

918 SYNC-Identifier 0 2047 0

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

Set.

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

The temporal cycle for the SYNC is set on an frequency inverter defined as a system

bus master via the parameter

Note:

grams can be found there.

SYNC-Time 919.

A setting of 0 ms for the parameter
telegram”.

SYNC-

SYNC-Time 919 means "no SYNC

EM-RES-03 2110/07

5.8.3 Emergency message, reaction

If a slave on the system bus suffers a fault, it transmits the emergency telegram. 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).

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

gency telegram with the data content zero.

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

The system bus master evaluates the emergency telegrams of the slaves. Its reaction

to an emergency telegram can be set with

Operation mode Function
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

Behavior of the system bus master in

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

to failure mode and reports the failed subscriber on the basis of its ID via the kind of
error. Only the subscriber 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.

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

gency telegram is displayed on the system bus master.

Operation mode - parameter 989 = 1 – No Error

Behavior of system bus master in the case of
Error:

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

warning Sysbus (0x2000) via the parameter

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

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

Warnings 270 Bit 13.

ber 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 breaks down.
Resetting of SysbusEmergency is done with the fault acknowledgment.

EM-RES-03 10/0722

5.8.4 Client SDO (system bus master)

Each subscriber on the system bus can be addressed via the SDO channels. In this

way, each subscriber 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 can not be processed. If an frequency inverter has been defined as a
system bus master, each subscriber on the system bus in this frequency inverter can

Note: The second SDO channel SDO2 of the frequency inverters is planned for

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

be addressed by means of a field bus connection (RS232, RS485, Profibus-DP) via its
client SDO1.

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

Field bus

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

Inv.1 Inverter 2 Inverter 2

Field bus

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

EM-RES-03 2310/07

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

5.9 Slave functionality

5.9.1 Implement boot-up sequence, network management

5.9.1.1 Boot-up message

(heartbeat message).

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

with contents = 0x00.

This telegram is of importance if a PLC/PC with CANopen functionality is used as a

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

5.9.1.2 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
CS (Command Specifier) Node-ID

Identifier = 0

With the statement of the node ID ≠ 0, the NMT command acts on the subscriber se­lected via the node ID. If node ID = 0, all the subscribers are addressed. If Node-ID
= 0, all 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

Attention: The reset node and reset communication command specified according

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

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

channels and is ready for the exchange of process data.

EM-RES-03 10/0724

5.9.2 Process SYNC telegram

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

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.

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

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

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

grams can be found there.

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

Identifier

918.

SYNC-

Parameter Setting
No. Description Min. Max. Factory setting
918 SYNC-Identifier 0 2047 0

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

Set.

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

telegram. At the same time, the Tx-PDO’s with the currently available data from the
application are sent.

SYNC

SYNC

RxPDO's RxPDO'sTxPDO's TxPDO's

Zeit

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

synchronous / parallel take-over of the data.

EM-RES-03 2510/07

5.9.3 Emergency message, fault switch-off

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

telegram 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).

The emergency telegram has the identifier 128 + node ID.

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

data content (Byte 0 ...7) being set to "0" this time. This identifies the subscriber's
repeated readiness for operation. If a further fault occurs subsequently, it is transmit­ted in a new emergency telegram.

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

Data contents of the emergency telegram:

Emergency telegram
Byte Value Meaning
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.

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

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

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

found in the annex "Error messages".

EM-RES-03 10/0726

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

5.9.4 Server SDO1/SDO2

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

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

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 subscribers ad and the adjustable node ID are
limited to 63.

Identifier assignment according to the Predefined Connection Set:

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 assignment for SDO1/SDO2 compatible with the Predefined Con-

nection Set:

Identifier Rx-SDO1 = 1536 + Node-ID (Node-ID = 1 ... 63, Identifier = 1537 ...

1599)

Identifier Tx-SDO1 = 1408 + Node-ID (Node-ID = 1 ... 63, Identifier = 1409 ...

1471)

Identifier Rx-SDO2 = 1600 + Node-ID (Node-ID = 0 ... 63, Identifier = 1600 ...

1663)

Identifier Tx-SDO2 = 1472 + Node-ID (Node-ID = 0 ... 63, Identifier = 1472 ...

1535)

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

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

generate any compatibility problems.

If an frequency inverter has been defined as the system bus master, the above set-

tings 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

cannot be changed.

EM-RES-03 2710/07

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

adapted by parameterization on the frequency inverter.

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.

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

Identifier

921.

RxSDO1-

Parameter Setting
No. Description Min. Max. Fact. sett.
921 RxSDO1-Identifier 0 2047 0

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

Parameter Setting
No. Description Min. Max. Fact. sett.
922 TxSDO1-Identifier 0 2047 0

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

tion Set.

The second SDO channel can be deactivated via the

SDO2 Set Active 923.

Operation mode Function
0 - SDO2 deactivated Communication channel deactivated
1 - SDO2 activated Communication channel activated for the visuali-

zation tool

The identifier assignment for the second SDO channel is always to the

specification:

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

Note: In this way, firm identifiers via which communication takes place are

available for the visualization tool.

EM-RES-03 10/0728

5.10 Communication channels, 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 data to be transmitted have a length of 2 bytes for uint/int and 4 bytes for long.

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.

Writing parameters:

0x22 LSB MSB 0xnn LSB MSB

0x60 LSB MSB 0xnn 0

0x80 LSB MSB 0xnn Code 0 0 0

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

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

5.10.1 SDO telegrams (SDO1/SDO2)

Expedited. The data (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.

As standardization and simplification, 4 bytes are always transmitted.

with bytes 6 und 7 = 0.

Client Î Server

0 1 2 3 4 5 6 7

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

0 1 2 3 4 5 6 7

Ctrl. byte Parameter number Data set Data

Server Î Client Abort SDO Transfer Î Writing process faulty

0 1 2 3 4 5 6 7

Ctrl. byte Parameter number Data set Data

(see Table, failure codes).

SDO Download (expedited)

not consider the bits "s” (data size indicated) and "n” (number of bytes
not containing data). If set, they are ignored. The user is responsible for
the number of bytes matching the type of data.

EM-RES-03 2910/07

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 subscriber 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.

EM-RES-03 10/0730

5.10.2 Communication via field bus connection (SDO1)

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

a field bus interface, access to the parameterization of all the subscribers in existence
on the system bus is possible by means of this field bus interface via 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.

5.10.2.1 Profibus-DP

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

the other subscribers on the system bus can be done via it. The structure of the com­munication channel permits an additional addressing of a system bus subscriber. This
is done by the use of an unused byte in the communication channel.

Communication channel PKW

0 1 2 3 4 5 6 7

PKE Index - Data

AK/SPM Parameter

number

Data set Node-ID

system bus

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

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

5.10.2.2 RS232/RS485 with VECTRON bus protocol

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

transmitted with 0 as a standard feature.

ENQUIRY

0 1 2 3 4 5 6
Address 0 p n n n ENQ

Node-ID

Data set Parameter number

system bus

SELECT

0 1 2 3 4
Address STX 0 p n n n ...
Node-ID

Data set Parameter number

System bus

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

transmit the node ID of the required subscriber on the system bus. If this byte = 0,
the master inverter of the system bus is addressed. The display is ASCII corresponding
to 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.

EM-RES-03 3110/07

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

EM-RES-03 10/0732

5.11 Process data channels, PDO

5.11.1 Identifier assignment process data channel

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

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:

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 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 amongst 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.

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

Parameter Setting
No. Description Min. Max. Fact. sett.
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 Predefined Connection

Set.

EM-RES-03 3310/07

5.11.2 Operation modes process data channel

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

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.
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

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

are sent.

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

data 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.

EM-RES-03 10/0734

5.11.3 Timeout monitoring process data channel

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

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.
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.

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

EM-RES-03 3510/07

5.11.4 Communication relationships of the process data
channel

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

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)

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

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

list.

Example:

Frequency inverter 1 Frequency inverter 2 Frequency inverter 3
PDO Identifier PDO Identifier PDO Identifier
TxPDO1 385 TxPDO1 TxPDO1
RxPDO1 RxPDO1 385 RxPDO1 385
TxPDO2 641 TxPDO2 TxPDO2 642
RxPDO2 RxPDO2 641 RxPDO2
TxPDO3 TxPDO3 TxPDO3
RxPDO3 RxPDO3 642 RxPDO3

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

Frequency inverter 1

The Identifier must be clear in the system bus network.

Frequency inverter 2

Frequency inverter 3

PDO1

Rx

Tx

385

PDO2

Rx

641

Tx

PDO3

Rx

Tx

PDO1

Rx

Tx

PDO2

Rx Tx

385 641

EM-RES-03 10/0736

PDO3

Rx Tx

PDO1

Rx

385642

Tx

PDO2

Rx Tx

642

PDO3

Rx Tx

5.11.5 Virtual links

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

kind of objects can be done in these data bytes.

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

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

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

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--

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

A and B. The parameterization for this connection is thus:

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

Example of a virtual connection in VPlus:

No. 5

Parameter

(Softwarefunction)

Source-No.

(Operation mode)

e.g.

Start-clockwise

068

e.g. 71-S2IND

Digital input

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

adapted to the application in question.

EM-RES-03 3710/07

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

rameters 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 with the system used exceed the device limits, they are termed "virtual

links".

EM-RES-03 10/0738

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

or

4 uint/int variables

or

2 long variables

or

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

EM-RES-03 3910/07

5.11.5.1 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

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 percentages values are

P. No.

TxPDO1

Boolean

input

Byte

946

Boolean1

1

947

Boolean2

3

948

Boolean3

5

949

Boolean4

P. No.

7

TxPDO2

Boolean

input

Byte

956

Boolean1

1

957

Boolean2

3

958

Boolean3

5

959

Boolean4

P. No.

7

TxPDO3

Boolean

input

Byte

966

Boolean1

1

967

Boolean2

3

968

Boolean3

5

969

Boolean4

7

displayed via the uint/int inputs.

P. No.

uint/int

input

950

Word1

951

Word2

952

Word3

953

Word4

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

TxPDO1

Byte

1

3

5

7

TxPDO2

Byte

1

3

5

7

TxPDO3

Byte

1

3

5

7

P. No.

long input

954

Long1

955

Long2

P. No.

long input

964

Long1

965

Long2

P. No.

long input

976

Long1

977

Long2

EM-RES-03 10/0740

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 simultaneously 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 chan-

nel
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

EM-RES-03 4110/07

5.11.5.2 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

displayed via 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

1

2 2 2

3
4 4 4
5
6 6 6

7

RxPDO2

Byte

0 0 0

1
2 2 2

3
4 4 4
5
6 6 6

7

RxPDO3

Byte

0 0 0

1
2 2 2

3
4 4 4
5
6 6 6

7

Source No.

Boolean

value

700

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

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

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 percentages values are

displayed via the uint/int inputs.

EM-RES-03 10/0742

5.11.5.3 Examples of virtual links

Frequency inverter 1 Frequency inverter 2
Source

Example 1:

- No.

word

740

2 2
3 3
4 4
5 5
6 6

Output
reference
frequency
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 joint source of reference values and are given reference
values in the internal notation.

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

(Rx), these then being supplied with data parallel and simultaneously.

The input link not used in the TxPDO1 of frequency inverter 1 is on ZERO and is thus

not served.

Example 2:

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

Input link TxPDO1

Byte

950

0 0 Control
1

955

7

TxPDO1 Identifier

925

Parameter

RxPDO1

Byte

1

7

385

Identifier

Source

- No.

704 Control in-

put,
Control word
99

709 Ramp input,

Line set
value 137

Inverter 1

Target

system bus

TxPDO1 Boolean1

Parameter

RxPDO1 Identifier

Parameter

Start-clockwise

Parameter

EM-RES-03 4310/07

924

068

946

71-S2IND

Source-No.

385

Inverter 2

Identifier

700-RxPDO1 Boolean

Source-No.

5.12 Control parameters

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

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
tional, 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 breaks down with

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

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

Actual values of the system bus
No. Description Display
978 Node-State 1 - Pre-Operational

979 CAN-State 1 - OKAY

Node-State 978 gives information about the Pre-Operational, Opera-

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

"F2210 BUS-OFF".

2 - Operational
3 - Stopped

2 - WARNING
3 - BUS-OFF

EM-RES-03 10/0744

5.13 Handling of the parameters of the system bus

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

the actual value parameters for system state and bus state are activated and can be
observed 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.

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

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

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 is

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

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

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".

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

EM-RES-03 4510/07

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

structure:

System bus
Basic Settings 900 Node-ID
903 Baud-Rate

Master Functions 904 Boot-Up Delay
919 SYNC-Time

SYNC-Identifier 918 SYNC-Identifier

SDO1-Identifier 921 RxSDO1-Identifier
922 TxSDO1-Identifier

SDO2 Set Active 923 SDO2 Set Active

PDO-Identifier 924 RxPDO1-Identifier
925 TxPDO1-Identifier
926 RxPDO2-Identifier
927 TxPDO2-Identifier
928 RxPDO3-Identifier
929 TxPDO3-Identifier

TxPDO-Function 930 TxPDO1 Function
931 TxPDO1 Time
932 TxPDO2 Function
933 TxPDO2 Tome
934 TxPDO3 Function
935 TxPDO3 Time

RxPDO-Function 936 RxPDO1 Function
937 RxPDO2 Function
938 RxPDO3 Function

Timeout 939 SYNC Timeout
941 RxPDO1 Timeout
942 RxPDO2 Timeout
945 RxPDO3 Timeout

TxPDO1 Objects 946 TxPDO1 Boolean1
947 TxPDO1 Boolean2
948 TxPDO1 Boolean3
949 TxPDO1 Boolean4
950 TxPDO1 Word1
951 TxPDO1 Word2
952 TxPDO1 Word3
953 TxPDO1 Word4
954 TxPDO1 Long1
955 TxPDO1 Long2

TxPDO2 Objects 956 TxPDO2 Boolean1
957 TxPDO2 Boolean2
958 TxPDO2 Boolean3
959 TxPDO2 Boolean4
960 TxPDO2 Word1
961 TxPDO2 Word2
962 TxPDO2 Word3
963 TxPDO2 Word4
964 TxPDO2 Long1
965 TxPDO2 Long2

TxPDO3 Objects 966 TxPDO3 Boolean1
967 TxPDO3 Boolean2
968 TxPDO3 Boolean3
969 TxPDO3 Boolean4
972 TxPDO3 Word1
973 TxPDO3 Word2
974 TxPDO3 Word3
975 TxPDO3 Word4
976 TxPDO3 Long1
977 TxPDO3 Long2

Actual values
System bus 978 Node-State
979 CAN-State

EM-RES-03 10/0746

5.14 Ancillaries

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

ancillaries in the form of tables.

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

1. Definition of the communication relationships

2. Production of the virtual links

3. Capacity planning of the system bus

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

nication 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 subscribers to the bus.

Note: The recommended identifier range for the communication relationships

via the PDO channels is 385 ...

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.

EM-RES-03 4710/07

5.14.1 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 VECTRON
product CD or upon request.

________

________

________

________

Node-ID:

________

Node-ID:

________

PDO Identifier

PDO Identifier

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO3

RxPDO3

TxPDO1

RxPDO1

TxPDO2

RxPDO2

TxPDO3

RxPDO3

________

________

Inverter: Inverter: Inverter:Inverter:Inverter:

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

EM-RES-03 10/0748

The virtual links are planned and documented with the help of the table. The table is

5.14.2 Production of the virtual links

available as a Microsoft Word document "vvk.doc" on the VECTRON product CD or
upon request.

No.

Source-

________

: ___________________________

Inverter

Node-ID: ________

Identifier: ___________

Input Link/Parameter-No.

RxPDO-No.:

(Tx/RxPDO)

Boolean uint/int long

: ___________________________

Inverter

Node-ID: ________

________

Boolean uint/int long

Input Link/Parameter-No.

No.

TxPDO-No.:

Source-

EM-RES-03 4910/07

5.14.3 Capacity planning of the system bus

Each PDO telegram possesses a constant useful data content of 8 Bytes. According to

worst case, this 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.

Capacity planning
Baud rate /

kBaud

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-

lected, the following bus loads results:

Capacity of the system bus

Baud rate

/ kBaud

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

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

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

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

pletely between two transmission times.

This observation 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, a Microsoft Excel file with the name

"Load_Systembus.xls” is available.

Telegram run time /

μ

s

Such a setting is not admissible!

EM-RES-03 10/0750

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

Load system bus

VECTRON product CD or by request.

Baud rate [kBaud]:

50, 100, 125, 250, 500, 1000

1000

Frequency

inverter

1 0 0

1

TxPDO

Number

Ta

[ms]

Workload

[%]

2 0 0

1 0 0

2

3 0 0

2 0 0

1 0 0

3

3 0 0

2 0 0

1 0 0

4

3 0 0

2 0 0

1 0 0

5

3 0 0

2 0 0

1 0 0

6

3 0 0

2 0 0

1 0 0

7

3 0 0

2 0 0

1 1 14

8

3 0 0

2 1 14

1 1 14

9

3 1 14

2 1 14

1 0 0

10

3 0 0

2 0 0

3 0 0

Total workload [%] 70

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. g.

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 Total
Load the entire bus load.

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

Î

80 %

≤

80 ... 90

%
> 90 %

OKAY
CRITICAL

Î

Î NOT POSSIBLE

Baud-Rate 903 in

EM-RES-03 5110/07

6 Control inputs and outputs

E

g

The analog input of the EM-RES-03 expansion module can optionally be configured as

The mapping of the analog input signals onto a frequency or percentage reference

6.1 Analog input EM-S1INA

6.1.1 General

a voltage or a current input. Parameterization of the input signal is done by the defini­tion of a linear characteristic and assignment as a

− reference value source
(can be selected via the parameter

− reference percentage source
(can be selected via the parameter

− actual percentage source
(can be selected via the parameter
tion x11) or

− limit value sources
(can be selected via the parameters 734…737).

Reference frequency source 475),

Reference percentage source 476),

Actual percentage source 478, in configura-

6.1.2 Characteristic

value is possible for various demands. The parameterization is to be done via two
points of the linear characteristic of the reference channel.
The characteristic point 1, with the coordinates X1 and Y1, and the characteristic point
2, with the coordinates X2 and Y2, can be set in four parameters.
The characteristic points X1 and X2 are stated as percentages, as the analog input can
be switched as a current or voltage input via switch S3.

No. Description Min. Max. Fact. sett.
564 Characteristic point X1 -100.00 % 100.00 % -98.00 %
565 Characteristic point Y1 -100.00 % 100.00 % -100.00 %
566 Characteristic point X2 -100.00 % 100.00 % 98.00 %
567 Characteristic point Y2 -100.00 % 100.00 % 100.00 %

The coordinates of the characteristic points are related as a percentage to the analog

signal, with 10 V or 20 mA, and the parameter
ter

Maximum reference percentage 519. The change of direction of rotation can be

done via the digital inputs of the frequency inverter and/or by selecting the character­istic points.

The definition of the analog input characteristic can be calculated via the two-point

form of the straight-line equation. The speed Y of the drive mechanism is controlled
according to the analog control signal X.

Parameter Setting

Maximum Frequency 419 or parame-

Y1-Y2

Y + − ⋅=

()

Y1X1X

X1-X2

Attention!

Monitoring of the analog input signal via the parameter

Behavior

use is only possible if the
range.

563 demands a check of the characteristic parameters. Sensible

Characteristic point X1 564 is in the positive

rror/Warnin

EM-RES-03 10/0752

6.1.3 Operation modes

g

f

g

The operation modes of the analog input characteristic enable application-related scal-

as a supplement to the characteristic points stated. One of the four linear types o

in
characteristic is selected for adaptation of the signal for the analog input signal via the
parameter

Operation mode 562.

If the characteristic points are not suited for the type of characteristic selected, the
characteristic points are corrected internally.

Operation mode Function

1 - bipolar The analog input signal is mapped onto the reference

figure according to the characteristic points (X1/Y1)
and (X2/Y2).

11 - unipolar With a negative parameter value of the characteristic

points X1 or X2, they are mapped to the reference
value zero.

21 - unipolar

2…10 V / 4…20 mA

If the characteristic points X1 or X2 have been set
with a negative parameter figure or smaller than 0%,
the input characteristic is mapped to the reference
value 20%.

101 - bipolar absolute value Negative parameter values of the characteristic points

Y1 or Y2 are mapped as a positive reference value in
the characteristic.

Further information on the operation modes stated in the table can be found in the

following chapter "Examples“.

6.1.3.1 Examples

The analog input signal is mapped onto a reference value as a function of the charac-

teristic. The following examples show the operation modes for an analog voltage sig­nal. The parameter
teristic point 100% for the Y-axis corresponds to the parameter
419 of 50.00 Hz in the examples.

Minimum Frequency 418 is set to the value 0.00 Hz. The charac-

Maximum Frequency

Attention! The various operation modes change the input characteristic as a function

of the parameterized characteristic points. In the following examples, the
areas of the coordinate system from which a characteristic point is dis­placed are marked.

Operation mode "1 – bipolar"

In operation mode "1 – bipolar“, the characteristic of the analog input can be freely

set by stating two characteristic points.

42.50Hz

Y

(X2=80% / Y2=85%)

Characteristic point 1:

X1 = -70.00% · 10 V = -7.00 V
Y1 = -50.00% · 50.00 Hz = -25.00 Hz

Characteristic point 2:

X2 = 80.00% · 10 V = 8.00 V
Y2 = 85.00% · 50.00 Hz = 42.50 Hz

8V

X

Tolerance band:

-7V

ΔX = 2.00% · 10 V = 0.20 V

-25Hz

(X1=-70% / Y1=-50%)

The change of direction of rotation is done
in the example at an analo

input signal
of -1.44 V, with a tolerance band of ±0.20
V.

EM-RES-03 5310/07

Operation mode "11 – unipolar"

In operation mode "11 – unipolar“, the characteristic points are displaced to the origin

of the characteristics with a negative value for the X-axis.

42.50Hz

-7V

Y

(X2=80% / Y2=85%)

8V

Characteristic point 1:

X1 = -70.00% · 10 V = -7.00 V
Y1 = -50.00% · 50.00 Hz = -25.00 Hz

Characteristic point 2:

X2 = 80.00% · 10 V = 8.00 V
Y2 = 85.00% · 50.00 Hz = 42.50 Hz

X

Tolerance band:

ΔX = 2.00% · 10 V = 0.20 V

-25Hz

(X1=-70% / Y1=-50%)

The characteristic point 1 has been dis­placed to the origin. The parameter

erance band

560 is not taken into ac-

count in this example, as no chan

Tol-

ge of
sign of the reference frequency value
takes place.

42.50Hz

Y

(X2=80% / Y2=85%)

Characteristic point 1:

X1 = 30.00 % · 10 V = 3.00 V
Y1 = -50.00 % · 50.00 Hz = -25.00 Hz

Characteristic point 2:

X2 = 80.00 % · 10 V = 8.00 V
Y2 = 85.00 % · 50.00 Hz = 42.50 Hz

X

3.00V

8.00V

Tolerance band:

ΔX = 2.00 % · 10 V = 0.20 V

-25.00Hz
(X1=30% / Y1=-50%)

The change of direction of rotation is done
in the example at an analog input signal of

4.85 V, with a tolerance band of ±0.20 V.

EM-RES-03 10/0754

⋅

=

g

Operation mode "21 – unipolar 2…10 V / 4…20 mA"

This operation mode limits the input characteristic to the ran

ge between 20% and
100% of the analog signal. If the value for a characteristic point of the X-axis is out­side 0%, it is mapped to the characteristic point (2 V / 0 Hz).

The characteristic point on the X-axis is calculated according to the following formula:

42.50Hz

Y

(X2=80% / Y2=85%)

20.00%20.00%)-(100.00%X valueparameterXpoint sticcharacteri +

Characteristic point 1:

X1 = [-70.00% · (100.00% - 20.00%)
+ 20.00% ] · 10 V = -7.60 V
Y1 = -50.00% · 50.00 Hz = -25.00 Hz

Characteristic point 2:

-7.60V

8.40V

-25.00Hz

(X1=-70% / Y1=-50%)

X2 = [80.00% · (100.00% - 20.00%)

X

+ 20.00% ] · 10 V = 8.40 V
Y2 = 85.00% · 50.00 Hz = 42.50 Hz

Tolerance band:

ΔX = [2.00% · (100.00% - 20.00%)

· 10 V] = 0.16 V

The characteristic point 1 has been dis­placed to the point (2.00 V / 0.00 Hz). The
parameter
used in this example, as no chan

Tolerance band 560 is not

ge of sign
of the reference frequency value takes
place.

42.50Hz

Y

(X2=80% / Y2=85%)

Characteristic point 1:

X1 = [30.00% · (100.00% - 20.00%)
+ 20.00% ] · 10 V = 4.40 V
Y1 = -50.00% · 50.00 Hz = -25.00 Hz

Characteristic point 2:

X2 = [80.00% · (100.00% - 20.00%)
+ 20.00% ] · 10 V = 8.40 V

4.40V

8.40V

X

Y2 = 85.00% · 50.00 Hz = 42.50 Hz

Tolerance band:

-25.00Hz
(X1=30% / Y1=-50%)

ΔX = [2.00% · (100.00% - 20.00%)

· 10 V] = 0.16 V

The change of direction of rotation is done
in the example at an analo

input signal of

5.88 V, with a tolerance band of ±0.16 V.

EM-RES-03 5510/07

g

f

g

g

g

Operation mode "101 – bipolar absolute value"

The operation mode "101 – bipolar absolute value“ maps the bipolar analog signal

onto a unipolar input characteristic. The formation of the absolute amount takes the
characteristic into account comparable to the "bipolar" operation mode, but the char­acteristic points are reflected on the X-axis with a negative value for the Y-axis.

42.50Hz

25.00Hz

Y

(X2=80% / Y2=85%)

Characteristic point 1:

X1 = -70.00% · 10 V = -7.00 V
Y1 = -50.00% · 50.00 Hz = -25.00 Hz

Characteristic point 2:

X2 = 80.00% · 10 V = 8.00 V
Y2 = 85.00% · 50.00 Hz = 42.50 Hz

X

-7V

8V

Tolerance band:

ΔX = 2.00% · 10 V = 0.20 V

-25.00Hz

(X1=-70% / Y1=-50%)

In this example, the reference value is

ain increased from an analog input

a
signal of -1.44 V with a tolerance band o
±0.20 V. The theoretical chan

e of sign of
the reference value is used and leads to
the tolerance band stated.
There is no change of the direction of
rotation.

6.1.4 Scaling

The analog input signal is mapped to the freely configurable characteristic. The maxi-

mum admissible settin

uration selected via the frequency limits or the percentage value limits. In the

confi

range of the drive mechanism is to be set according to the

parameterization of a bipolar characteristic, the minimum and maximum limit for both
directions of rotation are taken over. The percenta

ge values of the characteristic

points are relative to the maximum limits selected.

Parameter Setting
No. Description Min. Max. Fact. sett.
418 Minimum Frequency 0.00 Hz 999.99 Hz 3.50 Hz
419 Maximum Frequency 0.00 Hz 999.99 Hz 50.00 Hz

The controls use the maximum value of the output frequency, which is calculated from

maximum frequency 419 and the compensated slip of the drive mechanism. The

the
frequency limits define the speed ran

ge of the drive mechanism and the reference
percentage values supplement the scaling of the input characteristic according to the
configured functions.

Parameter Setting
No. Description Min. Max. Fact. sett.
518 Minimum reference percentage 0.00 % 300.00 % 0.00 %
519 Maximum reference percentage 0.00 % 300.00 % 100.00 %

EM-RES-03 10/0756

6.1.5 Tolerance band and hysteresis

T

g

g

Parameter Setting
No. Description Min. Max. Fact. sett.
560 Tolerance band 0.00 % 25.00 % 2.00 %

he analog input characteristic with change of sign of the reference value can be
adapted by the parameter
to be defined extends the zero crossin
signal. The percenta

Tolerance band 560 of the application. The tolerance band

g of the speed relative to the analog control

e parameter value is relative to the maximum current or voltage

signal.

pos. max. value

(X2/Y2)

pos. max. value

(X2 / Y2)

-10V

(-20mA)

(X1 / Y1)

Without tolerance band

Minimum Frequency 418 or the Minimum reference percentage 518 set in the

The

neg. max. value

+10V

(+20mA)

-10V

(-20mA)

(X1/Y1)

With tolerance band

+10V

Tolerance band

neg. max. value

factory extends the parameterized tolerance band to the hysteresis.

pos. max. value

pos. min. value

neg. min. value

(X1 / Y1)

(X2/Y2)

Tolerance band

neg. max. value

With tolerance band and minimum value

For example, the output variable resulting from the positive input signals is kept at the

positive minimum value until the input si

nal is below the value for the tolerance band

in a negative direction. After that proceed on the set characteristic.

EM-RES-03 5710/07

6.1.6 Error and warning behavior

T

g

E

g

The monitoring of the analog input signal necessary according to the application is to

be configured via the parameter

Operation mode Function

0 - Off The input signal is not monitored.

1 - Warning < 1 V / 2 mA

2 - Shutdown < 1 V / 2 mA

Fault switch-off

3 -

< 1 V / 2 mA

he monitoring of the analog input signal is active independent of the release of the

frequency inverter according to the operation mode selected.

In operation mode 2, the drive mechanism is decelerated independent of the stopping

behavior set (Parameter
(shutdown and switch-off). If the set holding time has expired, there is a fault mes­sage. A repeat start of the drive mechanism is possible by switching the start signal on
and off if the fault has been cleared.

Operation mode 3 defines the free stoppage of the drive mechanism, independent of

the stopping behavior selected, which is stipulated with the parameter

tion

630.

Attention!

Monitoring of the analog input signal via the parameter

Behavior

563 demands a check of the characteristic parameters.

Error/Warning behavior 563.

If the input signal is less than 1 V or 2 mA, there
is a warning message.
If the input signal is less than 1 V or 2 mA, there
is a warning message, the drive mechanism is
decelerated according to stopping behavior 1.
If the input signal is less than 1 V or 2 mA, there
is a warning and fault message and the drive me­chanism stops freely.

Operation mode 630) accordin

to stopping behavior 1

Stop func-

rror/Warnin

EM-RES-03 10/0758

g

6.1.7 Adjustment

As a result of component tolerances, it can be necessary to adjust the analog input.

Parameter

Operation mode Function

0 - no adjustment Normal operation

1 - Adjustment 0 V / 0 mA

2 - Adjustment 10 V / 20 mA

Adjustment 568 is used for this purpose.

Adjustment of the measurement with an analog
signal of 0 V or 0 mA.
Adjustment of the measurement with an analog
signal of 10 V or 20 mA.

Example of the adjustment of the analog input with a voltage signal:

Note: The measurements for the adjustment are to be done with a suitable

measuring instrument and the correct polarity.
If not, faulty measurements can result.

• Apply 0 V to the analog input; e.g. with a wired link from the socket of the analo
input X410A.6 to socket X210B.7 (earth/GND) of the frequency inverter.

• Select operation mode "1 - Adjustment 0 V / 0 mA“.

• Apply 10 V to the analog input, e.g. with a wired link from the socket of the analog
input to socket X210B.5 (reference output 10 V) of the frequency inverter.

• Select operation mode "2 - Adjustment 10 V / 20 mA“.

6.1.8 Filter time constant

The time constant of the filter for the reference analog value can be set via the pa-

rameter
The time constant states the time for which the input signal is averaged by means of a
low pass filter, e.g. in order to eliminate fault effects.

The setting range is a range of values between 0 ms and 5000 ms in 15 steps.

Operation mode Function

2 - Time constant 2 ms
4 - Time constant 4 ms
8 - Time constant 8 ms
16 - Time constant 16 ms
32 - Time constant 32 ms
64 - Time constant 64 ms
128 - Time constant 128 ms
256 - Time constant 256 ms
512 - Time constant 512 ms
1000 - Time constant 1000 ms
2000 - Time constant 2000 ms
3000 - Time constant 3000 ms
4000 - Time constant 4000 ms
5000 - Time constant 5000 ms

Filter time constant 561.

0 - Time constant 0 ms

Filter deactivated – analog reference value is for­warded unfiltered
Filter activated – averaging of the input signal via
the set value of the filter time constants

EM-RES-03 5910/07

6.2 Digital outputs EM-S1OUTD and EM-S2OUTD

g

F

d

f

F

F

F

Parameterization of this digital output permits a linking to a variety of functions. The

6.2.1 General

selection of functions depends on the parameterized configuration.

The operation mode of the digital output EM-S1OUTD (terminal X410A.3) is selected

The operation mode of the digital output EM-S2OUTD (terminal X410A.4) is selected

The operation modes to be selected correspond to the table shown in the operatin

6.2.2 Operation modes

via the parameter

via the parameter

instructions of the frequency inverter in the chapter "Digital outputs“.

Operation Mode EM-S1OUTD 533.

Operation Mode EM-S2OUTD 534.

6.2.3 Fixed reference values and fixed value switch-over

Depending on the Reference Frequency Source 475 selected, fixed frequencies can be
used as reference values. The expansion module extends the functionality described in
the operating instructions of the frequency inverter (parameter

change-over 1

66 and Fixed frequency change-over 2 67) by the parameter

Fixed frequency

ixe

requency change-over 3 131 and the matching parameters Fixed frequency 5 485,

Fixed frequency 6 486, Fixed frequency 7 487, Fixed frequency 8 488.

Fixed frequency 1 480
Fixed frequency 2 481
Fixed frequency 3 482
Fixed frequency 4 483
Fixed frequency 5 485
Fixed frequency 6 486
Fixed frequency 7 487
Fixed frequency 8 488

ixed frequency

change-over 1

0 0 0
1 0 0
1 1 0
0 1 0
0 1 1
1 1 1
1 0 1
0 0 1

66

ixed frequency

change-over 2

67

change-over 3

ixed frequency

131

EM-RES-03 10/0760

6.3 Digital inputs EM-SxIND

The EM-RES-03 expansion module has three digital inputs. The assignment of the

control signals to the available software functions can be adapted to the application in
question. As a function of the selected
and the selection of the operation mode differ. In addition to the di

Configuration 30, the factory-set assignment

gital control inputs

available, further internal logistic signals are also available as sources.

The individual software functions are assi

gned to the various signal sources via
parameterization-capable inputs. This enables a flexible and varied use of the digital
control signals.

Operation mode Function

320 - EM-S1IND Signal on digital input 1 (X410B.2)
321 - EM-S2IND Signal on digital input 2 (X410B.3)
322 - EM-S3IND Signal on digital input 3 (X410B.4)
520 - EM-S1IND inverted Inverted signal on digital input 1 (X410B.2)
521 - EM-S2IND inverted Inverted signal on digital input 2 (X410B.3)
522 - EM-S3IND inverted Inverted signal on digital input 3 (X410B.4)

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

frequency inverter in the chapter "Digital inputs" also apply.

EM-RES-03 6110/07

6.4 Resolver input EM-RES

g

N

j

The resolver input is used for evaluating the position information from the resolver.

Parameter Function

Parameter Function

The frequency of the field signal for the resolver is set to the fixed value of 8 kHz.

If the no. of resolver pole pairs > 1, the measured electric angle runs through the
range of 0°...360° several times during one mechanical revolution.
For the detection of the position an

le of the rotor at a synchronous motor, the ratio
of the no. of motor pole pairs to the no. of resolver pole pairs must be an integer.
The no. of pole pairs of the resolver can be adjusted via parameter

Pairs

381.

o. of Pole

No. Description Min. Max. Fact. sett.

381 No. of pole pairs 1 7 1

6.4.1 Offset

In order to enable the start of a synchronous machine, the absolute position of the
rotor must be known. This information is required in order to actuate the stator wind­ings in the right order depending on the position of the rotor. The position of the ro­tary field in the synchronous machine must be controlled in order to obtain a continu­ous movement of the rotor. During first commissioning, the position of the rotor wind­ing of the resolver is adjusted to the rotor displacement angle of the synchronous mo­tor by adjusting the offset. For operating a synchronous machine with resolver, the
offset must be ad
torque.
The correct

Offset 382 is adjusted when the flux-forming voltage 235 reaches the

value 0 (approximately) while the motor is turning.

No. Description Min. Max. Fact. sett.

382 Offset -360.0° 360.0° 0.0°

The offset can be determined and adjusted as follows:

• During first commissioning "SEtUP" will be displayed in the control unit. Press ESC

to stop this operation. The guided commissioning („SETUP“) is performed after ad­justing the offset.

• Open the parameter menu "PARA" and enter the machine data indicated on the

type plate or the data sheet of the motor.

• Adjust parameter No. of Pole Pairs 381 to the number of pole pairs of the re-

solver.

usted in order to obtain perfectly true running and a maximum

EM-RES-03 10/0762

g

y

f

t

g

r

t

Before adjusting the offset, take the following safety precautions:

• Disable the frequency inverter via the digital inputs for controller release.

• If possible, uncouple the motor from the load so that the motor shaft turns freely.

If installed, release the mechanical brake.
If uncoupling is not possible, make sure that the motor is loaded as little as possi­ble.

Warning! In certain circumstances, the motor speed may reach high values. If the

• Set the max. permissible output frequency of the frequency inverter to a low fre­quency value via parameter
that uncontrolled acceleration of the motor ("overspeedin
stage. This limitation is necessary in order to avoid personal and material damage.

• Set parameter Current Limit 728 of the speed controller to a low current value
(e.

g. 10% of the rated motor current). In this way it is made sure that there are no

excessive currents of the offset is set incorrectly.

• Turn motor shaft manually. Check the sense of rotation of the resolver via the ac­tual value of parameter
rotation of the motor shaft, positive values are displayed for the actual frequency
value. If the displayed sense of rotation does not correspond to the actual sense of
rotation, change the connections SIN+ and SIN- at socket X410A of the frequency
inverter.

The Offset 382 must be between 0° and 360°, divided by the number of motor pole
pairs. If the number of resolver pole pairs is higher than 1, the possible range is be­tween 0° and the max. offset.

OffsetMax.

=

If the adjusted value is changed by the max. offset, this does not affect the flux-

orming voltage 235.

• Adjust a low reference speed value (approx. 10% lower than the Switch-off Limi

Frequency 417), and enable the frequency inverter via controller release and

S2IND (start clock-wise operation) in order to accelerate the motor.

• If an overcurrent is detected or a fault message is issued due to an overload, the
guided commissionin
data. After completion of the guided commissioning, adjust the parameter Limi

Current 728 to a low value again because this value was overwritten during the

guided commissioning.

motor is not uncoupled from the load, personal and material damage
may result. To avoid such damage, make the following settings in any
case.

Switch-Off Limit 417. Select the frequency value such

") is detected at an earl

Frequency Speed Sensor 2 219. In the case of a clock-wise

°

360

number of motor pole pairs / number of resolver pole pairs

(setup) will start first. Confirm the machine and resolve

EM-RES-03 6310/07

f

r

g

t

Depending on the behavior of the motor after start, carry out the following steps:

Motor does not turn, or the motor shaft only turns to a new position and

−

stops again:

• Check if the parameters No. of Pole Pairs 373 for the motor and No. of Pole

Pairs

If these values are adjusted correctly, take the following measures complying with
the safety instructions.

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

• Before electrical installation work, de-energize the frequency inverter and take
appropriate precautions to make sure it is not re-energized unintentionally.
Make sure that the frequency inverter is de-energized.

• Exchange two motor phases (e.g. U and V) at the frequency inverter sockets
because the senses of rotation of the motor and the resolver do not corre­spond to each other.

• Switch on the power supply again.

• As described above, adjust a low speed reference value and start the motor.

If the motor does not start despite the phase exchange:

• Increase the parameter value for Offset 382 by 90°, divided by the no. of mo­tor pole pairs.

If the motor still does not turn, exchange the two motor phases (e.g. U and V)
again.

− The motor turns and accelerates until it reaches the Frequency Switch-Of

Limit 417:

• Check the resolver lines and check the resolver connection contacts.

• In the case of fault message "Overfrequency" F1100: increase the paramete

value for Offset 382 by 180°, divided by the no. of motor pole pairs.

− If the motor turns at the adjusted speed and in the right direction, carry
out the fine adjustment of the offset:

• Adjust the parameter value for Offset 382 in small steps (e.g. 2.5°) until the

flux-forming voltage 235 is approximately 0.

− In case the flux-forming voltage deviates from 0 si

in bigger steps.

− In the case of a positive flux-forming voltage, increase the offset.

− In the case of a negative flux-forming voltage, reduce the offset.

• Adjust parameters Frequency Switch-Off Limit 417 and Current Limit 728 to

the required values.

• Repeat the fine adjustment of the offset at 50% of the rated frequency.

This completes the offset adjustment.

• Start the guided commissioning. This is required for optimum current control.

381 for the resolver are set correctly.

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

nificantly, adjust the offse

EM-RES-03 10/0764

6.4.2 Actual speed source

g

s

d

Switch-over is effected via Actual Speed Source 766. If the resolver delivers the actual
value si

gnal for the speed controller, speed sensor 2 must be selected as the source In

the basic setting, speed sensor 1 is used as the actual value source.

Operation mode Function

1 - Speed sensor 1

2 - Speed sensor 2

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

6.4.3 Evaluation mode

If a synchronous motor which is not from BONFIGLIOLI should be connected to the
resolver input it can be necessary to chan
via parameter

Evaluation Mode 492.

Evaluation Mode 492

e the sign of the sinus track. This can be set

Function

0 - Bonfiglioli Factory setting. For Bonfiglioli synchronous motors.
1 - inverted The sign of the sinus track is changed.

6.5 Frequency and percentage reference channel

The varied functions for the specification of the reference values are connected in the
various configurations by the frequency or percentage reference channel. The

ence frequency source

475, and the Reference percentage source 476 determine the
additive connection of the available reference sources as a function of the installed
hardware.

Operation mode Function

2 - EM-S1INA, absolute value Reference source is the analog input EM-S1INA

MFI1A + EM-S1INA, abso-

4 -

lute value

MFI1A + EM-S1INA + FF,

14 -

absolute value

MFI1A + EM-S1INA + MP,

24 -

absolute value

Reference sources are the multifunctional input
MFI1A and the analog input EM-S1INA
Reference sources are the multifunctional input
MFI1A, analog input EM-S1INA and fixed frequency
FF
Reference sources are the multifunctional input
MFI1A, analog input EM-S1INA and the motor po­tentiometer function MP

102 to 124 Operation modes with signs (+/-)

Additional to the operation modes listed, those stated in the operating instructions of
the frequency inverter in the chapter "Frequency reference channel“, and in the chap­ter "Percentage reference channel“ also apply.

6.6 Actual value display

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

sensor 2 219 and Speed, speed sensor 2 220.

The analog input signal on analog input EM-S1INA is displayed via the actual value
parameter

Analog input EM-S1INA 253.

Refer-

pee

EM-RES-03 6510/07

6.7 Status of the digital signals

The status of the digital signals can be read in decimal coding via the parameters

tal inputs

checkin

250 and Digital outputs 254. The display of the digital input signals enables

g the various control signals and their connections with the software functions

in question, in particular in commissioning.

Coding of the status of the digital signals

Example:

After conversion of the decimal figure into the binary system, bits 8, 9 and 10 displa
the states of the inputs EM-S1IND, EM-S2IND and EM-S3IND.

151413
control signal 16
(decimal value 32768)

control signal 15
( 16384)decimal value

control signal 14
( 8192)decimal value

control signal 13
( 4096)decimal value

control signal 12
( 2048)decimal value

control signal 11
( 1024)decimal value

control signal 10
( 512)decimal value

control signal 9
( 256)decimal value

The actual value parameter

Bit

12 11109

7

8

Digital inputs 250 displays the decimal value 640. After

5 432

6

Bit

0

1

control signal 1
( 1)decimal value

control signal 2
( 2)decimal value

control signal 3
(4)decimal value

control signal 4
( 8)decimal value

control signal 5
( 16)decimal value

control signal 6
( 32)decimal value

control signal 7
( 64)decimal value

control signal 8
( 128)decimal value

conversion into the binary system, the following combination results:

Binary system:

control signal 10
(decimal value 512)

12 11109

000 000 01

7

8

1 0 0 0 0 0 0

5 432

6

BitBit

015 14 13

1

0

control signal 8
(decimal value 128)

The following status of the digital input signals of the expansion module has been dis-

played:

− Digital input EM-S1IND = 1 – control signal 8

− Digital input EM-S2IND = 0 – control signal 9

− Digital input EM-S3IND = 1 – control signal 10

Digi-

y

EM-RES-03 10/0766

f

6.8 Motor temperature

Temperature monitoring forms part of the configurable error- and warning behavior.

The connected load can be monitored by connecting a measuring resistor (motor PTC)
with temperature characteristics according to DIN 44081 or by means of a bimetal tem­perature sensor (break contact).
The operation mode of the motor ptc port can be selected via parameter

Mode Motor Temp.

ture" of the frequency inverter operating instructions are complemented by the follow-

Operation

570 The operation modes described in chapter "Motor Tempera-

ing operation modes with the expansion module:

Operation mode Function

EM-MPTC:

11 -

warning only

EM-MPTC:

12 -

Error-switch-off

EM-MPTC:

13 -

Error-switch-off,

The critical operating point is displayed by the control
unit and parameter

Warnings 269.

Error-switch-off is displayed by message F0400. Error­switch-off can be acknowledged via the control unit or
the digital input.
Error-switch-off according to operation mode 2, delayed

by one minute.
1 min. delay
EM-MPTC:

14 -

Error-switch-off,

Error-switch-off according to operation mode 2, delayed

by five minutes.
5 min. delay
EM-MPTC:

15 -

Error-switch-off,

Error-switch-off according to operation mode 2, delayed

by ten minutes.
10 min. delay

The function to be adjusted by parameter

Operation Mode Motor Temp. 570 results in

signaling the overtemperature by the red LED of the frequency inverter, irrespective o
the selected operation modes of the control inputs and outputs.
The operation modes with error-switch-off result in the fault messa

ge "FAULT" with
fault number "F0400" being displayed on the control unit KP500.
The fault message can be acknowledged via parameter
linked with parameter

Error Acknowledgement 103.

Program 34 or the logic signal

EM-RES-03 6710/07

7 Parameter list

System bus
No. Description Unit Display range Chapter
923 SDO2 Set Active - Selection 5.9.4
924 RxPDO1-Identifier - 0 ... 2047 5.11.1
925 TxPDO1-Identifier - 0 ... 2047 5.11.1
926 RxPDO2-Identifier - 0 ... 2047 5.11.1
927 TxPDO2-Identifier - 0 ... 2047 5.11.1
928 RxPDO3-Identifier - 0 ... 2047 5.11.1
929 TxPDO3-Identifier - 0 ... 2047 5.11.1
930 TxPDO1 Function - Selection 5.11.2
931 TxPDO1 Time ms 0 ... 50000 5.11.2
932 TxPDO2 Function - Selection 5.11.2
933 TxPDO2 Time ms 0 ... 50000 5.11.2
934 TxPDO3 Function - Selection 5.11.2
935 TxPDO3 Time ms 0 ... 50000 5.11.2
936 RxPDO1 Function - Selection 5.11.2
937 RxPDO2 Function - Selection 5.11.2
938 RxPDO3 Function - Selection 5.11.2
939 SYNC Timeout ms 0 ... 60000 5.11.3
941 RxPDO1 Timeout ms 0 ... 60000 5.11.3
942 RxPDO2 Timeout ms 0 ... 60000 5.11.3
945 RxPDO3 Timeout ms 0 ... 60000 5.11.3
946 TxPDO1 Boolean1 - Selection 5.11.5.1
947 TxPDO1 Boolean2 - Selection 5.11.5.1
948 TxPDO1 Boolean3 - Selection 5.11.5.1
949 TxPDO1 Boolean4 - Selection 5.11.5.1
950 TxPDO1 Word1 - Selection 5.11.5.1
951 TxPDO1 Word2 - Selection 5.11.5.1
952 TxPDO1 Word3 - Selection 5.11.5.1
953 TxPDO1 Word4 - Selection 5.11.5.1
954 TxPDO1 Long1 - Selection 5.11.5.1
955 TxPDO1 Long2 - Selection 5.11.5.1
956 TxPDO2 Boolean1 - Selection 5.11.5.1
957 TxPDO2 Boolean2 - Selection 5.11.5.1
958 TxPDO2 Boolean3 - Selection 5.11.5.1
959 TxPDO2 Boolean4 - Selection 5.11.5.1
960 TxPDO2 Word1 - Selection 5.11.5.1
961 TxPDO2 Word2 - Selection 5.11.5.1
962 TxPDO2 Word3 - Selection 5.11.5.1
963 TxPDO2 Word4 - Selection 5.11.5.1
964 TxPDO2 Long1 - Selection 5.11.5.1
965 TxPDO2 Long2 - Selection 5.11.5.1
966 TxPDO3 Boolean1 - Selection 5.11.5.1
967 TxPDO3 Boolean2 - Selection 5.11.5.1
968 TxPDO3 Boolean3 - Selection 5.11.5.1
969 TxPDO3 Boolean4 - Selection 5.11.5.1
972 TxPDO3 Word1 - Selection 5.11.5.1
973 TxPDO3 Word2 - Selection 5.11.5.1
974 TxPDO3 Word3 - Selection 5.11.5.1
975 TxPDO3 Word4 - Selection 5.11.5.1
976 TxPDO3 Long1 - Selection 5.11.5.1
977 TxPDO3 Long2 - Selection 5.11.5.1
989 Emergency Reaction - Selection 5.8.3

The parameter list is structured according to the menu branches of the control unit.

Actual values of the machine
No. Description Unit Display range Chapter
219 Frequency speed sensor 2 Hz 0.0 ... 999.99 6.6
220 Speed, speed sensor 2 rpm 0 ... 60000 6.6
Actual values of the frequency inverter
253 Analog input EM-S1INA V -10 ... +10 6.6

Resolver
No. Description Unit Setting range Chapter

492 Evaluation Mode - Selection 6.4.3
Digital outputs
533 Op. Mode EM-S1OUTD - Selection 6.2.2
534 Op. Mode EM-S2OUTD - Selection 6.2.2

System bus
900 Node-ID - -1 ... 63 5.5
903 Baud-Rate - Selection 5.4
904 Boot-Up Delay ms 3500 ... 50000 5.8.4
918 SYNC-Identifier - 0 ... 2047 5.8.2
919 SYNC-Time ms 0 ... 50000 5.9.2
921 RxSDO1-Identifier - 0 ... 2047 5.9.4
922 TxSDO1-Identifier - 0 ... 2047 5.9.4

Analog input

561 Filter time constant - Selection 6.1.8
562 Operation mode - Selection 6.1.3
563 Error/warning behavior - Selection 6.1.6

568 Adjustment - Selection 6.1.7
Speed controller

For better clarity, the parameters are marked with pictograms:

The parameter is available in the four data sets

The parameter value is adjusted by the SETUP routine if a control method for a
synchronous machine is selected for parameter C

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

7.1 Actual value menu (VAL)

7.2 Parameter menu (PARA)

381 No. of pole pairs - 1 ... 7 6.4
382 Offset ° -360.0 ... 360.0 6.4.1

560 Tolerance band % 0.00 ... 25.00 6.1.5

564 Characteristic point X1 % -100.00 ... 100.00 6.1.2
565 Characteristic point Y1 % -100.00 ... 100.00 6.1.2
566 Characteristic point X2 % -100.00 ... 100.00 6.1.2
567 Characteristic point Y2 % -100.00 ... 100.00 6.1.2

766 Actual speed source - Selection 6.4.2

onfiguration 30.

EM-RES-03 10/0768

No. Description Unit Display range Chapter
923 SDO2 Set Active - Selection 5.9.4
924 RxPDO1-Identifier - 0 ... 2047 5.11.1

System bus

925 TxPDO1-Identifier - 0 ... 2047 5.11.1
926 RxPDO2-Identifier - 0 ... 2047 5.11.1
927 TxPDO2-Identifier - 0 ... 2047 5.11.1
928 RxPDO3-Identifier - 0 ... 2047 5.11.1
929 TxPDO3-Identifier - 0 ... 2047 5.11.1
930 TxPDO1 Function - Selection 5.11.2
931 TxPDO1 Time ms 0 ... 50000 5.11.2
932 TxPDO2 Function - Selection 5.11.2
933 TxPDO2 Time ms 0 ... 50000 5.11.2
934 TxPDO3 Function - Selection 5.11.2
935 TxPDO3 Time ms 0 ... 50000 5.11.2
936 RxPDO1 Function - Selection 5.11.2
937 RxPDO2 Function - Selection 5.11.2
938 RxPDO3 Function - Selection 5.11.2
939 SYNC Timeout ms 0 ... 60000 5.11.3
941 RxPDO1 Timeout ms 0 ... 60000 5.11.3
942 RxPDO2 Timeout ms 0 ... 60000 5.11.3
945 RxPDO3 Timeout ms 0 ... 60000 5.11.3
946 TxPDO1 Boolean1 - Selection 5.11.5.1
947 TxPDO1 Boolean2 - Selection 5.11.5.1
948 TxPDO1 Boolean3 - Selection 5.11.5.1
949 TxPDO1 Boolean4 - Selection 5.11.5.1
950 TxPDO1 Word1 - Selection 5.11.5.1
951 TxPDO1 Word2 - Selection 5.11.5.1
952 TxPDO1 Word3 - Selection 5.11.5.1
953 TxPDO1 Word4 - Selection 5.11.5.1
954 TxPDO1 Long1 - Selection 5.11.5.1
955 TxPDO1 Long2 - Selection 5.11.5.1
956 TxPDO2 Boolean1 - Selection 5.11.5.1
957 TxPDO2 Boolean2 - Selection 5.11.5.1
958 TxPDO2 Boolean3 - Selection 5.11.5.1
959 TxPDO2 Boolean4 - Selection 5.11.5.1
960 TxPDO2 Word1 - Selection 5.11.5.1
961 TxPDO2 Word2 - Selection 5.11.5.1
962 TxPDO2 Word3 - Selection 5.11.5.1
963 TxPDO2 Word4 - Selection 5.11.5.1
964 TxPDO2 Long1 - Selection 5.11.5.1
965 TxPDO2 Long2 - Selection 5.11.5.1
966 TxPDO3 Boolean1 - Selection 5.11.5.1
967 TxPDO3 Boolean2 - Selection 5.11.5.1
968 TxPDO3 Boolean3 - Selection 5.11.5.1
969 TxPDO3 Boolean4 - Selection 5.11.5.1
972 TxPDO3 Word1 - Selection 5.11.5.1
973 TxPDO3 Word2 - Selection 5.11.5.1
974 TxPDO3 Word3 - Selection 5.11.5.1
975 TxPDO3 Word4 - Selection 5.11.5.1
976 TxPDO3 Long1 - Selection 5.11.5.1
977 TxPDO3 Long2 - Selection 5.11.5.1
989 Emergency Reaction - Selection 5.8.3

EM-RES-03 6910/07

8 Annex

g

g

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

Control connections
21 Resolver synchronization not successful. Check resolver signal for inter-

22 Resolver counting error: Check resolver signal for interferences.
23 Resolver pole pair number is invalid. The ratio of the no. of pole pairs to

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

8.1 Error messages

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

F14

ferences.

the no. of resolver pole pairs must be an integer number. Check pa­rameters

Pairs

No. of Pole Pairs 373 for the motor and und No. of Pole

381 for the resolver, correct if necessary.

24 Open circuit: check resolver connections and lines.

purposes and not listed here. If you receive fault messa

es, which are not listed here,

please contact us by phone.

failure keys are

EM-RES-03 10/0770

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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