BONFIGLIOLI Active Cube Instructions d'exploitation

www.bonfiglioli.comBonfiglioli Riduttori S.p.A.Via Giovanni XXIII, 7/A40012 Lippo di Calderara di RenoBologna, Italytel: +39 051 647 3111fax: +39 051 64

11/0688 11/06The EM-SYS expansion module is supplied in a housing for assembly on the lower slotof the frequency inverter. • Remove the lower cover

911/0611/06 93.3 Electrical installation Danger! If the following instructions are not complied with, there is direct dangerwith the possible conseque

11/061010 11/063.3.2 Control terminals The control and software functionality can be freely configured for economical opera-tion with a safe functio

1111/0611/06 114 System bus interface The CAN connection of the system bus is physically designed according to ISO-DIS 11898 (CAN High Speed). The bus

11/061212 11/064.2 CablesFor the bus line, use twisted cable with harness shield (no foil shield).Attention! The control and communication lines are

1311/0611/06 134.4 Baud rate setting/line length The setting of the baud rate must be identical in all nodes on the system bus. Themaximum possible ba

11/061414 11/064.6 Functional overview To start with, the system bus produces the physical connection between the frequencyinverters. Logical commun

1511/0611/06 154.7.1 SDO channels (parameter data) Each frequency inverter possesses two SDO channels for the exchange of parameterdata. In a slave de

11/061616 11/064.8 Master functionality An external control or a frequency inverter defined as a master (node ID = 0) can beused as a master. The fu

1711/0611/06 17InitialisationPre-OperationalOperationalStoppedSwitch-onfrom anystate(1)(2)(3)(4)(5)(6)(7)(8)After Power On and the initialization, the

11/061818 11/064.8.2 SYNC telegram, generation If synchronous PDO’s have been created on the system bus, the master must send theSYNC telegram cycli

1911/0611/06 194.8.3 Emergency message, reaction If a slave on the system bus suffers a fault, it transmits the emergency telegram. Theemergency teleg

11/062020 11/064.8.4 Client SDO (system bus master) Each node on the system bus can be addressed via the SDO channels. In this way,each node can be

2111/0611/06 214.9 Slave functionality 4.9.1 Implement boot-up sequence, network management 4.9.1.1 Boot-up message After the initialization, each sla

11/062222 11/064.9.2 Process SYNC telegram If synchronous PDO’s have been created in a frequency inverter, their processing issynchronized with the

2311/0611/06 234.9.3 Emergency message, fault switch-off As soon as a fault switch-off occurs in a slave frequency inverter, the emergency tele-gram i

11/062424 11/064.9.4 Server SDO1/SDO2 The communication channel for the exchange of parameter data is the SDO channel.Communication works according

2511/0611/06 25If 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. A

11/062626 11/064.10 Communication channels, SDO1/SDO2 4.10.1 SDO telegrams (SDO1/SDO2) The service used for the exchange of parameter data is SDO Se

2711/0611/06 27Reading parameters: Client Î Server SDO Upload (expedited) 0 1 2 3 4 5 6 7Ctrl. byte Parameter number Data set Data 0x40 LSB MSB 0xnn

111/0611/06 1General points on the documentation The present supplement of the documentation is valid for the frequency inverter se-ries ACT and ACU.

11/062828 11/064.10.2 Communication via field bus connection (SDO1) If a frequency inverter has been defined as the system bus master and equipped w

2911/0611/06 29Display of node ID system bus in the VECTRON bus protocol: System bus Node-ID System bus address(ASCII-)characterHEX value System busad

11/063030 11/064.11 Process data channels, PDO 4.11.1 Identifier assignment process data channel The process channel for the exchange of process dat

3111/0611/06 314.11.2 Operation modes process data channel The transmit/receive behavior can be time controlled or controlled via a SYNC tele-gram. Th

11/063232 11/064.11.3 Timeout monitoring process data channel Each frequency inverter monitors its received data for whether they are updated within

3311/0611/06 334.11.4 Communication relationships of the process data channel Regardless of the process data to be transmitted, the communication rela

11/063434 11/064.11.5 Virtual links According to CANopen, a PDO telegram contains 0...8 data bytes. A mapping for anykind of objects can be done in

3511/0611/06 35For the system bus, the input data of the TxPDO’s are also displayed as input parame-ters and the output data of the RxPDO’s as sources

11/063636 11/06The virtual links with the possible sources are related to the Rx/TxPDO channels. Forthis purpose, the eight bytes of the Rx-/TxPDO’s

3711/0611/06 374.11.5.1 Input parameters of the TxPDO’s for data to be transmittedThe listed parameters can be used to stipulate the data that are to

11/0622 11/06TABLE OF CONTENTS 1 General safety and application information ... 41.1

11/063838 11/06With this method, there are up to three possibilities for a meaning of the contents ofthe individual bytes. Each byte may only be use

3911/0611/06 394.11.5.2 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

11/064040 11/064.11.5.3 Examples of virtual links Example 1:Frequency inverter 1 Frequency inverter 2 SourceNo.Input link TxPDO1ByteRxPDO1ByteSour

4111/0611/06 414.12 Control parameters For the monitoring of the system bus and the display of the internal states, two con-trol parameters are provid

11/064242 11/064.13 Handling of the parameters of the system bus As soon as the system bus expansion module EM-SYS exists in an frequency inverter,

4311/0611/06 43 TxPDO-Function 930TxPDO1 Function 931TxPDO1 Time 932TxPDO2 Function 933TxPDO2 Tome 934TxPDO3 Function

11/064444 11/064.14 UtilitiesFor the planning of the system bus according to the drive tasks in question, there are utilities in the form of tables.

4511/0611/06 454.14.1 Definition of the communication relationships The communication relationships are planned and documented with the help of thetab

11/064646 11/064.14.2 Production of the virtual links The virtual links are planned and documented with the help of the table. The table isavailable

4711/0611/06 474.14.3 Capacity planning of the system bus Each PDO telegram possesses a constant useful data content of 8 Bytes. According to worst ca

311/0611/06 3TABLE OF CONTENTS 4.10 Communication channels, SDO1/SDO2... 264.10.1 SDO teleg

11/064848 11/06The capacity planning are planned and documented with the help of the table. Thework sheet is available as a Microsoft Excel document

4911/0611/06 495 Parameter list The parameter list is structured according to the menu branches of the control unit.For better clarity, the parameters

11/065050 11/06 System bus No. Description Unit Setting range Chapter 950 TxPDO1 Word1 - Selection 4.11.5.1 951 TxPDO1 Word2 - Selec

5111/0611/06 516 Annex6.1 Error messages The various control functions and methods and the hardware of the frequency invertercontain functions which c

www.bonfiglioli.comBonfiglioli Riduttori S.p.A.Via Giovanni XXIII, 7/A40012 Lippo di Calderara di RenoBologna, Italytel: +39 051 647 3111fax: +39 051 64

11/0644 11/061 General safety and application information This documentation has been created with greatest care and has been extensively and repeat

511/0611/06 51.3 Transport and storage Transport and storage are to be done appropriate in the original packing. Store theunits only in dry rooms, whi

11/0666 11/062 IntroductionThis document describes the possibilities and the properties of the EM-SYS expansion module for the frequency inverters o

711/0611/06 73 Installation of the EM-SYS expansion module 3.1 General The mechanical and electrical installation of the EM-SYS expansion module is t