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EM-ABS-01 - Cod. vec760 r0

1. 1 Please refer to chapter 8 4 3 for setup of parameter Power supply 1186 2 Due to the high power consumption this encoder requires an external power supply In this case set Power supply 1186 1 Internal and connect the encoder to an external power supply 3 For setup of this parameter refer to chapter 6 6 4 Note behavior changeable via encoder parameters Note Owing to the great number of encoder types and special solutions not documented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified 03 12 EM ABS 01 for ACU 123 Gio Bonfiglioli 10 2 Compatibility list The compatibility between Module Firmware and device Firmware is described in the following 5 0 x 5 1 x 5 2 0 Possible combination 5 3 0 Possible combination The ACU Firmware can be read out via Inverter Software Version 012 and the Module Firmware via EM Software version 016 10 2 1 10 2 2 124 Module Firmware 1 0 1 0 The Module Firmware 1 0 1 0 requires basic device Firmware 5 2 0 The following encoders are supported e SinCos e Hiperface e EnDat 2 1 with SinCos tracks Limitations e In basic device firmware 5 2 0 several parameters of this operating instruc tions are not included Note An operation of modules with firmware 1 0 1 0 is only valid with devices with firmware 5 2 0 Devices with deviating device firmware may only b
2. No Description Unit Setting range Chapter 974 TxPDO3 Word3 Selection 7 11 5 1 975 TxPDO3 Word4 Selection 7 11 5 1 976 TxPDO3 Longi Selection 7 11 5 1 977 TxPDO3 Long2 Selection 7 11 5 1 989 Emergency Reaction Selection 7 8 3 V 1115 Feed Constant u U 1 27 1 6 6 V 69 1116 Gear Box Driving Shaft Revolutions 1 65535 1 vV 69 1117 Gear Box Motor Shaft Revolutions 1 65535 E3 1141 Actual Position Source Selection d 1 For further information please refer to the application manual Positioning No Description Unit Setting range Chapter 1183 Division marks 0 8192 8 4 1 1184 Tracks Protocol Selection 8 4 2 1186 Power supply Selection 8 4 3 1187 Supply voltage V 5 00 12 0 8 4 4 1188 Offset i 360 0 360 0 8 4 6 1189 Abs Encoder Filter time constant Us 125 8000 8 4 5 1268 SSI Sample time Factor x 125 us 8 4 10 1269 SSI Error Extra Bits Low Special 8 4 9 1270 SSI Error Extra Bits High Special 8 4 9 1271 Bits Turn Bits t 0 32 8 4 7 1272 Bits Multiturn Bit 0 32 8 4 8 120 EM ABS 01 for ACU 03 12 vv Bonfiglioli 10 Annex 10 1 Recommended encoder settings Please note that the settings described in the following are only recommendations for standard variant of the relevant encoders Owin
3. BONFIGLIOLI VECTRON INDUSTRY PROCESS AND AUTOMATION SOLUTIONS Expansion Module EM ABS 01 ga Frequency Inverter 230 V 400 V A TIVE cS ee o 97 FFA s p 1 Z 777 T Ss 2 Fi am E fa 777 77 S Mime T P MN GE BONFIGLIOLI v Bonfiglioli TABLE OF CONTENTS Dek struclOrns s secccea ccd recess cu cos A naEEORanS sRERRRPRREURRARURERDRRRSRURERRARRERESRRARRURERESRRNE 7 1 2 Pictograms and signal words used neuer eere eene enne nnn nnne nnn nnn 8 EM P 8 2 1 General Information eee eeee a nnuuauuuuuuuuuuuuR RR RR SRRRRRRRSRRRRSRRSRSRRSRRRRSRERRSRRRRRRSAE 9 2 2 Designated USC c Leere eese eene e eene n nena nnn hann u annua annuus unas sunu gn maus anra a anna uana 9 2 3 Transport and Storage e oneee esee eee en ee nnne nnne nhanh h unn annua anaana 10 2 4 Handling and installation ee Leer eee eere rere n neon nennen nnnm n nnn n nnn n 10 2 5 Electrical Installation 1 eco enean rn nnn ha unnuaunanuarauRaRRRRR SERE S RRRRR PRESS KR RR RR nn 10 2 0 Information on USe co iooxa reo znnus cunas uanas DNRRuRs ssana REaReR SRRRUERESERSRRRR DSRRAORRURREERSRRSER 11 2 6 1 X Operation with products from other manufacturerS ecceeeeeeeseee
4. No Description Min Max Factory set ting 1272 Bits Multiturn 0 Bit 32 Bit 13 Bit Note The position of the motor is resolved at a total of 31 bits sign bit The lower 16 bits are used for the motor position angle the higher 16 bits are used for the number of motor revolutions and the sign If the absolute value encoder is used as a motor encoder the following shall apply If the number of Bits Multiturn 1272 is smaller than 16 bits the missing bits are filled internally in the frequency inverter These additional bits are used for overflow saving of the revolutions so that 2 revolutions including one sign bit can be managed safe against zero voltage If the number of Bits Multiturn 1272 is greater than 16 bits the accura cy of the encoder exceeds the accuracy of the inherent resolution of the frequency inverter In the case of application encoders the reference between motor and application encoder is parameterized through the gear factors EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 Note In the case of linear encoders this value must be set according to chap ter 6 6 EM ABS 01 for ACU 105 Goo Bonfiglioli 8 4 9 SSI error additional bits 106 If SSI encoders are used the available error additional bits of the encoder can be masked for evaluation Many encoders use one or more bits for error signaling In some cases the bits are also used for transmitting additional information not re
5. 25 00Hz AX 2 00 100 0096 20 00 X1 70 Y1 50 10V 0 16 V The characteristic point 1 has been dis placed to the point 2 00V 0 00 Hz The parameter Tolerance band 560 is not taken into account in this example as no change of sign of the reference frequency value takes place Point 1 X1 30 00 100 0096 20 00 20 0090 10V 2 4 40V Y1 50 00 50 00 Hz 25 00 Hz Point 2 X2 80 00 100 0096 20 00 20 0090 10V 8 40 V Y2 85 00 50 00 Hz 42 50 Hz Tolerance band o Of 0 X1 30 Y1 50 25 eur UE 20 00 The direction of rotation is changed in this example at an analog input signal of 5 88 V with a tolerance band of 0 16 V 03 12 EM ABS 01 for ACU 87 Gio Bonfiglioli The operation mode 101 bipolar Amount maps the bipolar analog signal onto a unipolar input characteristic The formation of the absolute amount takes the charac teristic 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 Point 1 X1 70 00 10 V 7 00 V 42 50Hz 278076 Y2 8575 v1 50 00 50 00 Hz 25 00 Hz Point 2 X2 80 00 10V 8 00 V Y2 85 00 50 00 Hz 42 50 Hz Tolerance band AX 2 00 10V 2 0 20V A ape EPUM In this example the reference value is again increased from an analog input sig nal of 1 44 V with a tolera
6. 2 7 Maintenance and service Warning AN Unauthorized opening and improper interventions can lead to personal injury or material damage Repairs on the frequency inverters may only be carried out by the manufacturer or persons authorized by the manufacturer Check protective equipment regularly Any repair work must be carried out by qualified electricians 2 8 Disposal The components of the frequency inverter must be disposed of in accordance with the applicable local and national laws regulations and standards 03 12 EM ABS 01 for ACU 11 Goo Bonfiglioli 3 12 Introduction This document describes the possibilities and the properties of the EM ABS 01 exten sion module for the frequency inverters of the ACU series of devices Note This document exclusively describes the EM ABS 01 extension module It is not to be understood as fundamental information for the operation of the frequency inverters of the ACU series of devices The EM ABS 01 extension module is an optional hardware component to extend the functionality of the frequency inverter It enables the data exchange within the net work and between the components which have been directly connected for example control and regulation elements An absolute value encoder or a SinCos encoder and an external DC 24 V power source can be connected to the extension module EM ABS 01 The connected voltage source can power the encoder To that end the encoder power supply mu
7. 12 VDC and X410A 7 GND _intern at contacts X412 6 Venc 5 12 VDC and X412 15 OVL Sense Voltage source is provided internally by the frequency inverter max 2 W A measuring line sense of the encoder must be connected in order to monitor the supply voltage power supply to encoder at terminals X410A 5 5 12 VDC and X410A 7 GND at contacts X412 6 Venc 5 12 VDC and X412 15 OVL Power supply is effected through an external power source which must be connected to terminals X410A 1 24 VDC and X410A 2 ground A mea suring line sense of the encoder must be connected in order to monitor the supply voltage 1 Intern 5 Note Even if the encoder features a measuring line sense you can chose operation mode 1 or 2 98 EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli Note In the case of Hiperface encoders the sense line settings 5 intern Sense or 6 Via X410A sense is typically not used as it is not defined in the Hiperface standard Speci fication Thus using the sense line is not required in the case of Hiperface encoders Note The maximum voltage of the power supply is DC 12 V Via a sense line the voltage can be monitored at the encoder but the voltage output is limited to DC 12 V The voltage level can be set up via parameter Supply voltage 1187 See chapter 8 4 4 Supply voltage EM ABS 01 for ACU 99 Goo Bonfiglioli Note BONFIGLIOLI VECTRON rec
8. Positioning x40 Carry out referencing operation once Note If the data track cannot be evaluated error F1719 Dig encoder Protocol error will be triggered In this case check Tracks Protocol 1184 setting Note When the frequency inverter is turned on the absolute position is read via the data tracks Via the incremental tracks the position is counted up in ternally and compared to the updated absolute position at regular inter vals This guarantees a very high positioning and speed accuracy at all supported transmission rates SSI encoders This chapter describes how SSI encoders are commissioned You can connect SSI encoders with binary evaluation and SSI encoders with Gray code evaluation This function is being prepared and is currently not supported Note For a correct function of the speed control an SSI encoder with incremen tal tracks TTL RS 422 level or SinCos tracks must be used If the SSI encoder is used for positioning and not for speed feedback you can also use a SSI encoder without incremental tracks HTL tracks cannot be used as incremental tracks Step 1 Install the EM ABS 01 as described in chapter 5 2 Do not connect the encod er cable yet Step 2 Turn the frequency inverter on for parameter configuration mains voltage or DC 24 V Step 3 Configure the frequency inverter according to the following parameters e Set Tracks Protocol 1184 according to the encoder data sheet please see chapt
9. An internal format referred to as 16 16 is used for speed control and calculation of the positioning trajectory The 16 less significant bits represent the position angle on a motor revolution the 16 more significant bits represent the number of motor revolu tions The positioning offers the user so called user units abbreviation u which enable adjustment to any application via the reference system In this way the resolution of the smallest unit for positioning can be parameterized e g 1 mm 4 mm 0 01 etc For more information on the reference system refer to the application manual Posi tioning EM ABS 01 for ACU 03 12 v Bonfiglioli No Description Min Max Factory set 1115 27 1 u U 1116 Gear Box Driving Shaft Revolu 65 535 tions 1117 Gear Box Motor Shaft Revolutions 65 535 For application encoders a gear transmission between the application encoder and motor must be parameterized via a gear factor see chapter 8 4 11 Gear factor speed sensor 2 The conversions between the different reference systems are done automatically the user sets the target values in user units referred to the distance 8 4 13 1 Example For parameterization of a linear slide the following properties are known Motor gear ratio 8 5 Application encoder gear ratio 7 3 Feed rate of linear axis 635 5 mm revolution of the output shaft Turns of driving shaft Gear Box Driving Shaft revolutions 1116
10. I dentifier 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 de vice The PDO channels are defined via identifiers according to the Predefined Connection Set to CANopen Identifier 1 Rx PDO 512 4 Node ID Identifier 1 Tx PDO 384 4 Node ID Identifier 2 Rx PDO 768 4 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 Atten Identifiers may only be assigned once i e no double assignments tion The identifier range 129 191 may not be used as the emergency tele grams can be found there Setting of the identifiers of the Rx TxPDOs No Description Min Max Factory set ting 924 RxPDO1 Identifier 0 2047 0 925 TxPDO1 Identifier 0 2042 0 926 RxPDO2 Identifier 0 207 0 927 TxPDO2 Identifier 0 2042 0 928 RxPDO3 Identifier 0 204 0 929 TxPDO3 Identifier 0 20 7 0 The setting 0 results in identifier assignmen
11. Max Factory set ting 1187 Supply voltage 5 0V 12 0V 5 0 V 15 B X412 DC5 12V x Supply voltage 1187 j Sa n Q a EM ABS 01 for ACU 101 Goo Bonfiglioli 8 4 5 Speed filter Via parameter Abs Encoder Filter time constant 1189 you can filter high frequency of the encoder signals and limit the control band width No Description Min Max Factory set ting 1189 Abs Encoder Filter time constant 125 us 8000 us 125 us 8 4 6 Offset 102 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 wind ings 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 encoder is adjusted to the rotor displacement angle of the synchronous motor by adjusting the offset For operating a synchronous machine with encoder the offset must be adjusted in order to obtain perfectly true running and a maximum torque The correct Offset 1188 is adjusted when the Flux forming voltage 235 is roughly the same in both directions when the motor is turning and comes as close as possible to the value 0 Also note the fine setup instructions at the end of this chapter No Description Min Max Factory set tin 11
12. Positioning accuracy will be lower in the case of high sampling rates For precise applications use encoders with low sampling rates Gear factor speed sensor 2 If the speed sensor is coupled to the motor via one or more gears the transmission ratio between the motor and the encoder must be configured via EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 No Description Min Max Factory set ting 513 EC2 Gear Factor Numerator 300 00 300 00 1 00 514 EC2 Gear Factor Denominator 0 01 300 00 1 00 Revolutions of the Motor shaft EC 2 Gear Factor Numerator 513 Revolutions of the EC2 encoder shaft EC 2 Gear Factor Denominator 514 Note Gear factors EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 must always be referred to the motor Note In the case of linear encoders this value must be set according to chap ter 6 6 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 4 11 1 Example 8 4 12 03 12 On a linear axis the motor is flange connected via a gear transmission ratio 8 1 and the application connector is flange connected via a second gear transmission ratio 3 1 Turns of driving shaft Gear Box Driving Shaft revolutions 1116 5 Sledge Application encoder 1024 Incr Revolution Gear 8 5 ll Feed 653 5 mm revolution of driving shaft Required resolution 0 1 mm eed Constant 1115 6535 Gea
13. Safety Safety extra low voltage SELV according to EN 61800 5 1 Note Connect the power supply for the encoder to terminals X410A 1 and Caution Caution Caution X410A 2 Connection via the terminals of the basic device ACU X210A 1 and X210A 2 is not sufficient for powering the EM ABS 01 module and the encoder If the encoder is powered via X410A 2 W power are available to the en coder interface Another 2 W are available to the interfaces digital analog inputs outputs of the basic device The inputs for the external power supply can withstand external voltage up to DC 30 V Avoid higher voltage levels Higher voltages may destroy the module Some encoders e g laser distance meters need more power than possi ble with the power supply described here If the encoder requires a power level higher than 2 W or more than DC 12 V it must be connected to an external power supply directly Non fulfillment of this requirement may result in dangerous plant states Set parameter Power supply 1186 to either 2 via X410A or 6 via X410A sense See chapter 8 4 3 Power supply The voltage level can be set up via parameter Supply voltage 1187 See chapter 8 4 4 Supply voltage The encoder can be powered as follows via control terminals X410A 5 DC 5 12 V and X410A 7 GND or Via contacts X412 6 Venc and X412 15 GND of the female HD Sub D connector See chapter 5 3 2 Control terminals EM ABS 01 for AC
14. 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 70 EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli The virtual links with the possible sources are related to the Rx TxPDO channels For this purpose the eight bytes of the Rx TxPDOs 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 Data Boolean uint int long 4 Bytes EM ABS 01 for ACU 71 Gio Bonfiglioli 7 11 5 1 Input parameters of the TxPDOs for data to be transmitted The listed parameters can be used for determining the data that are to be trans ported 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 P No TxPDO1 P No TxPDO1 P No Boolean uint int long input Byte input Byte input Byte 0 946 0 950 0 1 Boolean1 1 Word1 1 954 2 947 2 951 2 3 Boolean2 3 Word2 3 Long1 4 948 4 952 4 5 Boolean3 5 Word3 5 955 6 949 6 953 6 7 Boolean4 7 Word4 7 Long2 T
15. Warning The DC link circuit of the frequency inverter is charged during operation i e there is al ways the risk of contact with high voltage Frequency inverters are used for driving moving parts and they may become hot at the surface during operation Any unauthorized removal of the necessary covers improper use wrong installation or op eration may result in serious injuries or material damage In order to avoid such injuries or damage only qualified technical staff may carry out the transport installation commissioning setup or maintenance work required The standards DIN 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 as well as the applicable national regulations must be complied with The term Qualified Staff refers to anybody who is familiar with the in stallation assembly commissioning and operation of the frequency inverter as well as the possible hazards and has the proper qualification for the job Persons not familiar with the operation of the frequency inverter or children must not have access to the device Designated use Warning The frequency inverters are electrical drive components intended for installation in indus trial plants or machines Commissioning and start of operation is not allowed until it has been verified that the machine meets the requirements of the EC Machinery Directive 2006 42 EEC and DIN EN 60204 In accordance with the CE mar
16. but there is no external voltage Connect ex ternal power source or change operation mode 4 EM ABS 01 Ext 24V voltage level too low The voltage level of the external power supply is too low or the external power supply is overloaded Check the voltage level of the external power supply EM ABS 01 Int 24V voltage level too low The internal power supply to the encoder provided by the frequency inver ter is overloaded Check the connections at the control terminals EM ABS 01 No sense line Via parameter Power supply 1186 an operation mode using a sense measuring line was selected but no sense line is connected Connect sense measuring line or select another operation mode Sense measuring line defective or broken Check cables and connec tions 87 EM ABS 01 A B track missing A B track not found Connect A B track A B track cable broken Check cables and connections Check set Division marks 1183 In some cases you may have to reset the device if the error occurs direct ly after connection of mains supply 88 EM ABS 01 Fault correction A B track Error during evaluation of A B track Required measuring accuracy not reached The offset and amplification error correction for the A B track has reached its maximum 03 12 EM ABS 01 for ACU 125 Gio Bonfiglioli 126 EM ABS 01 Fault correction C D track Error during evaluation of C D track Required measuring accuracy not reached The offset and amplific
17. cien eren ed ri eren Ehe ka Corn err cause e Eee RE E RR 26 5 3 3 2 Looping via terminals X410A seseeeeeeeeeeee nennen menn nennen nnn nennen 27 5 3 3 3 Direct connection of external power supply to the encoder 28 6 1 General Information sees enuuauuuuuunuuuuuuuR RR RR SRRRRSRRRRSRRSRRRRSRRRRSRRRRSRRRSRRRSRRS 29 6 1 1 Information ON USE essan aaa a AE RE 30 6 2 SinCo s encoders icireseoionnus suannes ERDIRRRERRERRRRRSRRDRERERRERSRRRRERRRRRREER Ubcnechduceneaeceis 31 6 3 Hiperface encoders e eieieeee e ceiieee e sieis sensu aan nu iau a nua aduana uad ansa sd nana uaa 32 6 4 EnDat 2 1 encoders nsi cie oak sonas puEna Eo CHE ERES SERERE SEEN aaiae iaaa iiiad 33 65 SSP ej Od OS iui soecicese se rksac aye ou on eo EuR ERR ES EUR a RESRRNRDRSRRRNERRROSSRERURORERESRAURERSNRRRERESNRERERES 34 6 6 Commissioning of linear encoders 1 1seeeee ec eeieee eie seen n ena nn nana nnn 36 6 6 1 X Checking the settings ere ein rere he ene enu Rr RR AR e eR Ke ea MERE ERR E DAR KR ERE YR ARAR RR RR 41 6 6 2 Initialize counting direction eeesssseseeeee ener nen enne 43 6 6 3 Initializing home position eeeeeseeseseeseeeen enne nnn nemen nnne 43 03 12 EM ABS 01 for ACU 3 Gio Bonfiglioli 7 1 Bustermination Leer eere eene eene enun nnn aa aiaa aana sana agna asus an
18. nary 0 63 7 10 2 2 RS232 RS485 with VECTRON bus protocol 03 12 In the VECTRON bus protocol there is a byte in the telegram header that is always transmitted with 0 as a standard feature ENQUI RY 0 1 2 3 j a 5 6 p n n n Address 0 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 corres ponding to the conventions for the display of the address in the VECTRON bus proto col 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 ABS 01 for ACU 63 Gio Bonfiglioli 64 Display of node ID system bus in the BONFIGLIOLI VECTRON bus protocol System bus address WlOIN DUR W Ne nh ASCII HEX value System bus charac address ter z Co ASCII cha racter HEX value 5F 60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F EM ABS 01 for ACU 03 12 vv Bonfiglioli 7 11 Process data channels PDO 7 11 1 03 12
19. 117 Node address seeeeeee 46 O Offsets ar MEI EE 102 P PDO 48 65 Pin assignment X412 encoder connector 22 Positioning rrr rer terna 110 Power supply rte 26 98 Internal ierit it aeterna 26 R Recommended encoder settings 121 S Safety e ure 9 Pom 48 59 61 Set VICG ies ERI VERE ENS Re Dev RE EV TR EY ENT CY 11 Speed filter eeeseeeeennneeeennnne 102 SSI error additional bits 106 Sample time sisside 108 SSI operation modes eee 35 Storage eiii Rei eri 10 Supply voltage eeeneeenne 101 er P 51 55 System bus ern ert ree 12 44 Technical data mene 15 Tracks Protocol eseeeeeereeeee 95 TkanspOEtsi o terre rr RR DRE 10 Ww Warning Dig Encoder 112 128 EM ABS 01 for ACU 03 12 Bonfiglioli Worldwide amp BEST Partners AUSTRALIA ONFIGLIOLI TRANSMISSION Aust Pty Ltd 2 Cox Place Glendenning NSW 2761 Australia Locked Bag 1000 Plumpton NSW 2761 el 61 2 8811 8000 Fax 61 2 9675 6605 www bonfiglioli com au sales bonfiglioli com au AUSTRIA BONFIGLIOLI OSTERREICH GmbH Molkereistr 4 A 2700 Wiener Neustadt el 43 02622 22400 Fax 43 02622 22386 www bonfiglioli at info bonfiglioli at MOLL MOTOR GmbH BEST ndustri
20. 5 Sledge Application encoder 1024 Incr Revolutior Gear idi X X KX hi Feed 653 5 mm revolution of driving shaft Required resolution 0 1 mm eed Constant 1115 6535 Gear Gear Box Motor Shaft revolutions 1117 8 Turns of Motor shaft EC2 Gear factor Numerator 513 3x8 EC2 Gear factor Denominator 514 7x5 This results in the following parameterization Feed constant 1115 6535 rev Gear shaft turns 1116 5 Gear motor turns 1117 8 EC2 Gear Factor Numerator 513 24 EC2 Gear Factor Denominator 514 35 In order to move by 1 mm a positioning order of 10 u must be executed Note In the case of linear systems the feed constant is typically specified in the data sheet If this value is unknown it must be determined empirical ly For empirical determination of the feed constant refer to application manual Positioning 03 12 EM ABS 01 for ACU 111 Goo Bonfiglioli 8 4 13 2 Homing 8 4 14 112 When it comes to positioning homing may be required or recommended depending on the application If no absolute value encoder is used homing to a known point e g reference cam or limit switch will typically be performed first upon restoration of mains supply When an absolute value encoder is used homing during operation is unwanted in many situations If homing is not to be performed during operation you can set Op eration mode 1228 10 No
21. 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 66 EM ABS 01 for ACU 03 12 7 11 3 03 12 v Bonfiglioli 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 RxPDOs No Description Min Max Factory setting 939 0 ms 941 0 ms 942 0 ms 945 RxPDO3 Timeout 60000 ms 0 ms Setting 0 means no timeout monitoring Atten There is only monitoring for the SYNC telegram if at least one RxPDO or tion 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 ABS 01 for ACU 67 Gio Bonfiglioli 7 11 4 68 Communication relationships of the process data channels 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 Generally there are two possib
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23. Numerator 2 Bits Turn 1271 Then the preliminary denominator is calculated Feed Constant 1115 2 GearBox DrivingShaftRevolutions 1116 PreliminaryDenominator B GearBox MotorShaftRevolutions 1117 or PreliminaryDenominator EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli With the example values the following results are obtained Preliminary Numerator 32 Preliminary Denominator 27 7336 The values calculated in this way can be used directly for parameters EC2 Gear Fac tor Numerator 513 and EC2 Gear Factor Denominator 514 To increase accuracy the following intermediate Optimization step is recommended This intermediate step is not necessary if accuracy is already sufficient EC2 Gear Factor Numerator 513 32 00 EC2 Gear Factor Denominator 514 27 73 8the step Optional Optimization of gear factors The steps carried out above will result provided that calculation was made correctly in a denominator which is smaller than the numerator This advantage is used for optimization The following is set EC2 Gear Factor Numerator 513 300 00 Value 300 00 is always used to achieve maximum accuracy PreliminaryDenominator ConclusiveDenominator 300 00 PreliminaryNumerator With the example values the following results are obtained EC2 Gear Factor Numerator 513 300 00 EC2 Gear Factor Denominator 514 260 00 Note Parameter EC2 Gear Factor Numerator 513 is limited to va
24. SinCos encoders and PTC 15 pin female connector HD Sub D The encoder interface is designed for connection of standard commercial SinCos op tionally with commutation tracks for synchronous motors EnDat 2 1 SinCoS track required Hiperface and SSI encoders optionally with TTL RS 422 or SinCos track Depending on the encoder type different signals are evaluated The following signals can be evaluated AJB tracks and or Sin Cos tracks C D tracks commutation tracks or Data Clock tracks absolute value encoders R tracks reference track Measuring line for monitoring and control of encoder supply voltage Input sinusoidal incremental signals internal resistance of source 100 O A B and C D tracks Direct portion V DC 2 5 V 0 5 V peak value 0 6 V R track Direct portion V DC 2 5 V 0 5 V differential voltage 1 8 V The encoder supply voltage at contacts X412 6 Venc and X412 15 OVL can be ad justed through parameter Supply voltage 1187 in between DC 5 0 12 V See chap ter 8 4 4 Supply voltage Max load 2 W PTC input Trigger resistance 2 4 kQ PTC as per DIN 44081 PTC or bimetal temperature sensor NC Use PTC resistors with safe isolation from motor winding according to EN 61800 5 1 EM ABS 01 for ACU 03 12 v Bonfiglioli 5 3 2 Control terminals gt gt 03 12 The control and software functionality can be configured as required to ensure a reli able and economical oper
25. The identifier of the SYNC telegram must be set identically in all clients on the system bus Atten The identifier range 129 191 may not be used as this range is used for tion the emergency telegrams The setting of the identifier of the SYNC telegram is done via parameter SYNC Identifier 918 Description Min Max Factory setting ats SYNC identifier 0 207 o The setting 0 results in identifier assignment according to the Predefined Connec tion 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 TxPDO s RxPDO 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 7 9 3 Selecting the synchronization source 03 12 The operating system OS of the frequency inverter can be synchronized with a PLC or another device Synchronizing the operating system will improve the operating behavior of the machine Synchronization via CANopen If CANopen is used without system bus synchronization can be turned on or off Synchronization is done via CANopen SYNC telegrams Synchronization via system bus If CANopen is used simultaneously with system bus synchronization can be done either on CANopen system bus or turned off Synchronization is effected throug
26. according to EN 61800 5 1 Use shielded and twisted cables Install encoder cable separate from motor cable Connect the shield of the encoder line properly on both sides BONFIGLIOLI VECTRON recommends using the pre assembled cables for syn chronous motors types BCR and BTD 03 12 EM ABS 01 for ACU 25 Goo Bonfiglioli 5 3 3 Power supply 5 3 3 1 26 Encoder power supply can be effected in different ways Depending on the consumers connected there are different encoder power supply possibilities or requirements Generally there are three different application types e Low power demand 0 5 W and power supply x 12 V gt Internal power supply e Medium power demand 0 5 2 W and power supply x 12 V gt Power supply to be looped via X410 e High power demand gt 2 W or power supply gt 12 V gt Connect encoder directly to external power supply Encoders with high power demand 2 W or voltage higher than DC 12 V must be connected to an external power supply directly External power supply can be connected via terminals X410A for encoder supply In this case a DC 24 V supply can be controlled down by the EM ABS 01 module to the frequently needed voltage levels DC 5 12 V I nternal power supply Encoders with a low power consumption 0 5 W can be supplied in most cases by the internal power supply unit Set parameter Power supply 1186 to either 1 internal or 5 internal sense See c
27. an error situa tion SSI Error Extra Bits High 1270 HX Bits Multiturn 1272 8 Bits Turn 1271 16 SSI Error Extra Bits Low 1269 XLXX 8 4 9 4 Example 4 Encoder has 4 toggle bits all of which are to be ignored SSI Error Extra Bits High 1270 Bits Multiturn 1272 8 Bits Turn 1271 16 SSI Error Extra Bits Low 1269 XXXX EM ABS 01 for ACU 107 Gio Bonfiglioli 8 4 10 8 4 11 108 SSI Sampling interval SSI frequency encoders often use a sampling rate in the millisecond range In order for the evaluation in the device to work correctly the sampling rate of the SSI absolute value encoder must be set up If the sampling rate of the encoder cannot be adjusted use the next higher available setting The parameter value is adjusted as a multiplier of 125 us Note Not all steps from 0 to 240 are available The selection list limits the available options to reasonable settings No Description Min Max Factory set ting 1268 SSI Sampling interval 0 240 0 Attention For a good positioning behavior the sampling rate is to be less than 1 ms In the case of higher sampling rates unwanted high system vibration or even machine damage may occur if the speed and position controller are configured improperly In the case of high sampling rates 2 ms reduce the dynamics of the system via the speed controller and the position controller
28. assembly and application of the EM ABS 01 ex tension module is documented in this guidance For better clarity the documentation is structured according to the customer specific requirements made on the frequency inverter 1 1 Instructions For better clarity the documentation is structured according to the customer specific requirements made on the frequency inverter Quick Start Guide The Quick Start Guide describes the basic steps required for mechanical and electrical installation of the frequency inverter The guided commissioning supports you in the selection of necessary parame ters and the configuration of the frequency inverter by the software User manual The Operating Instructions describe and document all functions of the frequency inverter The para meters required for adapting the frequency inverter to specific applications as well as the wide range of 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 are described specific to the application If you need a copy of the documentation or additional information contact your local representative of BONFIGLIOLI The present documentation was prepared with great care and it was subjected to extensive and re peated reviews For reasons of clarity it was not p
29. can be selected via parameter Motor Temp Operation mode 570 The operation modes described in chapter Motor Temperature of the frequency inverter operating instructions are complemented by the following operation modes with the extension module EM MPTC The critical point of operation is displayed by the control 11 warning only unit and parameter Warnings 269 The fault shutdown is displayed by message F0400 The EM MPTC z fault shutdown can be acknowledged via the control unit Fault shutdown or the digital input 13 Fault shutdown delayed by one minute 1 min del 14 Fault shutdown delayed by five minutes 5 min del 15 Fault shutdown delayed by ten minutes 10 min del The function to be adjusted by parameter Motor Temp Operation mode 570 results in signaling the overtemperature by the red LED of the frequency inverter irrespective of the selected operation modes of the control inputs and outputs The operation modes with error switch off result in the fault message FAULT with fault number F0400 being displayed on the control unit KP500 The fault message can be acknowledged via parameter Program 34 or the logic signal linked with parameter Error acknowledgement 103 03 12 EM ABS 01 for ACU 117 Goo Bonfiglioli 9 List of parameters 9 1 9 2 118 The parameter list is structured according to the menu branches of the control unit For better clarity the parameters have been marked with pict
30. encoder type X In the case of SSI encoders the evaluation of the division marks depends on the setting of Tracks Protocol 1184 1 Setting the offset is required in the case of synchronous motors gt lt gt lt gt lt gt lt X lt gt X lt gt lt gt lt gt lt gt lt X lt gt X lt gt lt gt lt OK DS X lt gt X lt gt lt gt lt OK OK X lt In addition the following actual value parameters are available Parameters Encoder system No Description SinCos Hiperface EnDat 2 1 SSI 1267 Abs encoder raw data EA X X X 1274 Warning Dig Encoder um A X Note If positioning configurations x40 is used please note to the instructions in chapter 8 4 11 1 Note Gear factors EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 are not available in configurations 5xx 8 4 1 Division marks 94 In parameter Division marks 1183 you can set the type specific number of division marks of the encoder The number of division marks is typically described in ampli tudes revolution in the case of encoders with SinCos tracks Enter the division marks or amplitudes revolution in parameter Division marks 1183 No Description Min Max Factory set ting 1183 Division marks 0 8192 1024 Note In the case of SSI absolute value encoders evaluation of Division marks 1183 is active o
31. external voltage up to DC 30 V Avoid higher voltage levels Higher voltages may destroy the module 03 12 EM ABS 01 for ACU 19 Gio Bonfiglioli 20 Voltage input connection for external power supply of encoder Input voltage range DC 24 V 10 Umax DC 30 V Rated input current max DC 1 0 A typical DC 0 45 A Peak inrush current typical lt DC 20 A External fuse standard fuse elements for rated current characteristic slow Safety Safety extra low voltage SELV according to EN 61800 5 1 Digital outputs EM S1OUTD EM S20UTD Digital signal DC 24 V Imax 40 mA PLC compatible overload and short circuit proof 9 Voltage output for encoder supply DC 5 V 12 V according to configuration of parameter Supply voltage 1187 factory setting DC 5 0 V Pmax 2 W Caution The power output on terminal X410A 1 may be loaded with a maximum power of 2 W Higher power levels can damage components of the mod ule 9 Analog input EM S1lI NA Analog signal resolution 13 bit Umax DC 10 V R 100 ko Q Digital inputs EM S1I ND EM S3IND Digital signal response time 1 ms in configurations x40 Positioning 4 ms in all other configurations Umax DC 30 V 10 mA at DC 24 V PLC compatible frequency signal DC 0 30 V 10 mA at DC 24 V Communication interface system bus CAN connection of system bus according to ISO DIS 11898 CAN High Speed bus termination can be activated via switch 9 Inputs for
32. homing By using different frequency inverter data sets you can configure a setup mode in cluding homing and a normal operation mode Warning Dig Encoder Via parameter Warning Dig Encoder 1274 the current warning status of EnDat 2 1 encoders is displayed This information can be used for analyzing and eliminating appli cation problems Parameter Warning Dig Encoder 1274 shows the current warning with an abbreviation For evaluation via field bus parameter Warning Dig Encoder 1273 with the warning value in hexadecimal representation can be used By addition of the values several warnings can be displayed simultaneously Abbreviation in Bit code Warning Dig Encoder 1274 Naming pie dr aaa Bit Value Fol ST O 090x001 Frequency collision Warnings which are present at the same time are represented by the bit combination or mathematical addition Present warnings can be displayed via the application warning mask in Bit 9 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 4 15 Act speed source The rotary encoder is selected via Actual Speed Source 766 If the encoder is to deliv er the actual value signal for the speed controller rotary encoder 2 must be selected as the source In the basic setting rotary encoder 1 is used as the source of actual speed 1 Encoder 1 The actual speed source is speed sensor 1 of the basic device factory setting 2 Encoder 2 The actual speed source is rotary encode
33. in an actual value jump Upon the time of changeover slave drives in an elec tronic gear must be switched off EM ABS 01 for ACU 03 12 6 2 03 12 v Bonfiglioli SinCos encoders This chapter describes how SinCos encoders are commissioned Note If a SinCos encoder is used as a motor encoder on a synchronous servo motor the SinCos encoder must also feature in addition to signal tracks A B commutation tracks C D e g Heidenhain ERN 1185 Step 1 Install the EM ABS 01 as described in chapter 5 2 Do not connect the encod er cable yet Step 2 Turn the frequency inverter on for parameter configuration mains voltage or DC 24 V Step 3 Configure the frequency inverter according to the following parameters e Adjust the Division marks 1183 according to the encoder data sheet see Chapter 8 4 1 in the case of SinCos encoders the value is typically 1024 pulses turn e Set Tracks Protocol 1184 to value 100 300 500 or 700 please see chapter 8 4 2 e Adjust the Supply voltage 1187 according to the encoder data sheet see Chapter 8 4 4 in the case of SinCos encoders the value is typically 5 0V e Adjust Power supply 1186 according to the connections see chapter 8 4 3 Bonfiglioli Vectron recommends evaluating the sense line settings 5 intern Sense or 6 Via X410A Sense if available and connected Attention Always set the Supply voltage 1187 first and then set Power supply 1186 e If the encoder is used
34. input EM S1INA analog value EM S1INA 4 Abs value Reference sources are the multifunctional input MFI1A EM S1INA MFI1A and the analog input EM S1INA Abs value Reference sources are the multifunctional input 14 MFI1A EM S1INA MFI1A analog input EM S1INA and fixed percentage FP or FF FP or the fixed frequency FF Reference sources are the multifunctional input MFI1A analog input EM S1INA and the motor po tentiometer function MP _ Abs value MFI1A EM S1INA MP 102 to 124 Operation modes with signs 24 Alongside 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 8 6 X Actual value display The actual value of rotary encoder 2 can be read out via the parameters Encoder 2 Frequency 219 and Encoder 2 Speed 220 The analog input signal on analog input EM S1INA is displayed via actual value para meter Analog Input EM SIINA 253 114 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 6 1 Absolute value encoder raw data For diagnosis you can check the value transmitted by the absolute value encoder via parameter Abs Encoder Raw Data 1267 Depending on the encoder technology used the actual value parameter is built up as follows Hiperface Binary EnDat 2 1 Binary SSI Additional bits High X Position Additional bits Hig Binar
35. operation If a further fault occurs subsequently it is transmit ted in a new emergency telegram The acknowledgment sequence is based on the definitions according to CANopen Data contents of the emergency telegram Byte Meaning low byte error code high byte error code Error register 0x00 0x00 0x00 Oxnn internal error code low byte Oxmm _ internal error code high byte J OY o01 Co N2 9 O 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 dependent error The explanation and description of the product specific VECTRON error code can be found in the annex Error messages EM ABS 01 for ACU 03 12 v Bonfiglioli 7 9 5 Server SDO1 SDO2 03 12 The communication channel for the exchange of parameter data is the SDO channel Communication works according to the client server model The server is the sub scriber holding the data here the frequency inverter the client the subscriber re questing 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 reserv
36. parameterization in order to solve identifier conflicts in a larger system in which further devices are on the CAN bus alongside the frequency inverters Atten If a system in which a frequency inverter works as a master is produced tion 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 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 per mits 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 7 7 2 PDO channels process data 48 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 oper ation behavior can be set for each
37. speed sensor 1 input of the basic device can be used 03 12 EM ABS 01 for ACU 13 Gio Bonfiglioli 3 2 Range of applications of encoders Depending on the motor and encoder type used there are restrictions as to usability in applications The following sections describe the range of applications Note The EM ABS 01 module supports in the case of EnDat 2 1 encoders a baud rate of 100 kBit s Other baud rates will not be supported 3 2 1 Asynchronous motor SinCos Hiperface EnDat 2 1 with SinCos track SSI with incremental track TTL RS 422 or SinCos can be used on asynchronous motors as e Motor encoders for speed feedback e g Configuration 210 e Motor encoders for speed feedback and parallel position feedback in non slip systems e g Configuration 240 e Application encoder for position feedback with parallel speed feedback either via motor model sensorless e g Configuration 440 or via HTL encoder via terminals on ACU basic device e g Configuration 240 SSI encoders without incremental track can be used on asynchronous motors as e Application encoder for position feedback with speed feedback either via mo tor model sensorless e g Configuration 440 or via HTL encoder via termin als on ACU basic device e g Configuration 240 EnDat 2 1 without SinCos track cannot be used 3 2 2 Synchronous motor 14 SinCos with commutation tracks Hiperface EnDat 2 1 with SinCos track SSI with incremental track
38. telegrams The telegram contains two data bytes 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 subscribers are addressed 3 6 Start Remote Node 1 4 7 Enter Pre Operational 128 5 8 Stop Remote Node 2 Reset Node 129 Reset Communication 130 Atten The reset node and reset communication command specified according tion 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 ABS 01 for ACU 03 12 v Bonfiglioli 7 9 2 Process SYNC telegram If synchronous PDO s have been created in a frequency inverter their processing is synchronized with the SYNC telegram The Sync event can either by a SYNC telegram or a RxPDO telegram and is set up via 1180 Operation mode synchronization The SYNC telegram is generated by the system bus master and is a telegram without data or 1 byte data The data byte is ignored 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
39. these settings deviations will be compensated when the supply voltage of the encoder deviates from the set voltage level To that end the voltage is measured at the end of the supply line at encoder In operation modes 1 and 2 the voltage is controlled at the EM ABS 01 module power losses during energy transmission via the supply line will not be compensated The encoder can be powered as follows via control terminals X410A 5 5 12 VDC and X410A 7 GND or via contacts X412 6 Venc and X412 15 OVL of the female HD Sub D connector See chapters 5 3 2 Control terminals and 5 3 3 Power supply Caution Always set the Supply voltage 1187 first then set Power supply 1186 Otherwise the encoder might be destroyed by high voltage levels No power supply selected for the encoder This setting is also used if the encoder is connected directly to an external power supply Factory set ting power supply to encoder at terminals X410A 5 5 12 VDC and X410A 7 GND at contacts X412 6 Venc 5 12 VDC and X412 15 OVL Voltage source is provided internally by the frequency inverter max 2 W power supply to encoder at terminals X410A 5 5 12 VDC and X410A 7 GND at contacts X412 6 Venc 5 12 VDC and X412 15 OVL Power supply is effected through an external power source which must be connected to terminals X410A 1 24 VDC and X410A 2 power supply to encoder at terminals X410A 5 5
40. value specified in the data sheet of the encod er used must be entered in parameter Bits Turn 1271 In the case of EnDat 2 1 the value is read automatically from the EnDat encoder and used internally Parameter Bits Turn 1271 is not evaluated in the case of EnDat en coders EM ABS 01 for ACU 03 12 v Bonfiglioli No Description Min Max Factory set ting 1271 Bits Turn 0 bits t 32 bits t 13 bits t Note The internal resolution of one motor revolution is 16 bit The resolution of Bits Turn 1271 is converted to the internal resolution if the encoder is used as a motor encoder In the case of application encoders the reference between motor and application encoder is parameterized through the gear factors EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 Note In the case of linear encoders this value must be set according to chap ter 6 6 8 4 8 Bits Multiturn 03 12 If a multiturn absolute value encoder is used EnDat 2 1 Hiperface SSI the number of Bits Turn referred to encoder for the multiturn resolution must be configured in the frequency inverter In the case of Hiperface and SSI encoders the value specified in the data sheet of the encoder used must be entered in parameter Bits Multiturn 1272 In the case of EnDat 2 1 the value is read automatically from the EnDat encoder and used internally Parameter Bits Multiturn 1272 is not evaluated in the case of EnDat encoders
41. via parameter Reference frequency source 475 Reference percentage source selectable via parameter Reference percentage source 476 Actual percentage source selectable via parameter Actual percentage source 478 in configuration X11 or limit value sources can be selected via the parameters 734 737 8 1 2 Characteristic 84 Mapping of the analog input signal onto a reference frequency value or a reference percentage value is possible for various requirements Parameterization is to be done via two points of the linear characteristic of the reference value 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 Points X1 and X2 are stated in per cent as the analog input can be switched as a current or voltage input via switch S3 No Description Min Max Factory set ting 564 100 00 100 00 98 00 96 565 100 00 100 00 100 00 96 566 100 00 100 00 96 98 00 96 567 100 00 100 00 9e 100 00 96 The coordinates of the points relate as a percentage to the analog signal with 10 V or 20 mA and parameter Maximum Frequency 419 or parameter Maximum Reference Percentage 519 The direction of rotation can be changed via the digital inputs of the frequency inverter and or by selection of the points The definition of the analog input characteristic can be calculated via the tw
42. 00 25 00 8 1 5 561 Filter time constant Selection 8 1 8 562 Operation Mode Selection 8 1 3 563 Error Warning Behaviour Selection 8 1 6 El 564 Point X1 9o 100 00 100 00 8 1 2 E 565 Point Y1 100 00 100 00 8 1 2 566 Point X2 100 00 100 00 8 1 2 567 Point Y2 100 00 100 00 8 1 2 568 Adjustment Selection 8 1 7 EM ABS 01 for ACU 03 12 v Bonfiglioli No Description Unit Setting range Chapter 766 Actual Speed Source Selection 8 4 15 900 Node ID 1 63 7 5 903 Baud Rate Selection 7 4 904 Boot Up Delay ms 3500 50000 7 8 4 918 SYNC Identifier 0 2047 7 8 2 919 SYNC Time ms 0 50000 7 9 2 921 RxSDO1 Identifier 0 2047 7 9 5 922 TxSDOi Identifier 0 2047 7 9 5 923 SDO2 Set Active Selection 7 9 5 924 RxPDO1 Identifier 0 2047 7 11 1 925 TxPDOi Identifier 0 2047 7 11 1 926 RxPDO2 Identifier 0 2047 7 11 1 927 TxPDO2 Identifier 0 2047 7 11 1 928 RxPDO3 Identifier 0 2047 7 11 1 929 TxPDO3 Identifier 0 2047 7 11 1 930 TxPDO1 Function Selection 7 11 2 931 TxPDO1 Time ms 0 50000 7 11 2 932 TxPDO2 Function Selection 7 11 2 933 TxPDO2 Time ms 0 50000 7 11 2 934 TxP
43. 09 Sick SKS36 SKM36 9 6 kBaud gt value 3109 Sick SRS50 SRM50 9 6 kBaud gt value 3109 e Adjust the Supply voltage 1187 according to the encoder data sheet see Chapter 8 4 4 in the case of Hiperface encoders the value is typically 8 0 V e Adjust Power supply 1186 according to the connections to 1 internal or 2 Via X410A see chapter 8 4 3 In the case of Hiperface encoders the sense line settings 5 intern Sense or 6 Via X410A Sense is typically not used as it is not defined in the Hiper face standard Specification Thus using the sense line is not required in the case of Hiperface encoders Attention Always set the Supply voltage 1187 first and then set Power supply 1186 7 e Set the number of Bits Turn 1271 according to the encoder data sheet see chapter 8 4 7 Typical values Sick SEK37 SEL37 amp SEK52 SEL52 9 bits t Sick SKS36 SKM36 12 bits t Sick SRS50 SRM50 15 bits t e Set the Bits Multiturn 1272 according to the encoder data sheet see chapter 8 4 8 Typical values Sick SEL37 SEL52 SKM36 SRM50 12 bits t Note In the case of singleturn encoders e g Sick SEK37 SKS36 SRS50 you will have to set Bits Multiturn 1272 0 e If the encoder is used as a motor encoder for a synchronous servomotor set Offset 1188 according to chapter 8 4 6 This step is not required in the case of asynchronous motors or if the encoder is used as an application encoder Step 4 Turn the frequency in
44. 09 Distance actual internal 23 630 769 Distance actual rev 1 000 131 rev Distance actual rev 1 000 011 rev Error rev 131 rev Error rev 11 rev Error m 2 0 00131 m Error m 2 0 00011 m Error mm 1 3 mm Error mm 0 11 mm Note Parameter EC2 Gear Factor Numerator 513 is limited in value range 300 00 300 00 EC2 Gear Factor Denominator 514 is limited in value range 0 01 to 300 00 In many situations choosing a modifier is useful which sets the greater of the two parameters to a value slightly below 300 00 EM ABS 01 for ACU 03 12 v Bonfiglioli 6 6 1 Checking the settings Upon completion of the setup check the system for proper function direction of movement Danger Wrong setup of the linear encoder can result in incorrect movements or 03 12 The following requirements must be met when it comes to testing the linear encoder e Before the start of the test make sure the hardware limit switch es work properly e Before the start of the test make sure the emergency stop works properly e Use o Slow speeds o Slow ramps o Deactivate the position controller by setting 1118 0 Note To reduce the speeds you can use the so called Speed Override mode Via actual value parameter Abs encoder raw data 1267 you can monitor the encod er value transmitted Carry out a travel operation across a distance which can be measured easily e g 10 cm Check if the actual value parameter Abs encoder r
45. 1 encoder Note Owing to the great number of encoder types and special solutions not documented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified 122 EM ABS 01 for ACU 03 12 v Bonfiglioli 10 1 4 SSI encoders rotary Due to the great number of SSI encoder variants only an extract of specifications can be shown here Please refer to the encoder manufacturer s data sheets for the parameter settings Encoder Parameter 1183 1184 1186 1187 1271 1272 1268 1269 1270 Sick AFM60B BxPC032768 32768 50xx 1 5 0V 15 12 125 HHH without incremental internal us track K bler Sendix 5863 2048 61xx 1 5 0 V 17 12 125 with SinCos track internal us Sick AFM60B TxKx001024 1024 61xx 1 5 0 V 10 12 125 HHH SinCos internal us 1 Please refer to chapter 8 4 3 for setup of parameter Power supply 1186 Note Owing to the great number of encoder types and special solutions not documented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified 10 1 5 SSI encoders linear encoders Encoder 1183 1184 1186 1187 1271 1272 1268 1269 1270 Leuze AMS304i 1120 50xx 1 5 0V 24 Bit distri 2 H buted Sick DME4000 111 50xx 1 50V 24 Bit distri 8 H buted Vahle LIMAX2S 03 050 1000 50xx 1 50V 24 Bit distri 16 H SSG0 U buted
46. 2 Percentage MFE1 133 Output percentage ramp 137 Output reference percentage channel 138 Output actual percentage chan nel 740 Control word 741 Status word Examples long source Data Output frequency ramp Fixed frequency 1 Reference line value Output Frequency reference value channel Reference Frequency MFE1 03 12 EM ABS 01 for ACU 73 Gio Bonfiglioli 7 11 5 2 Source numbers of the RxPDOs for received data Equivalent to the input links of the TxPDOs the received data of the RxPDOs 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 Source no RxPDOI1 Source no RxPDO1 Source no Boolean uint int long Byte value Byte value Byte Value 0 700 0 1 Booleani 1 708 2 701 2 3 Boolean2 3 Longi 4 702 4 706 4 5 Boolean3 5 5 709 6 6 6 7 Boolean4 7 Word4 7 Long2 RxPDO2 Source no RxPDO2 Source no RxPDO2 Source no Boolean uint int long value Byte value Byte value Byte 0 710 0 714 0 1 Booleani 1 Wordi 1 718 2 711 2 715 2 3 Boolean2 3 Word2 3 Longi 4 712 4 716 4 5 Boolean3 5 Word3 5 719 6 713 6 717 6 7 Boolean4 7 Word4 7 Long2 RxPDO3 Source no RxPDO3 Source no RxPDO3 Source no Boolean uint int long value Byte value Byte value Byte 0 720 0 724 0 1 Boolean1 1 Wordi 1 728 2 721 2 725 2 3 Boolean2 3 Word2 3 Long1 4 722 4 726 4 5 Bool
47. 4 Steuersignal 4 Dezimalwert 8 Steuersignal 5 Dezimalwert 16 Steuersignal 6 Dezimalwert 32 Steuersignal 7 Steuersignal 16 Dezimalwert 32768 Steuersignal 15 Dezimalwert 16384 Steuersignal 14 Dezimalwert 8192 Steuersignal 13 Dezimalwert 4096 Steuersignal 12 Dezimalwert 2048 Steuersignal 11 Dezimalwert 1024 Steuersignal 10 Dezimalwert 512 Dezimalwert 64 Steuersignal 9 Steuersignal 8 Dezimalwert 256 Dezimalwert 128 Example The actual value parameter Digital inputs 250 displays the decimal value 640 After conversion into the binary system the following combination results nopapopmartio e s 7 6 5 4 3 2 1 O Bin rsystem 0 0 0 0j0j0 1 0 1 0j0 0 O O OJO Steuersignal 10 Steuersignal 8 Dezimalwert 512 Dezimalwert 128 The following status of the digital input signals of the extension module was displayed Digital input EM S1IND 1 control signal 8 Digital input EM S2IND 0 control signal 9 Digital input EM S3IND 1 control signal 10 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 8 Motor temperature The temperature monitoring is a part of the error and warning behavior which can be freely configured The connected load can be monitored by the connection of a mea surement resistor motor PTC resistor PTC with a temperature characteristic to DIN 44081 or with a bimetallic temperature sensor NC contact The operation mode of the motor PTC port
48. 4 V supply to X410A 1 DC 24 V voltage input and X410A 2 GND BONFIGLIOLI VECTRON recommends connecting an external power supply Refer to chapter 5 3 3 Power supply Note For supply of the encoder via an external power supply unit always con nect it to X410A 1 DC 24 V voltage input and X410A 2 GND Connection at X210A 1 DC 24 V voltage input of ACU basic device and X210A 2 GND will not be sufficient for external power supply of the encoder Install encoder cables separate from motor cables to minimize interference Upon first commissioning and during operation make sure that the encoder and other electrical components can acclimatize in order to prevent condensation and resulting malfunction EM ABS 01 for ACU 29 Goo Bonfiglioli 6 1 1 Information on use 30 gt gt After mains on an initialization may have to be performed depending on the encoder type This may take up to 5 seconds depending on the encoder type This time can be eliminated by powering the basic device and the encoder using an external DC 24 V supply When the encoder or motor including motor encoder are replaced re calibration will typically be required for the absolute position This applies typically to the encoder internal value depending on the encoder type used this value cannot be changed position angle Offset 1188 and in positioning applications configuration x40 refe rencing Home Offset 1131 After encoder replacement alwa
49. 5 Data BL 33 eggs 6 Data RD a 30 14 45 o9 PK a 8 Wes 14 Clock ES 2 4 8 GY Neg S74 4 Cock aed Lian cd 3 ici 12 13 n c TUE cr P S v NO y 7 OVLovsensor 15 15 OVL 7 15 Encoder cable 8 twisted two wire lines Cable size 0 14 mm Length 3m 5mor 10m Note The assembled cables for EnDat 2 1 and SinCos encoders are identical For better readability of the individual connections the specific designations for SinCos and EnDat 2 1 are used e Use PTC resistors with safe isolation from motor winding according to EN 61800 5 1 Use shielded and twisted cables Install encoder cable separate from motor cable Connect the shield of the encoder line properly on both sides BONFIGLIOLI VECTRON recommends using the pre assembled cables for syn chronous motors types BCR and BTD 24 EM ABS 01 for ACU 03 12 v Bonfiglioli 5 3 2 3 Cable assembly Hiperface Contact assignment BONFI GLI OLI VECTRON assembled cable for connec tion of Hiperface encoders M EM ABS 01 m X412 D ud Female Intercontec sx im Male HD Sub D 12 pins ae sh 1i TMerc YT 10 12 TMc 5 3 Sint BE 14 Pon ih 4 Sin SY L 9 AO 9 ON A i5 Cos TB gt 4 LO O00 6 Cosi ee t 3 4 12 7 GY ito Ones 2 Dear i 13 o 0 7 7 Data 8 10 j D a vwa slo GY PK 9 GND f RD BL V 15 e Use PTC resistors with safe isolation from motor winding
50. 65 rev Gear Box Driving Shaft Revolutions 1116 773 Gear Box Motor Shaft Revolutions 1117 14010 gt R 2773 365 rev 50265 x 773 14010 rev EM ABS 01 for ACU 37 Gio Bonfiglioli 38 4th step Determine the encoder resolution First determine the number of user units per encoder increment If for example the encoder features a resolution of 1 mm and 0 01 is to be used as the user unit B 100 B Number of user units per encoder increment 5th step Calculate Bits Turn 1271 The reference system and the number of user units per encoder increment f deter mine parameter Bits Turn 1271 Feed Constant 1115 2 GearBox DrivingShaftRevolutions 1116 Bits Revolution Log 2 B GearBox MotorShaftRevolutions 1117 or R Bits Revolution Log m p 1 R Ln Ln 2 B Round the value up to the next natural number With the values above Bits Turn 1271 5 Note Conversion of logarithm base 2 and other bases Log of Ln a E du igs En 2 S10 n 6th step Calculate Bits Multiturn 1272 Bits Multiturn 1272 is calculated from the subtraction of the total number of position bits of the encoder with the Bits Turn 1271 calculated above Multiturn GeberBits Bits Umdrehung With the values above Bits Multiturn 1272 19 7th step Calculation of speed sensor 2 gear factors For calculation of speed sensor 2 gear factors the preliminary numerator is calcu lated first as follows Preliminary
51. 88 Offset 360 0 360 09 0 0 The offset can be determined and adjusted as follows e 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 e Open the parameter menu PARA and enter the machine data indicated on the type plate or the data sheet of the motor Before adjusting the offset take the following safety precautions e Turn of release of the frequency inverter via the digital inputs for controller re lease e 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 possi ble Warning In certain circumstances the motor speed may reach high values If the motor is not uncoupled from the load personal and material damage may result To avoid such damage make the following settings in any case e Set the max permissible output frequency of the frequency inverter to a low frequency value via parameter Shutdown limit frequency 417 Select the fre quency value such that uncontrolled acceleration of the motor overspeeding is detected at an early stage This limitation is necessary in order to avoid per sonal and material damage EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli e Set parameter Current limit 728 of the speed controller to
52. BS 01 extension module has three digital inputs The assignment of the con trol signals to the available software functions can be adapted to the application in question Depending on the Configuration 30 selected the default assignment or the selection of the operation mode differ In addition to the available digital control in puts further internal logic signals are available as sources The individual software functions are assigned to the various signal sources via para meterizable inputs This enables a flexible use of the digital control signals 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 8 3 1 Fixed reference value and fixed value change over Depending on the Reference Frequency Source 475 selected fixed frequencies can be used as reference values The module extends the functionality described in the fre quency inverter user manual Parameters Fixed frequency change over 1 66 and Fixed frequency change over 2 67 by parameter Fixed frequency change over 3 131 and the co
53. DO3 Function Selection 7 11 2 935 TxPDO3 Time ms 0 50000 7 11 2 936 RxPDO1 Function Selection 7 11 2 937 RxPDO2 Function Selection 7 11 2 938 RxPDOS3 Function Selection 7 11 2 939 SYNC Timeout ms 0 60000 7 11 3 941 RxPDO1 Timeout ms 0 60000 7 11 3 42 RxPDO2 Timeout ms 0 60000 7 11 3 945 RxPDO3 Timeout ms 0 60000 7 11 3 946 TxPDO1 Booleani Selection 7 11 5 1 947 TxPDO1 Boolean2 Selection 7 11 5 1 948 TxPDO1 Boolean3 Selection 7 11 5 1 949 TxPDO1 Boolean4 Selection 7 11 5 1 950 TxPDO1 Wordi Selection 7 11 5 1 951 TxPDO1 Word2 Selection 7 11 5 1 952 TxPDO1 Word3 Selection 7 11 5 1 953 TxPDO1 Word4 Selection 7 11 5 1 954 TxPDO1 Longi Selection 7 11 5 1 955 TxPDO1 Long2 Selection 7 11 5 1 956 TxPDO2 Booleani Selection 7 11 5 1 957 TxPDO2 Boolean2 Selection 7 11 5 1 958 TxPDO2 Boolean3 Selection 7 11 5 1 959 TxPDO2 Boolean4 Selection 7 11 5 1 960 TxPDO2 Wordi Selection 7 11 5 1 961 TxPDO2 Word2 Selection 7 11 5 1 962 TxPDO2 Word3 Selection 7 11 5 1 963 TxPDO2 Word4 Selection 7 11 5 1 964 TxPDO2 Longi Selection 7 11 5 1 965 TxPDO2 Long2 Selection 7 11 5 1 966 TxPDO3 Booleani Selection 7 11 5 1 967 TxPDO3 Boolean2 Selection 7 11 5 1 968 TxPDO3 Boolean3 Selection 7 11 5 1 969 TxPDO3 Boolean4 Selection 7 11 5 1 972 TxPDO3 Wordi Selection 7 11 5 1 973 TxPDO3 Word2 Selection 7 11 5 1 03 12 EM ABS 01 for ACU 119 Gio Bonfiglioli
54. Division marks 1183 according to the encoder data sheet see Chapter 8 4 1 in the case of EnDat 2 1 encoders the value is typically 512 amplitudes turn e g Heidenhain ECN 1113 EQN 1125 e Set Tracks Protocol 1184 to value 1101 please see chapter 8 4 2 e Adjust the Supply voltage 1187 according to the encoder data sheet see Chapter 8 4 4 in the case of EnDat 2 1 encoders the value is typically 5 0V e Adjust Power supply 1186 according to the connections see chapter 8 4 3 Bonfiglioli Vectron recommends evaluating the sense line settings 5 intern Sense or 6 Via X410A Sense Attention Always set the Supply voltage 1187 first and then set Power supply 1186 e If the encoder is used as a motor encoder for a synchronous servomotor set Offset 1188 according to chapter 8 4 6 This step is not required in the case of asynchronous motors or if the encoder is used as an application encoder Note Parameters Bits Turn 1271 and Bits Multiturn 1272 have no function in the case of EnDat 2 1 encoders The required data is exchanged directly between the encoder and inverter EM ABS 01 for ACU 33 Gio Bonfiglioli 6 5 34 Step 4 Turn the frequency inverter off Step 5 Connect the EnDat 2 1 Geber to the EM ABS 01 Bonfiglioli Vectron recom mends the use of pre assembled cables see chapter 5 3 2 1 Step 6 Turn the frequency inverter on Step 7 Check the encoder for proper function Step 8 In configurations
55. EM SII NA e1esseeeiieieeee einen eene nna nana kanns u aduana uud anna ausu Rana du 84 Sided Genetics E R v 84 8 1 2 Characteristic esc RERVSEYRRR a RERESERNRRRO RAV AR RR SR VERUS ERR E ERANES 84 9 1 3 Operation modes eet khen a cin Ease ye ka se nesta nered Re CARERE a REDE XXX FORME EE CR R uA 85 8 1 3 1 EXAM PIGS suites xis eoa Ra eiui Eden EER ux RE XE DURS EERRATERFERE EXER Ze XXX RC RES ERE YR LRR E ELA E RR T ERR 85 4 EM ABS 01 for ACU 03 12 v Bonfiglioli m SCALING eET aaa 88 8 1 5 Tolerance Band and Hysteresis sesssssssssseseeee eene nnne nnne 89 8 1 6 Error and warning behavior ssssesssseseeeeeeneenemeeeeennnne nene h nennen nnne nnn 90 9 1 Adjustment iei ceix e a Ke e e REX XXE PREX EE STEAN ERES ERE ERR Ke a RR ER RAE XAR RR CER EEE REX EA 91 9 1 8 Filter time coristant iieri eee a Vua Rex E YEN YR VR DRSR WR UR nal ieca ied 91 8 2 Digital outputs EM SLOUTD and EM S2OUTD e ceeeeeeeeeeeiee nnn 92 8 2 L Gehlerals sete cd euni Ee AE RM EX E IE EE VU ENTE 92 9 2 7 Operation modes ER eU ELE ERURR RATE EER VR E REFER YETRD N VD ONE E 92 8 2 3 Repetition frequency output via EM S1OUTD and EM S2O0UTD eene 92 8 3 Digital inputs EM SxI ND 1 eeeeeeeieee ee eeeneee ena nun uana aun n aaa n nasus anna ausa na
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58. O of the master frequency inverter 7 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 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 A 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 indivi dually and also stop them again As the slaves on the system bus need different lengths of time to conclude their in itialization phases especially if external components exist alongside the frequency inverters an adjustable delay for the change to Operational is necessary The set ting is done in a frequency inverter defined as a system bus master via Boot Up De lay 904 Description Min Factory setting Boot up delay 3500 ms SOOO ms 3500 ms Properties of the states Pre Operational Parameterization via SDO channel possible Exchange of process data via PDO channel not possible Parameterization v
59. PDO channel The setting of the operation mode is done via the following parameters TxPDOI Function 930 TxPDO2 Function 932 and TxPDO3 Function 934 RxPDO1 Function 936 RxPDO2 Function 937 and RxPDO3 Function 938 0 disabled no exchange of data via the PDO channel Rx and or Tx 1 time controlled Tx PDOs cyclically transmit according to the time specification Rx PDOs are read in with Ta 1 ms and forward the data received to the application 2 SYNC controlled Tx PDOs transmit the data from the application that are then current after the arrival of the SYNC telegram Rx PDOs forward the last data received to the application after the arrival of the SYNC teleg EM ABS 01 for ACU 03 12 Bonfiglioli For synchronous PDOs 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 pa rameterization 7 8 Master functionality An external control or a frequency inverter defined as a master node ID 0 can be used as a master The fundamental tasks of the master are controlling the start of the network boot up sequence generating the SYNC telegram and evaluating the emergency messages of the slaves Further there can be access to the parameterization of all the frequency inverters on the system bus by means of a field bus connection via the client SD
60. Parameter 187 Source No 5 In example 1 the two inputs of function C are linked to the outputs of the 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 Parameter Source No Softwarefunction Operation mode e g 71 S21ND e g Start clockwise 068 lt Digital input The assignment of the operation modes to the software functions available can be adapted to the application in question EM ABS 01 for ACU 69 Goo Bonfiglioli For the system bus the input data of the TxPDOs are also displayed as input para meters and the output data of the RxPDOs as sources Example 2 Function A TxPDO Inverter 1 Inverter 1 Source No 27 MP Parameter 977 system bus Function B Inverter 1 Source No 5 P gt Parameter 972 RxPDO Function C Inverter 2 Inverter 2 Source No 727 J99 9 Parameter 125 System bus 3 Source No 724 9 gt 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
61. TTL RS 422 or SinCos can be used on synchronous motors as e Motor encoders for speed feedback e g Configuration 510 e Motor encoders for speed feedback and parallel position feedback in non slip systems e g Configuration 540 e Application encoder for position feedback with parallel speed feedback via mo tor model sensorless e g Configuration 640 SinCos without commutation track SSI encoders without incremental track can be used on synchronous motors as e Application encoder for position feedback with parallel speed feedback via mo tor model sensorless e g Configuration 640 EnDat 2 1 without SinCos track cannot be used EM ABS 01 for ACU 03 12 gt gt 03 12 v Bonfiglioli Technical data When using the EM ABS 01 extension module the technical data of the frequency inverter must be considered X410A 1 Voltage input DC 24 V X410B 1 Ground X410A 2 Ground DC 24 V X410B 2 Digital input EM S1IND X410A 3 Digital output EM S1OUTD 2 X410B 3 Digital input EM S2IND X410A 4 Digital output EM S2OUTD 2 X410B 4 Digital input EM S3IND X410A 5 Voltage output DC 5 12 v X410B 5 System bus CAN low X410A 6 Analog input EM S11NA X410B 6 System bus CAN high X410A 7 Ground DC 10 V X410B 7 Ground 1 2 The control electronics parameters can be configured as required Can be used as repetition frequency output The repetition freq
62. U 27 Gio Bonfiglioli Voltage input and voltage outputs for encoder power supply DC 5 12V C DC 5 12V o Terminal X410A 1 DC 24 V input Terminal X410A 2 DC 24 V ground Terminal X410A 5 and X412 6 DC 5 12 V output Terminal X410A 5 and X412 15 DC 5 12 V ground Connect a maximum load of 2 W 5 3 3 3 Direct connection of external power supply to the encoder Encoders with high power demand gt 2 W or voltage higher than DC 12 V must be connected to an external power supply directly Set parameter Power supply 1186 to 1 internal See chapter 8 4 3 Power supply This setting must be used for proper function of the evaluation However the power supply terminals do not have to be connected but should remain open The voltage level set in Supply voltage 1187 is irrelevant when the terminal is open See chapter 8 4 4 Supply voltage Note In this case do not set Power supply 1186 to modes with sense line This will result in faults and system shutdown 28 EM ABS 01 for ACU 03 12 v Bonfiglioli 6 Commissioning the encoder 6 1 03 12 This chapter describes how the different encoder types are commissioned General I nformation The EM ABS 01 supports both Singleturn and Multiturn encoders Multiturn encoders must be configured as such in order to avoid unwanted effects The internal resolution of encoder information is 32 bits 16 bits for the position in one turn and 16 bits for t
63. a linking to a variety of functions The selection of the functions depends on the parameterized configuration 8 2 2 Operation modes The operation mode of digital output EM S1OUTD Terminal X410A 3 is done via pa rameter Operation mode EM SIOUTD 533 By default this parameter is set to 41 Open brake The operation mode of digital output EM S1OUTD Terminal X410A 4 is done via pa rameter Operation mode EM S20UTD 534 By default this parameter is set to O Off The operation modes to be selected correspond to the table shown in the operating instructions of the frequency inverter in the chapter Digital outputs 8 2 3 Repetition frequency output via EM S1OUTD and EM S2OUTD 92 Digital outputs EM S1OUTD and EM S2OUTD can be used as repetition frequency out puts The output value of the repetition frequency output corresponds to the mechani cal frequency of the connected encoder Digital outputs EM S1OUTD and EM S2OUTD can be set up as a repetition frequency output via parameter Repetition frequency EM SI 20UTD 509 Reference frequency output is turned off Factory setting The repetition frequency output via digital outputs EM S1OUTD and EM S2OUTD is turned on The number of division marks of the repetition frequency output corresponds to the number of encoder division marks set via Division marks 1183 see chapter 8 4 1 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 3 Digital inputs EM Sxl ND The EM A
64. a lower current val ue e g 1096 of rated motor current In this way it is made sure that there are no excessive currents of the offset is set incorrectly e Turn motor shaft manually Check the sense of rotation of the encoder via the actual value of parameter Encoder 2 Frequency 219 In the case of a clock wise 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 of tracks A and B The Offset 1188 must be between 0 and 360 divided by the number of motor pole pairs The possible range is between 0 and max Offset 360 Max Offset Motor pole pairs If the adjusted value is changed by the max Offset this does not affect the Flux Forming Voltage 235 e Adjust a low reference speed value approx 10 lower than the Frequency Switch Off limit 417 and enable the frequency inverter via controller release and S2IND start clock wise operation in order to accelerate the motor e f an overcurrent is detected or a fault message is issued due to an overload the guided commissioning setup will start first Confirm the machined data values After completion of the guided commissioning adjust the parameter Current Limit 728 to a low value again because this value was overwritten during the guided commissioning Depending on the behavior of the motor after sta
65. an analog signal Example of the adjustment of an 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 e Apply OV to the analog input e g with a bridge from the terminal of the ana log input X410A 6 to terminal X210B 7 earth GND of the frequency inverter e Select operation mode 1 Adjustment 0 V e Apply 10 V to the analog input e g with a bridge from the terminal of the analog input to terminal X210B 5 reference output 10 V of the frequency in verter e Select operation mode 2 Adjustment 10 V This completes the adjustment of the analog input 8 1 8 Filter time constant 03 12 The time constant of the filter for the reference analog value can be set via the para meter Filter time constant 561 The time constant indicates the time during 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 between 0 ms and 5000 ms in 15 steps d Time constant NE Filter deactivated analog reference value is for warded unfiltered Filter activated averaging of the input signal via the set value of the filter time constants Factory setting 8 ms EM ABS 01 for ACU 91 Goo Bonfiglioli 8 2 Digital outputs EM STOUTD and EM S2OUTD 8 2 1 General Parameterization of the digital outputs permits
66. applications EM ABS 01 for ACU 35 Gio Bonfiglioli 6 6 36 Commissioning of linear encoders In addition to the settings described in the previous chapters the conversion from the rotary to the translatory system must be considered when it comes to commissioning a linear encoder This conversion is influenced greatly by the diameter of the turning wheel The following applies Circumference x diameter Note Linear encoders are normally not suitable for speed control as the sam pling time is too long to enable good speed control For this reason the following descriptions are based on the use as a position encoder in confi guration x40 Note For the calculations described in this chapter an Excel worksheet was pre pared by Bonfiglioli Please contact your local sales agent This Excel work sheet will help you to carry out the calculations required for commissioning linear encoders with ACTIVE CUBE frequency inverters Linear encoders typically have a fixed resolution e g 1 mm In some linear encod ers the resolution can be configured First check the resolution of the linear encoder using the data sheet or the parameter configuration The resolution of the linear encoder must be assigned in the frequency at the resolu tion of the selected user units This is done using the four parameters Bits Turn 1271 Bits Multiturn 1272 EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 The positioning re
67. as a motor encoder for a synchronous servomotor set Offset 1188 according to chapter 8 4 6 This step is not required in the case of asynchronous motors or if the encoder is used as an application encoder Step 4 Turn the frequency inverter off Step 5 Connect the SinCos Geber to the EM ABS 01 Bonfiglioli Vectron recommends the use of pre assembled cables see chapter 5 3 2 1 Step 6 Turn the frequency inverter on Step 7 Check the encoder for proper function Note SinCos encoders are no absolute value encoders In configurations Posi tioning x40 you will have to carry out a referencing operation with SinCos encoders after mains on EM ABS 01 for ACU 31 Gio Bonfiglioli 6 3 32 Hiperface encoders This chapter describes how Hiperface encoders are commissioned Step 1 Install the EM ABS 01 as described in chapter 5 2 Do not connect the encod er cable yet Step 2 Turn the frequency inverter on for parameter configuration mains voltage or DC 24 V Step 3 Configure the frequency inverter according to the following parameters e Adjust the Division marks 1183 according to the encoder data sheet see Chapter 8 4 1 in the case of Hiperface encoders the value is typically 1024 amplitudes turn in example SRS50 SRM50 e Set Tracks Protocol 1184 according to the encoder data sheet to value 3109 3119 3138 or 700 please see chapter 8 4 2 Typical values Sick SEK37 SEL37 amp SEK52 SEL52 9 6 kBaud gt value 31
68. at any tele gram repetitions for transmission errors are possible without exceeding the bus ca pacity Note To facilitate capacity planning a Microsoft Excel file with the name Load_Systembus xls is available EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli 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 VECTRON product CD or by request Load system bus Baud rate kBaud 50 100 125 250 500 1000 Frequency TxPDO inverter Number Ww 10 Total workload In the table the set baud rate is entered from the parameter Baud Rate 903in kBaud For each frequency inverter the set time for the transmission interval e g TxPDOI 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 lt 80 gt OKAY 80 90 gt CRITICAL gt 90 gt NOTPOSSIBIE EM ABS 01 for ACU 83 Gio Bonfiglioli 8 Control inputs and outputs 8 1 Analog input EM S1I NA 8 1 1 General The analog input of the EM ABS 01 extension module can be used as a voltage input Parameterization of the input signal is done via the definition of a linear characteristic and assignment as Reference value source selectable
69. ation Wieland DST85 RM3 5 ftp 014 15mnm AWG 30 16 C 8 014 15mm AWG 30 16 0 25 1 0 mm AWG 22 18 fI 025 075mm AWG 22 20 0 2 0 3 Nm 1 8 2 7 Ib in Caution Switch off power supply before connecting or disconnecting the control inputs and outputs Atten In order to minimize electromagnetic interference and to obtain a good tion signal quality the shield of the cable is to be connected to ground on a plane at both ends Description DC 24 V voltage input Ground GND DC 24 V Digital output EM S1OUTD Digital output EM S210UTD DC 5 12 V voltage output 6 Analog input EM S1INAY Ground DC 10 V Terminal Ground GND Digital input EM S1IND Digital input EM S2IND Digital input EM S3IND System bus CAN low System bus CAN high Ground GND The control electronics parameters can be configured as required The max power available is reduced by the other used control outputs of the frequency inverter and extension module For sufficient power connect an external power source to the DC 24 V voltage input The voltage value can be adjusted via parameter Supply voltage 1187 Caution The input for external DC 24 V voltage supply can withstand external vol tage up to DC 30 V Avoid higher voltage levels Higher voltages may de stroy the module Caution The power output on terminal X410A 1 may be loaded with a maximum power of 2 W Higher power levels can dama
70. ation error correction for the C D track has reached its maximum 91 EM ABS 01 No R track Reference truck not found Via parameter Tracks Protocol 1184 an operation mode using a ref erence track was selected but no reference track is connected Tf available connect the reference track or select another operation mode The settings of parameter Division marks 1183 does not match the type specific division marks of the encoder Check settings Rtrack defective or cable broken Check cables and connections 92 EM ABS 01 Counting error Encoder evaluation is faulty Check EMC The settings of parameter Division marks 1183 does not match the type specific division marks of the encoder Check settings 93 EM ABS 01 Broken cable Collective fault message At least two of the following errors have oc curred F1486 EM ABS 01 No sense line F1487 EM ABS 01 No A B track F1489 EM ABS 01 No C D track 95 EM ABS 01 Position monitoring A non permissible deviation between the position value of the digital en coder interface and the analog A B track has occurred Dig encoder encoder lighting Encoder lighting has failed or reached the end of its service life 2 Dig encoder Signal amplitude The amplitude of the signals used for the encoder internal position calcu lation is outside of the permissible range Dig encoder Position value The digital position value is incorrect Enco
71. aw data 1267 changes and the Act Position 1108 changes across the distance in accor dance with your settings Via the scope function of VPlus you can check the commissioning of the linear encod er Adjust the following scope sources 1003 Act Position 1000 1007 Ref Position 1000 1013 Contouring Error 10 or 1012 Contouring Error 1 442 Hz Act Speed As the time base choose the observation period for some seconds When starting a motion block or a travel command via field bus Ref Position is set to Act Position The two curves of sources 1003 and 1007 must be identical as from the start time of the travel command If the two curves are not identical the parameter factors have not been set correctly If the ramp Act Position is steeper than the ramp of Ref Position the ratio 513 514 must be reduced If the ramp Act Position is less steep than the ramp of Ref Position the ratio 513 514 must be increased Via the source of the contouring error the quality of the settings can be checked addi tionally The contouring error must not increase continuously Due to the mechanical characteristics a small constant contouring error is typical to the system continuous significant increasing of the contouring error also in negative direction indicates that linear encoder parameters have be set up incorrectly EM ABS 01 for ACU 41 Goo Bonfiglioli 42 Note When the position controlled is deactivated rounding erro
72. ble can be found in the following chapter Examples 8 1 3 1 Examples The analog input signal is mapped onto a reference value as a function of the charac teristic selected The following examples show the operation modes for an analog voltage signal The parameter Minimum Frequency 418 has been set to the value 0 00 Hz The characteristic point 100 for the Y axis corresponds to the parameter Maximum Frequency 419 of 50 00 Hz in the examples Attention The various operation modes change the input characteristic as a func tion of the characteristic points parameterized In the following ex amples the areas of the system of coordinates from which a characteristic point is displaced are marked In operation mode 1 bipolar the characteristic of the analog input can be freely set by stating two characteristic points Point 1 X1 70 00 10 V 7 00 V 42 50Hz 278075 Y2 85 v1 50 00 50 00 Hz 25 00 Hz Point 2 X2 80 00 10V 8 00 V Y2 85 00 50 00 Hz 42 50 Hz Tolerance band AX 2 00 10V 2 0 20V Y eee 25Hz 70 Y1 50 The direction of rotation is changed in this example at an analog input signal of 1 44 V with a tolerance band of 0 20 V X1 03 12 EM ABS 01 for ACU 85 Gio Bonfiglioli In operation mode 11 unipolar the characteristic points are displaced to the origin of the characteristics with a negative value for the X axis Y Point 1 xo atoL
73. ccsscsscssccnccnscnsensensensensensensensensenseenecnsensensensensensensenneens 118 9 2 Parameter menu PARA ccscsscssccnscnscnseneensensecssensensenseensensonsensensensensenseessensensens 118 10 1 Recommended encoder SettingS eeeeeeieeeeeieee essei ee enn an nnn 121 10 1 1 SinCos encodets enint EXER Erden ELE EL Ex M x YR ER wrens EX ERR EV ve DEEu nt 121 10 1 2 Hiperface encoders du didicere toc aaa aa erre ee Ras Eva kie k Leroy a veo a ae Read ovas 122 10 1 3 EnDat2 1 encoders siiig an aaia iiaa nnn nnn nnne nnn nnne nnns 122 10 1 4 SSLencoders rotary ceti bene ine rk ee epu en DE En KR Ra ERR akon aed aa eR ku ed Maa 123 10 1 5 SSI encoders linear encoders eeeseseeeeeeeeee nennen nnne nnn nnns 123 10 2 Compatibility list eee ee serere rere enne nenne nennen nnne nnnm nhan nnnm nn nnn 124 03 12 EM ABS 01 for ACU 5 GI Bonfiglioli 10 2 1 Module Firmware 1 0 1 0 sanese ditte tert eb aene an eaaa 124 10 2 2 Module Firmware 2 0 10nn iausios iaia TER nennen enne nennen nnne 124 10 3 Error messages eneseeieieeesiee eina u uaa unu a uua R RR IRR RR SRRRRRERRRRSRRRRRRRRRRRRRRRa R4 Ra aud naa 125 6 EM ABS 01 for ACU 03 12 v Bonfiglioli 1 General Information about the Documentation The present supplement to the operating instructions is valid for the frequency inverters of the ACU series of devices The information necessary for the
74. coder lines and check the encoder connection contacts e In the case of fault message Overfrequency F1100 increase the parameter value for Offset 1188 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 e Adjust the parameter value for Offset 1188 in small steps e g 2 5 until the Flux Forming Voltage 235 is roughly 0 Incase the flux forming voltage deviates from 0 significantly adjust the offset in bigger steps Inthe case of a positive flux forming voltage increase the offset In the case of a negative flux forming voltage reduce the offset e Adjust parameters Frequency Switch Off limit 417 and Current Limit 728 to the required values e Repeat the fine adjustment of the offset at 50 of the rated frequency This completes the offset adjustment e Start the guided commissioning This is required for optimum current control tion transmitted by the encoder Do not use this function as this will Attention Some absolute value encoder types enable to zero or change the posi change the commutation angle for Offset 1188 and correct speed control is not guaranteed 8 4 7 Bits Turn 104 If an absolute value encoder is used EnDat 2 1 Hiperface SSI the number of Bits Turn referred to encoder must be configured in the frequency inverter In the case of Hiperface and SSI encoders the
75. cy 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 initializa tion phase and the time delay Boot Up Delay 904 following it EM ABS 01 for ACU 03 12 v Bonfiglioli 7 8 2 SYNC telegram generation 03 12 If synchronous PDO s have been created on the system bus the master must send the SYNC telegram cyclically If a frequency inverter has been defined as a system bus master the latter must generate the SYNC telegram The interval for the SYNC telegram of a frequency inverter defined as the system bus master is adjustable The SYNC telegram is a telegram without data The default identifier 128 according to the Predefined Connection Set 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 clients on the system bus The setting of the identifier of the SYNC telegram is done via parameter SYNC Identifier 918 No Description Min Max Factory 918 SYNC identifier Co 3L mor spp The setting 0 results in identifier assignment according to the Predefined Connec tion Set Atten The identifier range 129 191 may not be used as the emergency tele tion grams can be found there The temporal cycle for the SYNCH telegram is set on a f
76. der supply voltage too high Encoder supply voltage too low Encoder supply current too high 7 Dig encoder battery Encoder battery is empty or has reached the end of its service life 7 Dig encoder Error upon initialization Initialization of encoder failed P 262 contains the code of the error that occurred during initialization 18 Dig encoder Watchdog reset A watchdog reset was triggered in the encoder 19 Dig encoder Protocol error Error in communication with encoder P 262 contains the code of the error that occurred 0 Dig encoder Electronic Typeplate Error during access to el type plate The el type plate is faulty or not available P 262 contains the code of the error that occurred 21 Dig encoder Overspeed Error caused by overspeed EM ABS 01 for ACU 03 12 e 03 12 v Bonfiglioli 22 Dig encoder Transmitter current Transmitter current in critical range Dig encoder Overtemperature Encoder temperature too high 24 Dig encoder timeout Communication between EM ABS 01 and encoder resulted in a timeout error 25 Dig encoder CRC error Communication between EM ABS 01 and encoder resulted in a CRC error 2 2 Error bit of SSI encoder according to SSI Error Extra Bits Low 1269 i set Dig encoder SSI error bits High Dig encoder SSI error bits Low Error bit of SSI encoder according to SSI Error Extra Bits High 1270 is set A SSI encoder transmissio
77. e chapter 8 4 7 Set the Bits Multiturn 1272 according to the encoder data sheet see chapter 8 4 8 Set SSI Error Extra Bits Low 1269 and SSI Error Extra Bits High 1270 if additional information from the encoder is supported see chapter 8 4 9 Adjust SSI Sample time1268 according to the encoder data see chapter 8 4 10 If the encoder is used as a motor encoder for a synchronous servomotor set Offset 1188 according to chapter 8 4 6 This step is not required in the case of asynchronous motors or if the encoder is used as an application encoder In the case of singleturn encoders you will have to set Bits Multiturn 1272 0 Turn the frequency inverter off Connect the SSI Geber to the EM ABS 01 Turn the frequency inverter on Check the encoder for proper function In configurations Positioning x40 Carry out referencing operation once If the data track cannot be evaluated error F1719 Dig encoder Protocol error will be triggered In this case check Tracks Protocol 1184 setting When the frequency inverter is turned on the absolute position is read via the data tracks Via the incremental tracks the position is counted up in ternally and compared to the updated absolute position at regular inter vals This guarantees a very high positioning and speed accuracy at all supported transmission rates Encoders without incremental track can only be used as application encod ers for example for positioning
78. e frequency inverter breaks down with F2210 BUS OFF 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 No Description Displa 978 Node state 1 Pre Operational 2 Operational 3 Stopped 979 CAN state 1 OKAY 2 WARNING 3 BUS OFF EM ABS 01 for ACU 03 12 v Bonfiglioli 7 13 Handling of the parameters of the system bus 03 12 As soon as the system bus extension module EM SYS exists in a 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 System bus Note The actual value parameters are on operation level 3 and are thus avail able for the user at any time All the setting parameters for the configuration of the system bus are not directly accessible 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 pa rameters are visible for the user The application relevant variables are then available in these XPI files Note XPI files can be read in addition
79. e operated with EM ABS 01 modules firmware 1 0 1 0 after written confirmation through Bon figlioli Module Firmware 2 0 1 0 The Module Firmware 2 0 1 0 requires basic device Firmware 5 3 0 The following encoders are supported e SinCos e Hiperface e EnDat 2 1 with SinCos tracks e SSI Note An operation of modules with firmware 2 0 1 0 is only valid with devices with firmware 5 3 0 Devices with deviating device firmware may only be operated with EM ABS 01 modules firmware 2 0 1 0 after written confirmation through Bon figlioli EM ABS 01 for ACU 03 12 v Bonfiglioli 10 3 Error messages The various control methods and the hardware of the frequency inverter includes functions which continuously monitor the application As a supplement to the messag es documented in these operating instructions the following failure keys are activated by the EM ABS 01 extension module Oe mamme tive Check cables and connections F14 Error during EM module initialization Initialization of extension module failed Check if extension module is plugged in correctly 81 EM module communication failure Communication between extension module and frequency inverter is faul ty Check EMC General EM module error Error on extension module One of the following errors F1483 F1493 has occurred 3 8 83 EM ABS 01 No ext 24V Via parameter Power supply 1186 an operation mode using an external power supply was selected
80. ea XR RR Ra a 108 8 4 11 Gear factor speed sensor 2 ssssssssessseseeenene nennen nennen nennen enne 108 9 4114 Example cere EXER CHEER RES NER RR aa eR ERR REM RE LEER e HER exa 109 8 4 12 Instructions on speed controlled configurations Not X40 eeeeeees 109 8 4 13 Instructions on positioning configuration x40 110 LR EX MEEISCI e G r 111 QA 19 2 VHIOETIEIO sin aE ESEE EE REED ERA ique un EE EUEE 112 9 4314 Warning Dig Encoder ier it titer eet Re a a Yee aka SR ARR LER RR a Ra 112 9 4 15 Act speed SUCE ioi oie rere RR Eee RR Ex Eaa ETEA e eu E EE MEER ERSA SA 113 8 4 16 Actual positiorisOUFCe iioii ieri xev e ERE y AREE EXER E EEERR A EUER X YER FER PER SRYR RRRUERY 113 8 5 Reference frequency and percentage value channel 114 8 6 Actual value display 1 eeeeeeieee ec iiee eei eee eene nana nnn u aaa a uana dann aaa ana an 114 8 6 1 Absolute value encoder raw data seeeeeeeeennn nennen nnne nnn 115 8 6 2 Act al position uie nte terea ER o aae dex e Da ER Eo eaae RE CRM BED a ex Ne LN Rada 115 8 7 Status of digital signals Lese eire ee eere rennen enne aaa n anna anna nun 116 8 8 Motor temperature 1 ee esses esie sese esas uua ua auus u aaa R RR RR RR RR RR RR RRR RR RR RR Ia RR nna uuu naa 117 9 1 Actual value menu VAL cc
81. ean3 5 Word3 5 729 6 723 6 6 7 Boolean4 7 Word4 7 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 displayed via the uint int inputs 74 EM ABS 01 for ACU Depending on the selected data information the percentages values are 03 12 v Bonfiglioli 7 11 5 3 Examples of virtual links 03 12 Example 1 Source Input link TxPDO1 RxPDO1 Source Target no Byte Byte Control 0 0 Control in word 1 D 1 put 740 Control word 99 2 2 3 3 Output 955 4 4 709 Ramp input reference 5 5 Line set frequency 6 p 6 value 137 channel 62 7 7 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 frequen cy 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
82. ed Move e g in JOG mode to the required system home position At this position stop the drive Set parameter Home Offset 1131 0 Note By default Home Offset 1131 is set to zero Upon first commissioning you do not have to change the value but this step is required in the case of commissioning following a change Now read the value in parameter Act Position 1108 Invert this value Enter the inverted value in Home Offset 1131 Example Act Position 1108 7654u gt Home Offset 1131 7654 Once you have set up the home position offset check the system for correct function again see chapter 6 6 1 If required for the application set up the software limit switches now Note Referencing using an absolute value encoder is not necessary after com pletion of first commissioning The referencing setting Operation mode 1220 with setting 10 No referencing required can be used after initialization EM ABS 01 for ACU 43 Gio Bonfiglioli 7 System bus interface 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 In the default version the ACU series of frequency inverters supports a CAN protocol controller This controller can be used in the CM CAN communication module with CANopen interface as well as in an extension module for the system bus such as the EM ABS 01 extension module 7 1 Bus termination The bus necessar
83. ed for a visualization tool for parameteriza tion 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 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 Connection Set Identifier Rx SDO1 1536 Node Node ID 1 63 Identifier 1537 ID 1599 Identifier Tx SDO1 1408 Node Node ID 1 63 Identifier 1409 ID 1471 Identifier Rx SDO2 1600 Node Node ID 0 63 Identifier 1600 ID 1663 Identifier Tx SDO2 1472 Node Node ID 0 63 Identifier 1472 ID 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 Atten The SDO2 must be deactivated in a CANopen system in order not to tion generate any compatibility problems If a frequency inverter has been defined as the system bus mas
84. eeeeeeeeeeeeasaeeneeeeeeees 11 2 7 Maintenance and service ee esee nnnununuunuuuuuuuu un sR RR REN SRRRRRRRSRRRRSRRSRSRRRRRRRRA 11 2 8 DispOSall 11 3 1 Restrictions for operation of standard functions eere 13 3 2 Range of applications of encoders e eeee eere eee nennen nnne nhanh 14 3 2 1 Asynchronous motor sssusa araa aaa ere EON Sr in Seite DRM DN DOS EYE 14 3 2 2 Synchronous motoE oio eost eee a Ea Ra oa aa PR DE ea RT EVE dEE 14 BEL General iis er arae gara ER ER puEoE QN EREUR RR RREUE NE EK RENN ENREE NRuEEERRRRUKBRESEUKMNEME CREE AEE E 17 5 2 Mechanical Installation eese eene enun nuununuu uu huuu Ru uuR RR RR RRRRSRRRRSRRSRRRRRRRRRSRE 17 5 3 Electrical Iristallationi iiiiiiiii iiio lriei cea eoa onu oa onu ara cenntvwaceucnavesoalevescenceedeensissucennsee 19 5 31 BIOCK CIAGKAIN MEEOCTTT E e 19 5 3 2 Control terminals eese mmm nnne nenne nnne nnn ne dna 21 5 3 2 1 Cable assembly SinCos seeesesessseese sienne nennen nennen nnn nani nn nina nenas 23 5 3 2 2 Cable assembly EnDat 2 1 cccsceccsssseeeesssseeeecseseeeeseseeeeseaaeeeesegeeeesseaeseessaasaes 24 5 3 2 3 Cable assembly Hiperface c scccccssseeeecssseeeesesseeeeseaseessseaeeeessageseessageesessaaengs 25 53 37 e ecu 26 5 3 3 1 Internal power S pply 5
85. er 8 4 2 SSI operation modes key 6211 Data Transmission speed 01 140 kBit s 02 281 kBit s 05 562 kBit s 11 1125 kBit s Incremental track 0 No Incremental Signal 1 SinCos A B 9 TTL A B track Protocol 5 SSI Gray Code 6 SSI Binary Code Note If a SSI encoder without incremental track Tracks Protocol 1184 50xx or 60xx is used for positioning the speed of the data track must be as high as possible for optimum control quality The usable transmission rate depends on the length of the encoder cable EM ABS 01 for ACU 03 12 03 12 Note Step 4 Step 5 Step 6 Step 7 Step 8 Note Note v Bonfiglioli Adjust the Division marks 1183 according to the encoder data sheet see Chapter 8 4 1 in the case of SSI encoders the value is typically 512 ampli tudes turn If an encoder without incremental tracks is used setting via Tracks Protocol 1184 this information is not needed and the setting of this parameter will be ignored Adjust the Supply voltage 1187 according to the encoder data sheet see Chapter 8 4 4 in the case of SSI encoders with TTL RS 422 or SinCos track the value is typically 5 0V Adjust Power supply 1186 according to the connections see chapter 8 4 3 Bonfiglioli Vectron recommends evaluating the sense line settings 5 intern Sense or 6 Via X410A Sense if available and connected Set the number of Bits Turn 1271 according to the encoder data sheet se
86. erc SY PK 10 9 TMerc HP BL 5 1 Sin4 BN 4 14 2 Sin TIEN CE 9 11 Cost WH YE 4 o p Ho 12 sd i mta i 3 1178 042 4 DI e el 0138 16 d a 23RD Xi E ote ee 14 a 14 D PK ate gt 2 en 4 o o 8 j 4 D i GY a EH 1 e gp GN a UJ _ a fs RES E 12 ken 13 ReH m 7 LO 10 VEncS E FE 11 16 Venc BN GN 6 7 OVLovsensor BK 3 15 15 OVL NL X i 15 X Ge E Encoder cable 8 twisted two wire lines Cable size 0 14 mm Length 3m 5m or 10m Note The assembled cables for EnDat 2 1 and SinCos encoders are identical For better readability of the individual connections the specific designations for SinCos and EnDat 2 1 are used e Use PTC resistors with safe isolation from motor winding according to EN 61800 5 1 Use shielded and twisted cables Install encoder cable separate from motor cable Connect the shield of the encoder line properly on both sides BONFIGLIOLI VECTRON recommends using the pre assembled cables for syn chronous motors types BCR and BTD 03 12 EM ABS 01 for ACU 23 Gio Bonfiglioli 5 3 2 2 Cable assembly EnDat 2 1 Contact assignment BONFI GLI OLI VECTRON assembled cable for connec tion of EnDat 2 1 encoders EM ABS 01 X412 3 12 EC bic Female Intercontec K4 Male HD Sub D 16 pins max 100 m 8 TMec GY PK 10 9 TMprc d c 5 Te ae ro D B BNYNE C 3 9 do 12
87. estrasse 8 2000 Stockerau el 43 2266 634210 Fax 43 2266 6342180 www mollmotor at office mollmotor at BELGIUM BEST ESCO TRANSMISSION N V S A Culliganlaan 3 1831 Machelem Diegem el 32 2 7176460 Fax 32 2 7176461 www esco transmissions be info esco transmissions be BRASIL BONFIGLIOLI REDUTORES DO BRASIL IND STRIA E COM RCIO LTDA ravessa Claudio Armando 171 Bloco 3 CEP 09861 730 airro Assun o S o Bernardo do Campo Sao Paulo Brasil Tel 55 11 4344 1900 Fax 55 11 4344 1906 www bonfigliolidobrasil com br bonfiglioli bonfigliolidobrasil com br CANADA ONFIGLIOLI CANADA INC 2 7941 Jane Street Concord Ontario L4K 4L6 el 1 905 7384466 Fax 1 905 7389833 www bonfigliolicanada com sales bonfigliolicanada com CHILE Best MATESA S A Santa Rosa 5699 San Miguel Santiago el 56 2 5264702 Fax 56 2 5265878 www imatesa cl imatesa imatesa cl CHINA ONFIGLIOLI DRIVES SHANGHAI CO LTD 19D No 360 Pudong Road S New Shanghai International Tower 200120 Shanghai P R China el 86 21 69225500 Fax 86 21 69225511 www bonfiglioli cn bds bonfiglioli com cn DENMARK BEST RD KLEE Gadagervej 11 Denmark 2620 Albertslund el 45 43 868333 Fax 45 868388 www brd klee dk klee brd klee dk FRANCE ONFIGLIOLI TRANSMISSIONS S A 14 Rue Eug ne Pottier BP 19 Zone Industrielle de Moimont II 95670 Marly la Ville el 33 1 34474510
88. eter Baud Rate 903 and defines the available cable length 3 50 kBaud 1000 meters 4 100 kBaud 800 meters 5 125 kBaud 500 meters 6 250 kBaud 250 meters 7 500 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 Depending on the number of subscribers the baud rate is limited There are the fol lowing restrictions Up to and includ 250 kBit s not more than 64 subscribers ing 500 kBit s not more than 28 subscribers 1000 kBit s not more than 10 subscribers The bus load must be considered in the projecting phase 7 5 Setting the 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 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 Node ID 900 0 is set the frequency inverter is defined as t
89. ference system is always referred to the output side in user units through parameters Feed constant 1115 Gear Box Driving Shaft Revolutions 1116 and Gear Box Motor Shaft Revolutions 1117 Thus these parameters must also be considered when configuring the linear encoder Note Parameters Bits Turn 1271 and Bits Multiturn 1272 are virtual quantities in the case of a linear encoder and are determined by the mechanical properties of the system Different properties of the mechanical system e g gear transmission or turning wheel diameter will lead to different parameter settings Note Shifting of a bit in parameters Bits Turn 1271 and Bits Multiturn 1272 has the same effect as doubling or halving in parameters EC2 Gear Factor Numerator 513 EC2 Gear Factor Denominator 514 Reduction of Bits Turn 1271 or increase of Bits Multiturn 1272 by 1 Bit gt has the same effect as doubling of 513 514 Increase of Bits Turn 1271 or reduction of Bits Multiturn 1272 by 1 Bit gt has the same effect as halving of 513 514 EM ABS 01 for ACU 03 12 03 12 v Bonfiglioli Required data The following data is needed for commissioning of the linear encoder Gear transmission or input speed output speed rpm rpm Encoder resolution bits Running wheel diameter m Required accuracy m or resolution increments m 1st step Identify gear values reference system The input speed motor speed will determine the setting for parameter Gea
90. ference track R Monitor ing and comparison of Tracks Protocol Evaluation of analog Tracks Protocol A B and the data and 1101EnDat 2 1 clock track with the EnDat 2 1 protocol Monitoring and com parison of Tracks Protocol Evaluation of analog Tracks Protocol A B and the data tracks with the Hiperface protocol Monitoring and comparison of Tracks Protocol The data track is transmitted at 9 6 kBaud Hiperface Like 3109 The data track is transmitted at 19 2 kBaud 19 2 kBit s 3 13 liperface Like 3109 The data track is transmitted at 38 4 kBaud 38 4 kBit s Hiperface 3109 9 6 kBit s 3119 EM ABS 01 for ACU 95 Gio Bonfiglioli SSI Gray code SSI Binary code 96 Evaluation of data and clock tracks with the SSI protocol SSI Gray code without TTL or SinCos track The data track is transmitted at 141 kBit s 140 625 kBaud in Gray code This function is currently be i ared 281 kBit s Gray code 563 kBit s Gray code 501 SSI Gray code Like 5001 The data track is transmitted at 1125 kBaud in Gray 1125 kBit s code Evaluation of Tracks Protocol A B as SINCOS track and the SOS dc data and clock tracks with the SSI protocol The data track is r transmitted at 140 625 kBaud in Gray code code 281 kBit s Gray code code 563 kBit s Gray code code 1125 kBit s code SSI TTL Gra Evaluation of Tracks Protocol A B as TTL RS 422 track and cod i 41 kbit s the data and clock tracks with the SSI
91. g to the great number of encoder types and special solutions not do cumented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified When it comes to setup always refer to the encoder manufacturer s data sheet In the case of synchronous servomotors the Offset 1188 must be set up according to chapter 8 4 6 Offset 10 1 1 SinCos encoders Encoder B C 1183 1184 1186 1187 1271 1272 1270 2 Heidenhain ERN 1387 Variante 2048 Ampl S1 2048 700 D 590v 2 Heidenhain ERN 1185 Variante 512 Ampl S2 512 700 D bo0v A i Heidenhain ERN 1185 Variante 2048 Ampl S3 2048 700 D 50v i 3 B C Bonfiglioli Code used at motors of series BCR amp BTD 1 Please refer to chapter 8 4 3 for setup of parameter Power supply 1186 2 Not evaluated due to the Tracks Protocol 1184 settings chosen Note Owing to the great number of encoder types and special solutions not documented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified 03 12 EM ABS 01 for ACU 121 Goo Bonfiglioli 10 1 2 Hiperface encoders Encoder B C 1183 1184 1186 1187 1271 1272 1270 Sick SRS50 Hi 1024 3109 D 80V 15 0 2 Sick SRM50 H2 1024 3109 9 80V 15 12 2 Sick SKS36 H3 128 3109 D g ov 12 0 2 Sick SKM36 H4 128 3109 D 80V 12 12 Sick SEK37 H5 16 3109 D 8g0V
92. ge components of the mod ule EM ABS 01 for ACU 21 Gio Bonfiglioli HD Sub D i X412 socket 3 rH contact Sin Cos Housing optionally B Cos optionally B Cos optionally A Sin TMc 13 C Data Data Data 14 Sin Sin A Sin optionally A Sin 15 GND GND GND GND Function Signal Housing Shield connected with PE A A Sin Sin 0 6 V 1 2 Vss incremental signal B B Cos Cos C C In the case of SSI encoders the A A and B B tracks can be D D used as an option for TTL RS 422 or SinCos signals R R DC 0 2 1 7 V analog signal Clock Clock Clock signal Data Data Data signal TMprc Motor PTC TMptc EE Encoder supply DC 5 12 V 9 max load capacity 2 W Mencs Measuring line for monitoring of Ven Vss peak peak voltage The voltage value can be adjusted via parameter Supply voltage 1187 See chapter 8 4 4 Supply voltage 2 Voltage control via the measuring line can be activated as an option through parameter Power Supply 1186 See chapter 8 4 3 Power supply 22 EM ABS 01 for ACU 03 12 v Bonfiglioli 5 3 2 1 Cable assembly SinCos Contact assignment BONFI GLI OLI VECTRON assembled cable for connec tion of SinCos encoders N NS mie EM ABS 01 X412 D Female Intercontec e a Male HD Sub D 16 pins max 100 m 8 TM
93. gement controls the start of all subscribers to the system bus Subscribers can be started or stopped individually or jointly For subscriber recogni tion 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 System bus Slave Parameter Function Parameter Function SDO 2 SDO 1 PDO SDO 2 SDO 1 PDO System bus System bus Controller PC System bus EM ABS 01 for ACU 47 Gio Bonfiglioli 7 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 SDOs 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 its client SDO The identifier assignment for the SDO channels Rx Tx is done according to the Pre defined Connection Set This assignment can be amended by
94. gnal is lower than 1 V a warning 2 Shut Down lt 1V 2mA message is issued the drive is decelerated ac cording to stopping behavior 1 If the input signal is smaller than 1 V there is a warning and fault message and the drive mechan ism stops freely Error switch off 3 lt 1V 2mA Monitoring of the analog input signal is active regardless of the release of the fre quency inverter according to the operation mode selected In operation mode 2 the drive mechanism is decelerated according to stopping beha vior 1 stop and shutdown regardless of the stopping behavior selected Parameter Operation mode 630 If the set holding time has expired an error message is issued Repeat starting of the drive mechanism is possible by switching the start signal on and off if the error has already been corrected Operation mode 3 defines free coasting of the drive regardless of the stopping beha vior selected defined in parameter Stopping behavior 630 Attention The monitoring of the analog input signal via parameter Error Warning behavior 563 demands examination of the characteristic parameters 90 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 1 7 Adjustment Due to component tolerance it can be necessary to adjust the analog input This is done via parameter Adjustment 568 0 No adjustment Standard operation 1 Adjustment 0 V Er of the measurement with an analog signal 2 Adjustment 10 V indi of the measurement with
95. h system bus SYNC telegrams or system bus RxPDO telegrams Note If the operating system is synchronized via CANopen the CANopen master must support the CANopen synchronization mechanisms EM ABS 01 for ACU 55 Goo Bonfiglioli 56 0 Auto he synchronization source is selected automatically by the frequency inverter 1 CANopen he operating system is synchronized via CANopen Factory setting 2 System bus he operating system is synchronized via system bus he operating system is not synchronized Operation mode Auto Selection is made via a decision table CANopen active System bus active No 1 1 1 Ye y gt Synchronization via system bus gt No synchronization activated Status Synchronization via CANopen active is identified via parameter setting 387 CAN Node Number 1 and a running synchronous PDO Status Synchronization via system bus active is identified via parameter setting 900 System bus node ID 1 In addition parameter 1180 Synchronization must be set to SYNC or RxPDO The source of the operating system OS synchronization is set via 1180 Operation mode This defines the Sync event RxPDO or SYNC telegram which will be used for synchronization of PDOs 930 7TxPDO Function 936 RxPDOI Function 932 TxPDO2 Function 937 RxPDO2 Function 934 TxPDO3 Function 938 RxPDO 3 Function Operation mode 0 KENNEN i via system bus is deactivated Factory set ing 1 RxPDO1 ynchronizati
96. hapter 8 4 3 Power supply The voltage level can be set up via parameter Supply voltage 1187 See chapter 8 4 4 Supply voltage The encoder can be powered as follows via control terminals X410A 5 DC 5 12 V and X410A 7 GND or via contacts X412 6 VEnc and X412 15 GND of the female HD Sub D connec tor See chapter 5 3 2 Control terminals Caution If power supply is done via the internal power supply of the encoders a total power of 2 W is available for all consumers connected to digital ana log and encoder interfaces This includes all interfaces of the ACU basic device and the EM ABS 01 module together EM ABS 01 for ACU 03 12 v Bonfiglioli 5 3 3 2 Looping via terminals X410A gt gt gt 03 12 In some cases encoder power supply must be supported or effected by an external power supply This is a good idea especially in the case of encoders with medium power demand 0 5 2 W or when many consumers are connected to the signal ter minals An external DC 24 V power supply can be connected to terminals X410A 1 DC 24 V and X410A 2 ground Via this power supply a connected encoder can be powered BONFIGLIOLI VECTRON recommends connecting an external power supply Input voltage range DC 24 V 10 Rated input current Max DC 1 0 A typical DC 0 45 A Peak inrush current Typically DC 20A External fuse Standard fuse elements for rated current characteristic slow
97. he mas ter Only one frequency inverter on the system bus may be defined as the master 46 EM ABS 01 for ACU 03 12 7 6 7 7 03 12 v Bonfiglioli Functional overview The system bus produces the physical connection between the frequency inverters Logical communication channels are produced via this physical medium These chan nels 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 chan nels 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 A 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 Network management The network mana
98. he number of turns Encoders with other properties will be con verted to this format internally Note In the case of motor encoders with a multiturn portion of more than 16 bits clear identification of the position in the frequency inverter is not guaranteed Note In the case of motor encoders with a multiturn portion of less than 16 bits the free bits are filled up to 16 bits and managed in a fail safe manner Example An encoder has a multiturn portion of 13 bits 3 bits are ma naged additionally in the inverter thus 8 723 overflows of the multiturn portion are recognized This information may be lost in some situations if the DC link is discharged very quickly due to external conditions In the case of usage in positioning applications configuration x40 the absolute posi tion of the encoder can be used for the reference system directly in user units u Using gear factors a gear transmission between the encoder and the travel distance can be considered Note The input data of the encoder is evaluated via the reference systems The evaluated parameters e g motor frequency drive speed in rev s position in rev are available for diagnosis via actual value parameters see chapter 8 6 Actual value display Check the power demand of the encoder to be connected The internal power supply unit can only supply a maximum total of 2 W for all consumers connected In the case of a higher power demand connect an external DC 2
99. ia SDO channel possible Exchange of process data via PDO channel possible Stopped Parameterization via SDO channel not possible Exchange of process data via PDO channel not possible Operational Note Start Remote Node is cyclically transmitted with the set delay time by a frequency inverter defined as a system bus master in order to put slaves added with a delay or temporarily separated from the network back into the Operational state 03 12 EM ABS 01 for ACU 49 Gio Bonfiglioli Power on any state 4 8 Stopped CY 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 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 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 50 A frequen
100. identifier SDO2 Set Active 923 SDO2 Set Active PDO Identifier 924 RxPDOI identifier 925 TxPDOI 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 Booleani 947 TxPDO1 Boolean2 948 TxPDO1 Boolean3 949 TxPDO1 Boolean4 950 TxPDO1 Word1 951 TxPDO1 Word2 952 TxPDO1 Word3 953 TxPDO1 Word4 954 TxPDO1 Longi 955 TxPDO1 Long2 TxPDO2 Objects 956 TxPDO2 Booleani 957 TxPDO2 Boolean2 958 TxPDO2 Boolean3 959 TxPDO2 Boolean4 960 TxPDO2 Wordi 961 TxPDO2 Word2 962 TxPDO2 Word3 963 TxPDO2 Word4 964 TxPDO2 Longi 965 TxPDO2 Long2 TxPDO3 Objects 966 TxPDO3 Booleani 967 TxPDO3 Boolean2 968 TxPDO3 Boolean3 969 TxPDO3 Boolean4 972 TxPDO3 Wordi 973 TxPDO3 Word2 974 TxPDO3 Word3 975 TxPDO3 Word4 976 TxPDO3 Longi 977 TxPDO3 Long2 Actual values System bus 978 Node state 979 CAN state 78 EM ABS 01 for ACU 03 12 v Bonfiglioli 7 14 Ancillaries 03 12 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 relationshi
101. ilities one Rx PDO to one Tx PDO one to one connect several Rx PDO s to one TxPDO one to many This process is documented in a tabular form via a communication relationship list Example Frequency inverter Frequency inverter 2 Frequency inverter 3 PDO Identifier PDO Identifier PDO Identifier TxPDO1 385 TxPDO1 TxPDOi RxPDO1 RxPbO1 385 RxPDO1 385 TxPDO2 641 TxPDO2 TxPDo2 642 Rx PDO2 RxPbO2 641 RxPDO2 TxPDO3 Teos s eos RxPDO3 RxPDO3 RxPDO3 Atten All the TxPDOs used must have different identifiers tion The Identifier must be clear in the system bus network Frequency inverter 1 Frequency inverter 2 Frequency inverter 3 EM ABS 01 for ACU 03 12 7 11 5 03 12 v Bonfiglioli 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 num bers Example 1 Function A Source No 27 hy Function C A Parameter 125 Function B x
102. irtual links are planned and documented with the help of the table The table is available as a Microsoft Word document vvk doc on the VECTRON product CD or upon request Input Link Parameter No Inverter o Q A x cc ay x Identifier Input Link Parameter No Source j No Boolean Inverter EM ABS 01 for ACU 81 Goo Bonfiglioli 7 14 3 82 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 PDOs is thus stipulated via the set baud rate Baud rate Telegram runtime kBaud us 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 TxPDOs se lected the following bus loads results Baud Bus load as a function of the transmission for one TxPDO in 96 died and end dnd lad md kBaud 1 000 1 4 500 2 8 250 56 28 187 14 112 93 8 7 62 56 125 112 100 14 50 280 140 93 3 70 56 46 7 40 35 31 1 28 Atten A bus load gt 100 means that a telegram cannot be dispatched com tion pletely between two transmission times Such a setting is not admissible This observation must be done for each TxPDO The sum of all the TxPDOs decides on the entire bus load The bus load must be designed in such a way th
103. itched on the EM ABS 01 ex tension module is ready for operation m E ic o E 18 EM ABS 01 for ACU 03 12 w Bonfiglioli 5 3 Electrical I nstallation Danger If the following instructions are not complied with there is direct danger N 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 extension module e Before electrical installation of the EM ABS 01 extension module the frequency inverter must be de energized Take appropriate measures to make sure it is not energized unintentionally e Make sure that the frequency inverter is discharged mains DC link voltage and motor terminals may still be live for some time Wait for at least three minutes until the DC link capacitors have discharged before starting to work at the unit Danger When the frequency inverter is disconnected from power supply the 5 3 1 Block diagram X410A 1 24 VDC input o 2 GND DC 24 V EM S1OUTD ES em s20uTrD T 4 5 Dc 5 12 V output EM S1INA DAEA JA GND DC 10 V Ap X410B 4 GND EM S1IND EM S2IND Jmm Ly EM S3IND CAN Low Q AHigh SYSH L7 GND X412 Encoder o T code IT E us ij Caution The digital inputs and the DC 24 V terminal of the electronic control e equipment can withstand
104. king requirements the frequency inverters comply with the Low Voltage Directive 2006 95 EEC as well as DIN EN 61800 5 1 The user shall be responsible for making sure that the requirements of the EMC Directive 2004 108 EEC are met Frequency inverters are only available at specialized dealers and are exclusively intended for professional use as per DIN EN 61000 3 2 Any use other than the use described above will be considered as not in accordance with the specified purpose and may result in the warranty becoming null and void The frequency inverters are also marked with the UL label according to UL508c which proves that they also meet the requirements of the CSA Standard C22 2 No 14 95 The technical data connection specifications and information on ambient conditions are indicated on the rating plate and in the documentation and must be complied with in any case Anyone involved in any kind of work at the device must have read the instructions carefully and understood them before starting the work EM ABS 01 for ACU 9 Gio Bonfiglioli 2 3 Transport and Storage The frequency inverters must be transported and stored in an appropriate way During transport and storage the devices must remain in their original packaging The units may only be stored in dry rooms which are protected against dust and moisture and are exposed to little temperature deviations only Observe the conditions as per DIN EN 60721 3 1 for storage DIN EN 60721 3 2 for tra
105. lue range 300 00 300 00 To maximize the value range of the factors the maxi mum value 300 00 is used for optimization 9th step Optional Check of accuracy This section describes the calculations required for determining the accuracy The check is not required for proper function it is solely for determining the accuracy lim its Due to rounding operations in the parameters described above there will be an error across the total travel distance This error is calculated in the following steps Distance _ ref m m Acci u EC2GearFactorNumerator 513 Distance _ ref u 216 EC2GearFactorDenominator 514 p 2 Bits Revolution 1271 1 Distance ref u 2 Distance act internal zl R 3 Distance _ act u ttn ti 2 EM ABS 01 for ACU 39 Gio Bonfiglioli 40 4 Error u Distance act u Distance _ ref u m 5 Error m Distance act u Acca Distance _ ref m u The error can be reduced by increasing the accuracy of the gear factors By using the 2 decimal places of parameters EC2 Gear Factor Numerator 513 and EC2 Gear Factor Denominator 514 and the optimization described in the previous step 8 Optimization of gear factors accuracy can be increased At a maximum travel distance of 10 m the following is obtained Non optimized gear factors Optimized gear factors Distance nominal rev 1000 000 rev Distance nominal rev 1 000 000 rev Distance actual internal 23 633 6
106. minals are suitable for the following cable sizes with ferrule 0 25 1 0 mm without ferrule 0 14 1 5 mm EM ABS 01 for ACU 03 12 v Bonfiglioli 5 Installation 5 1 General AN The mechanical and electrical installation of the EM ABS 01 extension module must be carried out by qualified personnel according to the general and regional safety and installation directives For a safe operation of the frequency inverter it is necessary that the documentation and the device specifications be complied with during installa tion and commissioning In the case of special applications you may also have to comply with further guidelines and instructions The frequency inverters are designed according to the requirements and limit values of product norm EN 61800 3 with an interference immunity factor EMT for operation in industrial applications The electromagnetic interference is to be avoided by expert installation and observation of the specific product information For further information refer to the chapter Electrical Installation of the frequency inverter operating instructions Warning All connection terminals where dangerous voltage levels may be present e g motor connection terminals mains terminals fuse connection ter minals etc must be protected against direct contact 5 2 Mechanical I nstallation AN AN 03 12 Danger If the following instructions are not complied with there is direct danger wi
107. n chronize the master position with the OS in the slave Although this setting is option al BONFIGLIOLI VECTRON recommends setting this parameter accordingly 7 9 3 2 Scope sources 03 12 For the VPlus Scope function the following sources are available for diagnosis i y Funtin ______ B Sync OS Sysbus Ok 1 Synchronization OS to system bus OK 0 Synchronization OS to system bus not OK 7 31 P SysBus SYNC time us Represents the synchronization time cycles hould show the set SYNC time or TxPDO of he transmitting master us ms Should be constant with minor deviations 0 Synchronization OS to CANopen not OK hould show the SYNC time of object 0x1006 Task us ms Should be constant with minor deviations Please also refer to the manual of the CM CAN module if synchronization via CM CAN is used EM ABS 01 for ACU 57 Goo Bonfiglioli 7 9 4 Emergency Message fault shutdown 58 As soon as a fault shutdown occurs in a slave frequency inverter the emergency telegram is transmitted The emergency telegram marks the node ID for the identifi cation 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
108. n error has occurred Dig encoder SSI transmission error 2 A SSI encoder transmission error has occurred nn Node ID of slave hex Communication fault system bus timeout SYNC telegram Communication fault system bus timeout RxPDO1 Communication fault system bus timeout RxPDO2 Communication fault system bus timeout RxPDO3 Communication fault system bus bus OFF F21 dl Fault report to system bus master in fault in system bus slave F22 Note The error messages described above may occur depending on the encoder connected Not every error message will be used for every encoder system Additional fault messages are described in the Operating instructions of the frequency inverter In addition to fault messages mentioned there are further fault messages However these messages are only used for internal purposes and are not listed here If you receive fault messages which are not listed here please contact Bonfiglioli EM ABS 01 for ACU 127 Gio Bonfiglioli I ndex A Absolute value encoder raw data 115 Act speed source sseeeeeees 113 Actual position eeeeeeenreeeees 115 Actual position source 113 Actual value display 114 Analog input EM S1INA s 84 Assignment X410A and X410B 21 Assignment X412 encoder connector 22 B Baud rate eite enteras 46 Bit
109. na u a 93 8 3 1 Fixed reference value and fixed value change over ssssssssrrrrrsrsessurnnnnrnrenrnnnnnrnnnee 93 8 4 Encoder input EM ABS O 1 eeeeieeeeeisiieee essen ane ana aun u aduana auda anas usan nau a 94 amp 4 L Division malKS icis eere eter ee ex Yeh bead Ee Ex te E Exe RERENRRR VERENA K NR RR Ue RR FE E FREE SERENES 94 8 4 2 Track Protocol ice eire rein enun REEE ERE RkX NE REXAE RE DAR ER KK EVA ERE CRR UNE 95 8 4 3 Power supply eeeeeeeeeeen eene nennen nennen nennen nn nnne nn nnn nnn enne serra nnne nnn 98 9 4 4 Supply voltage icc rete Dr kx esa perve VEL a ies URS VETERE DER a ERE PURSE 101 8 4 5 Speed lcg Mt 102 OG 0 OSEE mcs eee dbi mid EE E EEUU 102 8 4 7 BitS DUEDS o oni eco ere Re eon EUR MEE ERRARE Une FUR de UEMAS SR xe Seid eO T deos Y deg peus 104 8 4 8 Bits Multit rn iiius errare a nnn su nnn Rune ra nn Ri eina ex De Rx RR ENS RARE XE e ER AS 105 8 49 SSI error additional bits eor eoi knee crue o n Exec uxo o Re onu xe cba xe e oed eoe eeu Een RA CUR 106 8 4 9 1 scusa c 107 8 4 9 2 clef 107 8 4 9 3 Example 3 e 107 8 4 9 4 Example 4 4 iiec eniin era an XR ELO SER A ERR EFE ERE RR XR EERR ER EXERRERRRXRAE E RRRRXRER 107 9 4 10 SSI Sampling interval ertet he nina ruta cen E Fan a
110. nce band of 0 20 V The theoretical change of sign of the reference value is taken into account and leads to the tolerance band stated There is no change of the direction of rotation 8 1 4 Scaling 88 The analog input signal is mapped to the freely configurable characteristic The maxi mum admissible setting range of the drive mechanism is to be set via the frequency limits or percentage limits according to the configuration selected In parameterization of a bipolar characteristic the minimum and maximum limits for both directions of rotation are taken on The percentage values of the points relate to the maximum limits selected No Description Min Max Factory set ting 0 00Hz 999 99Hz 3 50Hz Maximum frequency 0 00 Hz 999 99Hz 50 00 Hz The control system uses the maximum value of the output frequency which is calcu lated from the Maximum Frequency 419 and the compensated slip of the drive me chanism The frequency limits define the speed range of the drive and the percentage values supplement the scaling of the analog input characteristic in accordance with the functions configured No Description Min Max Factory set ting 0 00 300 00 0 00 0 00 300 00 100 00 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 1 5 Tolerance Band and Hysteresis The analog input characteristic with change of sign of the reference value can be adapted by the parameter Tolerance band 560 of the applicati
111. neau anna 44 Dek CADIES ER 45 7 3 Control terminal X41 0B ccsssscssssecseseenessenseeeseeseneseeeeeseeneeeeneeseeoeeeeneesseneseenseseeses 45 7 4 Baud rate setting line lengths 1 cccseseeeeeeeeseeeeeneeeeeseeeaseseongeeeeeneaseeseeoeseenesnnees 46 7 5 Setting the node ACCress cccccseeseeeeseeseeeeeneseeeennaseeeoeuseseenoaseesenouseesenoegeensnoeaeens 46 7 6 Functional overview sccsssccsessceeseeeeseeneeeeneeseeneeeauseenneseeneeseneeseeneeeenneeesneeeenseensaes 47 7 7 Network management 11 iseeeeeeei eene sesa aene naa uu nasa u duas us Rana a uasa aaa auam na 47 7 7 1 SDO channels parameter data esesseeeeeeeeeneneene nnne nnne nnn nnn nnns 48 7 7 2 PDO channels process data esseeseseeeeen nennen nennen nnn nnn nnn nnn nnns 48 7 8 Master functionality e eieieeee e ieieeeeeieee eee nea auum su uana nua u auam ausa anas uada nna a aua 49 7 8 1 Control boot up sequence network management eeseeeeenn nenne 49 7 8 2 SYNC telegram generation eeessssesesesessesseseeeeeennnne nennen nennen nenne nennen 51 7 8 3 Emergency message reaction cocti eter eed a Rr ca E RYE FUE a RYE REY 52 7 8 4 Client SDO system bus master sssessessseeseeennen nennen nnne nnne 53 7 9 Slave functionality 1 eeeeeeeeeeeiieieeeeeiee suse naa ua nua u aka auau aaa a nasus anna ausa Rama u
112. nly if Tracks Protocol 1184 is described in an operation mode for evaluation of TTL RS 422 or SinCos tracks settings 51xx 59xx 61xx and 69xx EM ABS 01 for ACU 03 12 v Bonfiglioli 8 4 2 Tracks Protocol SinCos EnDat 2 1 Hiperface 03 12 Via parameter Tracks Protocol 1184 you can specify the type specific number of analog Tracks Protocol of the encoder and evaluation of a reference track Key of Tracks Protocol 6911 Data transmission speed EnDat 2 1 SSI 01 100 kBit s 140 kBit s 02 281 kBit s 05 562 kBit s 11 1125 kBit s 09 9 6 kBit s 19 19 2 kBit s Hiperface 38 38 4 kBit s Incremental track 0 No Incremental Signal 1 SinCos A B 3 SinCos A B C D 5 SinCos A B R 7 SinCos A B C D R 9 TTL A B track Protocol 0 SinCos without Absolute value 1 EnDat 2 1 3 Hiperface 5 SSI Gray Code 6 SSI Binary Code Note The identifiers of track A B and Sin Cos are typically ambivalent and can be set to A Sin and B Cos Evaluation is turned off Factory setting 100 A B Evaluation of analog Tracks Protocol A and B E Evaluation of analog Tracks Protocol A and B and commuta 300 A B C D tion Tracks Protocol C and D 500 A B R Evaluation of analog Tracks Protocol A and B as well as refer r ence track R Monitoring and comparison of Tracks Protocol Evaluation of analog Tracks Protocol A and B and commuta 700 A B C D R tion Tracks Protocol C E as well as re
113. 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 TxPDO1 Identifier 925 385 Inverter 1 Parameter Identifier TxPDO 1 Boolean 946 4 71 S2IND Parameter e Source No RxPDO1 Identifier 924 385 system bus Inverter 2 Parameter Identifier Start clockwise 068 700 RxPDO1 Boolean Parameter 4 Source No EM ABS 01 for ACU 75 Goo Bonfiglioli 7 12 Control parameters 76 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 Node State 978 parameter gives information about the Pre Operational Opera 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 CAN State 979 parameter gives information about the state of the physical 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 th
114. nsfer gt writing process with error 0 1 2 3 4 5 6 7 byte Ox80 iss MSB Oxm Code o o o The error code is stated in byte 4 in a faulty reading process See table failure codes Atten Control byte 0x22 for the identification SDO Download expedited does tion 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 ABS 01 for ACU 61 Gio Bonfiglioli Reading parameters Client 9 Server SDO Upload expedited byte Ox40 isB_ ms Oxnn Server 3 Client Upload Response gt reading process without errors Server 3 Client Abort SDO Transfer gt reading process faulty 0 1 2 3 byte Ox80 LSB ms oxnn Code o o O The error code is stated in byte 4 in a faulty reading process See table failure codes Code Description 1 inadmissible parameter value 2 inadmissible data set 3 Parameter not readable 4 Parameter not writeable 5 read error EEPROM 6 write error EEPROM 7 checksum error EEPROM 8 parameter cannot be written while the drive is running 9 values of the data sets differ from one another 10 wrong parameter 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 pa
115. nsport and the labeling on the packaging The duration of storage without connection to the permissible nominal voltage may not exceed one year 2 4 Handling and installation Warning Damaged or destroyed components must not be put into operation because they may be a health hazard The frequency inverters are to be used in accordance with the documentation as well as the applica ble directives and standards It must be handled carefully and protected against mechanical stress Do not bend any components or change the isolating distances Do not touch electronic components or contacts The devices are equipped with components which are sensitive to electrostatic energy and can be damaged if handled improperly Any use of damaged or destroyed components shall be considered as a non compliance with the applicable standards Removal of seals from the housing can result in invalidation of warranty Do not remove any warning signs from the device 2 5 Electrical I nstallation Warning Before any assembly or connection work discharge the frequency inverter Verify safe iso lation from power supply Do not touch the terminals because the capacitors may still be charged Comply with the information given in the operating instructions and on the frequency in verter label Follow the safety rules applying to work on electrical equipment Follow the safety rules applying to work on electrical equipment e Isolate Isolate the installa
116. nssensensenses 65 7 11 1 Identifier assignment process data channel sssssssssrsrrrrnssrssnsnnnnnnenennnnnnnnnenennnnnnn 65 7 11 2 Operation modes process data channel seeseeeeenemnn 66 7 11 3 Timeout monitoring process data channel seesseeeenem enn 67 7 11 4 Communication relationships of the process data channels eese 68 7 11 5 Virtual linke rei ornare eerte Cere e ee eae reo ora ene lives Cr oo sa iva cu eer ocg aver reas xke RUNS EYE 69 7 11 5 1 Input parameters of the TxPDOs for data to be transmitted 72 7 11 5 2 Source numbers of the RxPDOs for received data ssseseseese 74 7 11 5 3 Examples of virtual links eecsseseseeseeeneeeeenenenn meme 75 7 12 Control parameters e eieieeee eiii isei aee easa auum ua auam auda anas u a sanas a Rana auda 76 7 13 Handling of the parameters of the system bus censes eee 77 7 14 Arncillaries 1 eioirceo roin e Ina nuu nuk aora o aan gun EE ci DR ERR REN ERR NEN EN EREREE ERN ERE SENS AENEAN EARNER ERE 79 7 14 1 Definition of the communication relationships eeeeceeeeemene 80 7 14 2 Production of the virtual links eeeeeeeeeeeee ene n nnne nnns 81 7 14 3 Capacity planning of the system bus esessssseeeeseeeneennenenn nennen 82 8 1 Analog input
117. o point form of the line equation The speed Y of the drive is controlled ac cording to the ana log control signal X yaari X X1 Y1 X2 Xl Attention The monitoring of the analog input signal via parameter Error Warning behavior 563 demands examination of the characteristic parameters Sensible use is only possible if Point X1 564 is in the positive range EM ABS 01 for ACU 03 12 vv Bonfiglioli 8 1 3 Operation modes The operation modes of the analog input characteristic enable application related scal ing as a supplement to the characteristic points mentioned above One of the four linear types of characteristic is selected for the signal adaptation for the analog input signal via parameter Operation mode 562 If the points are not suited for the type of characteristic selected they are corrected internally 1 bipolar The analog input signal is mapped onto the reference value according to the points X1 Y1 and X2 Y2 11 unipolar With a negative parameter value of the points X1 or X2 the latter are mapped to the reference value ze ro 21 unipolar 2 10V 4 20mA If the points X1 or X2 have been set with a negative parameter value or less than 0 the input characte ristic is mapped to the reference value 20 101 bipolar abs Negative parameter values of the points Y1 or Y2 are mapped as a positive reference value in the characte ristic Further information on the operation modes stated in the ta
118. ograms Ej v eo 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 Configuration 30 This parameter cannot be written when the frequency inverter is in operation Actual value menu VAL No Description Unit Display range Chapter 016 EM Software version 10 2 No Description Unit Display range Chapter 219 Encoder 2 Frequency Hz 0 0 999 99 8 6 220 Encoder 2 Speed rpm 0 60000 8 6 253 Analog Input EM S1INA 10 10 8 6 1108 Act Position u Long 8 6 2 1267 Abs Encoder Raw Data String 8 6 1 1273 Warning Dig Encoder Word 8 4 14 1274 Warning Dig Encoder Selection 8 4 14 Note Parameter Warning Dig Encoder 1273 is intended for read out via a PLC parameter Warning Dig Encoder 1274 provides a brief description of the information in VPlus and the keypad KP500 Parameter menu PARA No Description Unit Setting range Chapter 509 Repetition frequency EM Selection 8 2 3 S1 S20UTD 513 EC2 Gear Factor Numerator 300 00 300 00 8 4 11 514 EC2 Gear Factor Denominator 0 01 300 00 8 4 11 533 Op Mode EM S1OUTD Selection 8 2 2 534 Op Mode EM S20UTD Selection 8 2 2 E 560 Tolerance band 96 0
119. om bonfiglioli bonfiglioli com SPARE PARTS BONFIGLIOLI B R T Via Castagnini 2 4 Z Bargellino 40012 Calderara di Reno Bologna ITALY Tel 39 051 727844 Fax 4 39 051 727066 www brtbonfiglioliricambi it brt bonfiglioli com INDUSTRY PROCESS AND AUTOMATION SOLUTIONS www bonfiglioli com GH BONFIGLIOLI COD VEC 760 R0a
120. ommends connecting an external power supply to the voltage input of the control terminal This auxiliary voltage enables powering an encoder via the voltage output of the control terminal Refer to the encoder manufacturer s power specifi cations Choosing the source for encoder power supply and setting the voltage level gt S Select Set Voltage supply voltage supply voltage value i fer encoder Oz auo UL EM ABS 01 5 12 VDC Measured voltage G encoder The encoder supply voltage is measured at the SinCos encoder and kept constant at the adjusted value of Supply voltage 1187 DC 5 12 V 100 EM ABS 01 for ACU 03 12 v Bonfiglioli 8 4 4 Supply voltage AN AN 03 12 Via parameter Supply voltage 1187 you can select the voltage level for encoder power supply The SinCos encoder can be powered as follows via control terminals X410A 5 5 12 VDC and X410A 7 GND or via contacts X412 6 Venc and X412 15 OVL of the female HD Sub D connector The parameter setting is effective on the terminals and the contact of the female HD Sub D connector Caution Note the encoder manufacturer s supply voltage specifications Non compliance may damage the encoder Caution Always set the Supply voltage 1187 first and then set Power supply 1186 Otherwise the encoder might be destroyed by high voltage levels No Description Min
121. on The tolerance band to be defined extends the zero crossing of the speed relative to the analog control signal The parameter value percent is relative to the maximum current or voltage signal No Description Min Max Factory set ting Tolerance band 0 0096 25 0096 2 0096 X21 Y2 pos max value 4m X2 Y2 pos max value 4 20mA 20mA Tolerance band X1 Y1 KH neg max value ooo neg max valie Without tolerance band With tolerance band The default Minimum Frequency 418 or Minimum Percentage 518 extends the pa rameterized tolerance band to the hysteresis x2 Y2 pos max value A pos min value neg min value Tolerance band 00 1Y1 Me Tea ti neg max value With tolerance band and minimum value For example the output variable coming from positive input signals is kept on the positive minimum value until the input signal becomes lower than the value for the tolerance band in the negative direction Then the output variable follows the set characteristic 03 12 EM ABS 01 for ACU 89 Goo Bonfiglioli 8 1 6 Error and warning behavior The monitoring of the analog input signal necessary according to the application is configured via the parameter Error Warning Behavior 563 The input signal is not monitored 1 Warning lt 1V 2mA If the input signal is lower than 1 V a warning message is issued If the input si
122. on via system bus is activated via RxPDO1 2 RxPDO2 ynchronization via system bus is activated via RXPDO2 3 RxPDO3 ynchronization via system bus is activated via RxPDO3 10 SYNC Synchronization via system bus is activated via SYNC EM ABS 01 for ACU 03 12 v Bonfiglioli 7 9 3 1 Settings for electronic gear in configuration x40 If the function electronic gear of the positioning in ACU configuration x40 is used in a slave synchronization via SYNC or RxPDO1 must be set via system bus Please check the following settings Use of RxPDO A Master Identifier must correspond to the Slave Identifier Master Slave 925 TxPDOI Identifier 924 RxPDOI Identifier 926 TxPDO2 Identifier 927 TxPDO3 Identifier 930 TxPDO Function 936 RxPDOI Function 1 controlled 932 TxPDO2 Function by SYNC 934 TxPDO3 Function recommended 1180 Operation mode 1 RxPDO Use of SYNC The Master Sync Identifier must correspond to the Slave Sync Identifier e g 0 gt Predefined Set 0x80 128 Master Slave 936 RxPDOI Function 1 controlled by SYNC recommended 918 Sync Identifier 918 Sync Identifier 919 Sync Time 1180 Operation mode 10 SYNC Note 1180 Operation mode ensures synchronization of the operating systems of different devices and must be set up in configuration x40 in one of the two ways described 936 RxPDOI Function should be set to 1 controlled by SYNC in order to sy
123. or will be triggered for the bit regardless of its status Number of bits 0 use in this case only Lowercase letters can be used alternatively in the entry Note This parameter cannot be entered by means of KP500 Note Other values cannot be entered Special case Number of bits 0 SSI additional bits in the High range are not used by many encoder manufacturers In these cases set the parameter to value dash No Description Min Max Factory set 1269 SSI Error Extra Bits Low Special see text 1270 SSI Error Extra Bits High 1 Note Due to the shifting of the usable data by the error additional bits the number of error additional bits must always be specified correctly EM ABS 01 for ACU 03 12 8 4 9 1 Example 1 v Bonfiglioli Total 1 to be evaluated High is an error situa tion SSI Error Extra Bits High 1270 Bits Multiturn 1272 8 Bits Turn 1271 16 SSI Error Extra Bits Low 1269 8 4 9 2 Example 2 12 16 Total 4 the second one is to be evaluated Low is an error situa tion SSI Error Extra Bits High 1270 Bits Multiturn 1272 12 Bits Turn 1271 16 SSI Error Extra Bits Low 1269 XLXX 8 4 9 3 Example 3 Total 2 the first one is to be evaluated High is an error situation 16 Total 4 the second one is to be evaluated Low is
124. ossible to include all details of all types of the prod uct in the documentation Neither was it possible to consider all conceivable installation operation or maintenance situations If you require further information or if you meet with specific problems which are not dealt with in sufficient detail in the documentation contact your local BONFIGLIOLI agent We would also like to point out that the contents of this documentation do not form part of any pre vious or existing agreement assurance or legal relationship Neither are they intended to supplement or replace such agreements assurances or legal relationships Any obligations of the manufacturer shall solely be based on the relevant purchase agreement which also includes the complete and solely valid warranty stipulations These contractual warranty provisions are neither extended nor limited by the specifications contained in this documentation The manufacturer reserves the right to correct or amend the specifications product information and omissions in these operating instructions without notice The manufacturer shall not be liable for any damage injuries or costs which may be caused by the aforementioned reasons The present instructions were issued in German language Other language versions are translations of the German document 03 12 EM ABS 01 for ACU 7 Goo Bonfiglioli 1 2 Pictograms and signal words used The following pictograms and signal words are used in the documenta
125. protocol The data track is transmitted at 140 625 kBaud in Gray code code 281 kBit s _ Gray code code 563 kBit s _ Gray code code 1125 kBit s code Evaluation of data and clock tracks with the SSI protocol SSI binary code without TTL or SinCos track The data track is transmitted at 141 kBit s 140 625 kBaud in binary code This function is currently being prepared SSI binary code Like 6001 The data track is transmitted at 281 25 kBaud in 281 kBit s binary code 563 kBit s binary code 1125 kBit s nary code SSI SINCOS Evaluation of Tracks Protocol A B as SINCOS track and the 6101binary code 141 data and clock tracks with the SSI protocol The data track is kBit s transmitted at 140 625 kBaud in binary code 6102binary code 281 binary code kBit s 6105binary code 563 binary code kBit s 6111binary code 1125 nary code kBit s SSI TTL binary Evaluation of Tracks Protocol A B as TTL RS 422 track and code 3 41 kBit s the data and clock tracks with the SSI protocol The data track T is transmitted at 140 625 kBaud in binary code SSI TTL binary Like 6901 The data track is transmitted at 281 25 kBaud in code 281 kBit s binary code 5001 5101 5901 6901 6902 EM ABS 01 for ACU 03 12 03 12 6905 v Bonfiglioli SSI TTL binary Like 6901 The data track is transmitted at 562 25 kBaud in code 563 kBit s binary code 691191 TTL binary Like 6901 The data t
126. ps 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 ABS 01 for ACU 79 Goo Bonfiglioli 7 14 1 80 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 Inverter Identifier PDO Identifier Inverter PDO Inverter PDO Identifier N O a a X cr N O a a X cc o Dd N O amp A x lt cr N O a X cc TxPDO3 TxPDO3 TxPDO3 TxPDO3 Inverter PDO Inverter PDO Identifier RxPDO2 TxPDO3 RxPDO3 RxPDO3 RxPDO3 RxPDO3 RxPDO3 EM ABS 01 for ACU 03 12 7 14 2 03 12 v Bonfiglioli Production of the virtual links The v
127. quired for encoder evaluation in the frequency inverter Arrangement SSI Bits number of individual bits as an example High Bits 1270 Bits Multiturn 1272 Low Bits 1269 Error 4 Hig Error 1 Low Error 4 Low The number of bits is shown as an example in the illustration Multiturn bits are only present in the case of Multiturn encoders The additional bits Low bits are used by many encoder manufacturers with 1 or 3 bits The additional High bits are only used very rarely by encoder manufacturers Depending on the function intended by the encoder manufacturer an error bit High or Low may trigger an error Parameters 1269 SS Error Extra Bits Low and 1270 Error Extra Bits High can evaluate up to eight error bits each SSI error MSBits is used for the definition the most significant bits and SSI error LSBits is used for the less significant bits To determine the total data width the two parameters must always be defined This definition is also required if no evaluation is to take place In this case all bits must be masked as Don t care with an X in the string If no error bits or other bits are present empty string a dash must be paramete rized The following values are permissible H When the bit is High error F172A or F172B will be triggered L When the bit is Low error F172A or F172B will be triggered X No err
128. r Gear Box Motor Shaft revolutions 1117 8 Turns of Motor shaft M di EC2 Gear factor Numerator 513 3x8 EC2 Gear factor Denominator 514 7x5 1 motor revolution 1 8 turn on output side 1 8x3 encoder turn EC 2 Gear Factor Numerator 513 Revolutions of the Motor shaft 8 EC 2 Gear Factor Denominator 514 Revolution s of the EC2 encoder shaft 3 Instructions on speed controlled configurations Not x40 In the case of speed controlled configurations an encoder is typically installed Normal ly this encoder is connected to the motor An internal format referred to as 16 16 is used for speed control The 16 less signifi cant bits represent the position angle on a motor revolution the 16 more significant bits represent the number of motor revolutions If absolute value encoders are used the absolute value encoder notation is converted to the internal notation This is why for proper function the parameters of the abso lute value encoder must be entered in accordance with the data sheet In the case of other parameterizations unwanted malfunction of the drive might occur EM ABS 01 for ACU 109 Gio Bonfiglioli 8 4 13 110 I nstructions on positioning configuration x40 If positioning configuration x40 and an absolute value encoder are used a distinction is made for parameterization between motor encoders and application encoders The motor encoder is always needed for speed control and can also be u
129. r 2 of the EM ABS 01 extension module 3 Motor model The actual speed source is the motor model of the ACU Note Setting 3 Motor model is visible and available in configurations 440 and 640 only 8 4 16 Actual position source In positioning applications configurations x40 the actual position source must be set This is done via Actual Position Source 1141 In the basic setting the actual value source of the speed control is used as the actual position source like 766 Actual speed The actual speed source is the actual position source source at the same time factory setting The actual position source is speed sensor 1 of the 1 Encoder 1 basic device The actual position source is rotary encoder 2 of the A Encoder EM ABS 01 extension module Note In configuration 540 Actual Speed Source 766 is not visible and always set to speed encoder 2 absolute value encoder input of EM ABS 01 03 12 EM ABS 01 for ACU 113 Gio Bonfiglioli 8 5 Reference frequency and percentage value channel The various functions for the statement of the reference figures are connected in the various configurations by the reference frequency or percentage value channel The Reference Frequency Source 475 and the Reference Percentage Source 476 deter mine the additive connection of the available reference sources as a function of the installed hardware 2 Abs Reference source is the analog
130. r Box Motor Shaft Revolutions 1117 the output speed will determine the setting for para meter Gear Box Driving Shaft Revolutions 1116 The value should be entered as exactly as possible Shifting of decimal places or mul tiplication with appropriate factors can increase accuracy Example Input speed 1401 rpm Output speed 77 3 rpm i 18 12 Encoder resolution 24 Bit Diameter 160 mm 0 16 m Required accuracy 0 01 mm 0 00001 m gt Gear Box Motor Shaft Revolutions 1117 14010 gt Gear Box Driving Shaft Revolutions 1116 773 2nd step Identify feed constant reference system The feed constant is calculated by multiplying the diameter and x by the resolution The resolution is the reciprocal of the accuracy 1 Resolution B m _ a Diameter m Accuracy m Feed constant 1115 u Accuracy 1 u z Diameter m Resolution B m Example Diameter 0 16 m 160 mm Required resolution 0 00001 m 0 01 mm gt Feed constant 1115 50265 rev 3rd step Calculate auxiliary quantity reference system In the following step the ratio of the Feed constant 1115 to Gear Box Driving Shaft Revolutions 1116 and Gear Box Motor Shaft Revolutions 1117 is used in the calcu lations frequently For better clarity auxiliary quantity R reference system is calculated now Feed constant 1115 2 GearBox DrivingShaftRevolutions 1116 R GearBox MotorShaftRevolutions 1117 Example Feed constant 1115 502
131. rack is transmitted at 1125 kBaud in bi code 1125 kBit s nary code Note Note Note for SSI encoders For synchronous servomotors an encoder with commutation track or absolute value will be required Settings 100 and 500 are only intended for operation with asynchronous motors for this reason In the case of synchronous servomotors set the Offset 1188 according to chapter 8 4 6 Changeover of parameter Tracks Protocol 1184 can only be done with the output stage disabled After the parameter change the new encoder type will have to be initialized This may take up to 5 seconds After mains on an initialization may have to be performed depending on the encoder type This may take up to 5 seconds The usable transmission rate depends on the length of the encoder ca ble In case there are any transmission errors reduce the transmission rate EM ABS 01 for ACU 97 Goo Bonfiglioli 8 4 3 Power supply Via parameter Power supply 1186 you can choose the encoder power supply source Depending on the power demand of the encoder you can connect an external power supply to terminals X410A 1 and X410A 2 see Chapter 5 3 3 Power supply In this case parameter Power supply 1186 must be set to 2 Via X410A or 6 Via X410A Sense The operation modes with meas line sense Power supply 1186 5 intern Sense or 6 Via X410A Sense enable monitoring of the supply voltage of the en coder In
132. rameter 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 62 EM ABS 01 for ACU 03 12 7 10 2 v Bonfiglioli Communication via field bus actuation SDO1 If a frequency inverter has been defined as the system bus master and equipped with a field bus interface access to the parameterization of all the 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 Atten The prerequisite for this mechanism is that the identifier setting for the tion first SDO channel SDO1 corresponds to the Predefined Connection Set The parameter addressed must also be existent in the system bus mas ter 7 10 2 1 Profibus DP If an object with communication channel motor car area is used in Profibus DP access to all the other subscribers on the system bus can be done via it The struc ture of the motor car area permits an additional addressing of a system bus subscrib er This is done by the use of an unused byte in the motor car area PKW area AK SPM Parameter number 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 bi
133. requency inverter defined as the system bus master via parameter SYNC Time 919 Note A setting of 0 ms for the parameter SYNC Time 919 means no SYNC telegram EM ABS 01 for ACU 51 Goo Bonfiglioli 7 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 emergency 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 Emergency Reaction 989 The system bus master receives the emergency tele gram and switches off The Emergency Telegram is displayed as a warning 2 Ignore The Emergency Telegram is ignored Behavior of the system bus master in the case of Emergency Reaction 989 0 Error 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 Type of error 260 is 21nn with nn node I D hexadecimal of the sla
134. rresponding parameters Fixed frequency 5 485 Fixed frequency 6 486 Fixed frequency 7 487 Fixed frequency 8 488 Fixed frequency Fixed frequency _ Fixed frequency change over 1 66 change over 2 67 change over 3 131 Fixed frequency 1 480 0 0 0 Fixedfrequency2 481 1 0 Fixed frequency 3 482 1 1 Fixed frequency 4 483 0O 1 Fixed frequency 5485 _ 0O 1 Fixed frequency 6 486 1 1 Fixed frequency 7 487 1 0 Fixed frequency 8 488 0O 0 ele ele ell R O O o 03 12 EM ABS 01 for ACU 93 Gio Bonfiglioli 8 4 Encoder input EM ABS 01 The encoder input is used for evaluating the position information from the encoder Depending on the encoder system used certain parameters need to be set up The following table describes the use of the individual parameters for the encoder systems Parameters Encoder system No Description SinCos Hiperface EnDat 2 1 S 513 EC2 Gear Factor Numerator X 514 EC2 Gear Factor Denominator X 1183 Division marks X 1184 Encoder signals log X X X B 1186 Power supply 1187 Supply voltage 1188 Offset 1 1268 SSI Sampling interval EE 1269 SSI Error Extra Bits Low 1270 SSI Error Extra Bits High 1271 Bits Turn X 1272 Bits Multiturn Parameter must be configured according to the encoder data sheet Parameter has no function for this
135. rs may result in a minor continuous increase in the contouring error In most cases howev er this is small enough to be distinguishable As soon as the settings have been checked for correctness repeat the tests using sources 1002 1006 resolution 10 times higher than sources 1007 1011 then using 1001 1005 and then using 1000 and 1004 In this way the settings are checked again at a higher accuracy Note that with a higher accuracy overflows may be dis played in Scope more frequently This does not affect the function Note Depending on the reference system chosen Parameter Feed con stant 1115 Gear Box Driving Shaft Revolutions 1116 and Gear Box Motor Shaft Revolutions 1117 some sources may not have the required significance in Scope Then switch to the next smaller couple as shown above Always start with the highest setting Activate the position controller again Position controller Limitation 1118 settings must always match the reference system and the mechanical system A contouring error will typically build up during acceleration or deceleration During constant travel operations the contouring error should become smaller again Note that the Maximum frequency 419 is exceeded by the output of the position controller Ensure that the total of Maximum frequency 419 and position controller Limita tion 1118 can be reached by the mechanical equipment A reduction of the maximum frequency may be a good idea in certain applica
136. rt carry out the following steps Motor does not turn or the motor shaft only turns to a new position and stops again e Check if parameter No of Pole Pairs 373 has been set correctly for the motor If these values are adjusted correctly take the following measures complying with the safety instructions Warning When the frequency inverter is disconnected from power supply the mains DC link voltage and motor terminals may still be live for some time Wait for some minutes until the DC link capacitors have discharged before starting to work at the unit e 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 discharged e Exchange two motor phases e g U and V at the frequency inverter terminals because the senses of rotation of the motor and the encoder do not corres pond to each other e Switch on the power supply again e As described above adjust a low speed reference value and start the motor If the motor does not start despite the phase exchange e Increase the parameter value for Offset 1188 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 EM ABS 01 for ACU 103 Gio Bonfiglioli The motor turns and accelerates until it reaches the Frequency Switch Off limit 417 e Check the en
137. s Multiturn eeeeeeeeeennnnenn 105 BitS T esnin 104 Bus load system DUS cccssseeeeeeeeeeeeeeaaeees 82 C Cable assembly EnDat 2 1 co ttes 24 Hiperfacei iocis 25 SINCOS T 23 Comissioning EnDat 2 1 encoders s 33 General Information 29 Hiperface encoders ss 32 Information on use eeeeeee 30 SinCos encoders eeeeeeeeeee 31 SSI encoders eeeeeeeeennnnneennns 34 Commissioning eeeeeeeennnnne 29 Linear encoders eeeeeeeeeee 36 Control Inputs orcinec ciere rae eins 84 Control terminals eeeseeeeeees 21 D Designated use ere eren 9 Digital inputs EM SXIND 93 Digital outputs EM S1OUTD and EM S20UTD 92 Division marks eene 94 E Electrical installation Ca H M 10 Error messages eret d 125 G Gear Box Motor Shaft Revolutions 111 Gear Box Driving Shaft Revolutions 111 Gear factor speed sensor 2 108 I Information on Use ssseeess 11 Installation eene 10 17 Internal power supply 26 L List of parameters ssssessss 118 M Motor temperature sssaaa
138. sed for posi tion control in the case of no slip systems An application encoder for position control is used in systems where slip may occur for slip compensation This encoder is also often referred to as an External encoder or Synchronous encoder With the present EM ABS 01 module the following configurations are possible no slip system synchronous ser 540 amp high speed precision vomotor amp asyn 240 absolute value encoder at motor chronous motor for speed control and position control no slip system synchronous ser 640 low speed precision vomotor absolute value encoder as application encoder for position control of motor model with speed control slipping system asynchronous mo 240 high speed precision tor absolute value encoder as application encoder for position control HTL encoder as motor encoder for speed con trol slipping system synchronous ser 640 amp low speed precision vomotor amp asyn 440 absolute value encoder as application encoder chronous motor for position control motor model for speed control Turns of driving shaft Gear Box Driving Shaft revolutions 1116 Sledge Application encoder 1024 Incr Revolutior Gear 2 INN N 3 KCN Ld B Feed Gear Gear Box Motor Shaft revolutions 1117 Turns of Motor shaft EC2 Gear factor Numerator 513 EC2 Gear factor Denominator 514
139. st be set to Via X410A via a parameter Parameter Power Supply 1186 see chapter 8 4 3 Power supply The voltage level for encoder power supply can be set via a parameter Pa rameter Supply voltage 1187 see Chapter 8 4 4 Supply voltage The voltage value can be controlled via a measuring cable often referred to as sense cable The EM ABS 01 extension module extends the functionality of the frequency inverters of the ACU series of devices by the following functions System bus CAN Can interface ISO DIS 11898 CAN High Speed max 1 MBaud See chapter 7 System bus Analog input DC 10 10 V or DC 0 10 V See chapter 8 1 Analog input EM S1INA Encoder interface including PTC evaluation via HD Sub D female connector Supported encoder types o SinCos optionally with commutation tracks for synchronous motors o EnDat 2 1 encoder type with SinCos track required o Hiperface o Being prepared SSI encoder optionally with TTL RS 422 or SinCos track See chapter 8 4 Encoder input EM Three digital inputs See chapter 8 3 Digital inputs EM SxIND Two digital outputs can also be used as repetition frequency output See chapter 8 2 Digital outputs EM S1OUTD and EM S20UTD Adjustable voltage output for encoder supply See chapter 8 4 3 Power supply and 8 4 4 Supply voltage DC 24 V voltage input for connection of external power supply Via this input a connected encoder can be po
140. t SDO1 Note The second SDO channel SDO2 of the frequency inverters is planned for the parameterization of the frequency inverters via a visualization tool on the system bus The service used is SDO Segment Protocol Expedited according to CANopen A fre 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 tele grams must be generated according to the specification Puc 1 bus Inv 1 Inverter 2 Inverter 2 Client SDO 1 Server SDO 1 Server SDO 1 System bus Inverter 1 Inverter 2 Inverter 2 Server SDO 2 Server SDO 2 Server SDO 2 System bus Client SDO 2 Visualizationtool EM ABS 01 for ACU 53 Goo Bonfiglioli 7 9 Slave functionality 7 9 1 Implement boot up sequence network management 7 9 1 1 Boot up message After the initialization each slave on the system bus transmits its 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 irrelevant if a PLC PC with CANopen functionality is used as a mas ter A frequency inverter defined as a system bus master does not evaluate the boot up message 7 9 1 2 Position control 54 The identifier used for the NMT telegrams is 0 and may only be used by the system bus master for NMT
141. t according to the Predefined Connec tion Set EM ABS 01 for ACU 65 Goo Bonfiglioli 7 11 2 Operation modes process data channel The sending receiving behavior can be time controlled or controlled via a SYNC tele gram The behavior can be parameterized for each PDO channel Tx PDOs can work time controlled or SYNC controlled Time controlled TxPDO sends its data at the set time intervals A SYNC controlled TxPDO will send its data once a SYNC telegram is received RxPDOSs in the time controlled setting forward the received data to the application immediately If an RxPDO has been defined as SYNC controlled it forwards its re ceived data to the application after the arrival of a SYNC telegram Settings TxPDO1 2 3 No Description Min Max Factory set 50000 ms 50000 ms 935 TxPDO3 Time 1 ms 50000 ms 8 ms The setting of the operation mode is done via the following parameters TxPDOI Function 930 TxPDO2 Function 932 and TxPDO3 Function 934 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 RxPDOI Function 936 RxPDO2 Function 937 and RxPDO3 Function 938 0 Controlled by time The received data are passed on immediately 1 Controlled by SYNC
142. ter 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 Atten The identifiers for a visualization tool on the second SDO channel SDO2 tion cannot be changed EM ABS 01 for ACU 59 Goo Bonfiglioli 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 Atten Identifiers may only be assigned once i e no double assignments tion The identifier range 129 191 may not be used as the emergency tele grams can be found there The setting of the identifiers of the RxSDO1 is done via the parameter RxSDOI Identifier 921 No Description Min Max Factory set ting RxSDO1 identifier 0 207 0 The setting of the identifiers of the TXSDO1 is done via parameter number 922 No Description Min Max Factory set ting TxSDOI identifier o 27 0o 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 0 SDO2 deactivated Communication channel deactivated 1 SDO2 activated Communication channel activated for the visuali
143. th 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 extension module e Before assembly or disassembly of the EM ABS 01 extension module the frequen cy inverter must be de energized Take appropriate measures to make sure it is not energized unintentionally e Make sure that the frequency inverter is discharged Danger When the frequency inverter is disconnected from power supply the mains DC link voltage and motor terminals may still be live for some time Wait for at least three minutes until the DC link capacitors have discharged before starting to work at the unit EM ABS 01 for ACU 17 GJ Bonfiglioli The EM ABS 01 extension module is supplied in a housing for assembly on the lower slot of the frequency inverter e Remove the lower cover 1 of the frequency inverter The slot for the EM ABS 01 extension module becomes accessible S Des n visible on the back may not be touched as modules can be damaged by Caution The EM ABS 01 2 extension module is pre fitted in a housing The PCB this e Plug the EM ABS 01 2 extension module onto the slot 3 4L S A o aA oo e Re install the lower cover 1 Assembly is complete When the supply voltage of the frequency inverter is sw
144. the manufacturer s input power specifications of the encod er EM ABS 01 for ACU 15 Goo Bonfiglioli 16 Digital inputs X410B 2 X210B 4 Low Signal DC 0 V 3 V High Signal DC 12 V 30 V input resistance 2 3 kO PLC compatible Sample Times 1 ms in configurations x40 Positioning 4 ms in all other configurations Frequency signal DC 0 to 30 V 10 mA at DC 24 V fmax 150 kHz Digital outputs X410A 3 X410A 4 Low signal DC 0 V to 3 V High signal DC 12 V to 30 V output current 40 mA PLC compatible Repetition frequency output frequency signal Fmax 150 kHz overload and short circuit proof Imax 60 mA at min permissible line termination 150 Q according to specification EIA485 Analog input X410A 6 Analog signal Input voltage DC 10 V to 10 V DC 0 V to 10 V Ri 100 kQ Resolution 13 Bit Voltage output DC 5 to 12 V for encoder supply X410A 5 Pmax 2 W Depending on the load on the digital outputs of the frequency inverter and extension module this value may be lower Voltage input DC 24 V for external power supply X410A 1 Input voltage range DC 24 V 1096 Umax DC 30 V Rated input current max DC 1 0 A typical DC 0 45 A Peak inrush current typical DC 20 A External fuse standard fuse elements for rated current characteristic slow Safety Safety extra low voltage SELV according to EN 61800 5 1 Conductor cross section The control ter
145. tion Danger IN Danger refers to an immediate threat Non compliance with the precaution described may result in death serious injury or material damage Warning IN Warning refers to a possible threat Non compliance with the warning may result in death serious injury or material damage Caution IN Caution refers to an indirect threat Non compliance may result in personal or material damage Attention Attention refers to a possible operational behavior or an undesired condition that can occur in accor dance with the reference text Note Note marks information that facilitates handling for you and supplements the corresponding part of the documentation 1 3 Copyright This user manual is protected by copyright It is solely intended for use by operating staff and must not be copied nor disclosed to third parties 8 EM ABS 01 for ACU 03 12 v Bonfiglioli 2 General Safety Instructions and I nformation on Use AN 2 1 AN 2 2 AN 03 12 Warning The specifications and instructions contained in the documentation must be complied with strictly during installation and commissioning Before starting the relevant activity read the documentation carefully and comply with the safety instructions The term Qualified Staff refers to anybody who is familiar with the installation assembly commissioning and opera tion of the frequency inverter and has the proper qualification for the job General I nformation
146. tion from all possible sources of electrical power e Secure against reconnection Only the persons working on the installation may re commission the relevant part of the installation e Verify there is no electrical power Using a measuring instrument or voltage tester ensure there is no voltage against ground on the relevant plant component e Ground and short circuit Starting from the ground terminal connect all conductors to one anoth 1 er e Cover und shield neighboring live parts By covering shielding or isolation of energized plant com ponents contact with such parts is to be prevented D Deviations from this are possible in certain circumstances When working at the frequency inverters comply with the relevant accident prevention regulations the applicable standards BGV A2 VBG 4 VDE 0100 standards governing work on systems with dan gerous voltages e g DIN EN 50178 and other national directives 10 EM ABS 01 for ACU 03 12 v Bonfiglioli Comply with the electrical installation instructions given in the documentation as well as the relevant directives Responsibility for compliance with and examination of the limit values of the EMC product norm DIN EN 61800 3 for variable speed electrical drive mechanisms is with the manufacturer of the industrial plant or machine The documentation contains information on EMC conforming installation The cables connected to the frequency inverters may not be subjected to high
147. tions in order to limit the total to the mechanically possible maximum In most application limitation of position controller Limitation 1118 to approx 10 96 of the maximum frequency makes sense With the position controller activated check the function again EM ABS 01 for ACU 03 12 v Bonfiglioli 6 6 2 Initialize counting direction First check if the counting direction of the user units meets the requirements You can change the counting direction by inverting the parameter EC2 Gear Factor Numera tor 513 e g by inverting parameter EC2 Gear Factor Numerator 513 from 200 00 to 200 00 values will be re calculated in the internal user unit format As a result Danger By changing parameter EC2 Gear Factor Numerator 513 the encoder the value of Act Position 1108 may change Especially when software limit switches are used or in the case of feedback to a PLC this can result in warnings or application errors For this reasons after changing the parameters of the reference system and the encoder always check the Act Position 1108 considering the permissible travel distance e g Pos SW Limit Switch 1145 6 6 3 Initializing home position 03 12 For positioning application a certain point of the system is typically defined as the home position After checking the correct reference system of the positioning and linear encoder see Chapter 6 6 1 and setting the counting direction the home posi tion can be initializ
148. to the loaded parameter information of the frequency inverter into the VPlus PC program In the menu of the software under the point Edit you find the com mand Read in XPI file The method of working via an XPI file has its reasoning in the fact that deep inter ventions in the system are possible via the system bus and can lead to serious prob lems in the application with an untrained user Via the XPI files a user is given a selection list pre defined by VECTRON Atten The configuration of the necessary parameters for the system bus is tion 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 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 EM ABS 01 for ACU 77 Gio Bonfiglioli 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 SDOI I dentifier 921 RxSDOI identifier 922 TxSDOI
149. u 54 7 9 1 Implement boot up sequence network management eeeseeen nene 54 7 9 1 1 Boot up message xen cud ed cette Ree eue cer co ext oes urea e cde eoe o Rete repe Cetus cs 54 7 9 1 2 Position COMMON cvzi sess envied vaxcevessxeteaey lt cseleees dakvedve a an daiat 54 7 9 2 PROCESS SYNC telegram teen rire i e tu Rr du ERR UR aD Ea REA RR LR R Eae o ERR AXE EE CREBRA 55 7 9 3 Selecting the synchronization source eesseesssseseeeseeeneenennnen nemen 55 7 9 3 1 Settings for electronic gear in configuration x40 eeseeeeeeeeeeeeeeeee 57 7 9 3 2 SCOPE SOUCO siis ee cesneress T v a cYaw Ee ssaa Ce va x Evaa Ke rix les v bong E see va ke E NUN REUS 57 7 9 4 Emergency Message fault shutdown eesssssssessseseeeenenen enne 58 7 9 5 Server SDOT SDO2 uento eod tex ka Eee k aUe Ya E DE rea E a Yu EUd eR sate Dk CAEEXEAERR OR TE EXARE NER 59 7 10 Communication channels SDO1 SDOJ2 1e nenne enne un nuno una uu un 61 7 10 1 SDO telegram SDO1 SDO2 eeeeeseeeeee eee nennen nnn nnn nnn ninh sen anna sen nnne nn nnn 61 7 10 2 Communication via field bus actuation SDO1 eeeeeeeeenem nn 63 VELO NN coop ee a E E E E SEA 63 7 10 2 2 RS232 RS485 with VECTRON bus protocol ssssssssssssrrnnsneeusnnnnnnnnnenennnnnnnnnennnan 63 7 11 Process data channels PDO ccscsscsscsscnscnsecnccnsensensensenseusensensensensensense
150. uency output can withstand external voltage in a range from 5 V to 10 V The max power available is reduced by the other control outputs of the frequency inverter and extension module 3 Caution The input for external DC 24 V voltage supply can withstand external vol tage up to DC 30 V Avoid higher voltage levels Higher voltages may de stroy the module Caution The power output on terminal X410A 1 may be loaded with a maximum power of 2 W Higher power levels can damage components of the mod ule Encoder input PTC input Internal resistance 100 Q Trigger resistance 2 4 kQ according A B and C D track to sine shaped differential signal 0 6 1 2 Vss DIN 44081 Hysteresis 1 3 kQ PTC or bimetal temperature sensor R track NC Differential signal 0 2 1 7 Vss Clock and data alternative to C D track Signal V DC 2 5 V 0 5 V Power supply encoder Venc track Supply DC 5 12 V Vencsense track encoder sensor cable Warning The PTC input is not insulated Only PTCs which feature a safe isolation from the motor winding as per EN61800 5 1 may be connected Note BONFIGLIOLI servo motors of types BCR and BTD are provided with safe isolation to the motor winding Note BONFIGLIOLI VECTRON recommends connecting an external power supply to the voltage input of the control terminal This auxiliary voltage enables powering an encoder via the voltage output of the control ter minal Note
151. v 9 0 2 Sick SEL37 H6 16 3109 9 80V 9 12 2 Sick SEK52 H7 16 3109 D fgov 9 0 2 Sick SEL52 H8 16 3109 D 80V 9 12 2 B C Bonfiglioli Code used at motors of series BCR amp BTD 1 Please refer to chapter 8 4 3 for setup of parameter Power supply 1186 2 Not evaluated due to the Tracks Protocol 1184 settings chosen Note Owing to the great number of encoder types and special solutions not documented publicly Bonfiglioli Vectron will not accept any responsibility for the settings specified 10 1 3 EnDat2 1 encoders Encoder B C 1183 1184 1186 1187 1271 1272 1270 Heidenhain ECI 1319 Di 32 1101 D ov 3 2 Heidenhain EQI 1331 D2 32 1101 D 50V 3 3 123 Heidenhain ECN 1113 D3 512 1101 D ov 3 2 Heidenhain EQN 1125 D4 512 1101 D 50V 3 8 2 Heidenhain ECN 1313 Variante 512 Ampl 512 1101 1 5 0 V 3 3 12 Heidenhain ECN 1313 Variante 2048 Ampl 2048 1101 D 5 0 V 3 3 12 Heidenhain EQN 1325 Variante 512 Ampl 512 1101 D 50V 3 3 Heidenhain EQN 1325 Variante 2048 Ampl 2048 1101 D 50V 3 3 2 B C Bonfiglioli Code used at motors of series BCR amp BTD 1 Please refer to chapter 8 4 3 for setup of parameter Power supply 1186 2 Not evaluated due to the Tracks Protocol 1184 settings chosen 3 Parameters Bits Turn 1270 and Bits Multiturn 1271 are not evaluated due to the setting of Track signal 1184 1101 The values are applied directly from the EnDat 2
152. ve where a fault shutdown has occurred In addition the system bus master reports the warning Sysbus 0x2000 via Warning Status 270 Bit 13 If a fault shutdown occurs on a number of slaves the first slave to transmit its emer gency telegram is displayed on the system bus master Behavior of system bus master in the case of Emergency Reaction 989 1 No Error As soon as the system bus master receives an emergency telegram it reports the warning Sysbus 0x2000 via Warning status 270 Bit 13 Note In both cases the Boolean variable SysbusEmergency with source num 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 52 EM ABS 01 for ACU 03 12 v Bonfiglioli 7 8 4 Client SDO system bus master 03 12 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 cannot be processed If a frequency inverter has been defined as a sys tem bus master each subscriber on the system bus in this frequency inverter can be addressed by means of a field bus connection RS232 RS485 Profibus DP via its clien
153. verter off Step 5 Connect the Hiperface Geber to the EM ABS 01 Bonfiglioli Vectron recom mends the use of pre assembled cables see chapter 5 3 2 3 Step 6 Turn the frequency inverter on Step 7 Check the encoder for proper function Step 8 In configurations Positioning x40 Carry out referencing operation once EM ABS 01 for ACU 03 12 6 4 03 12 v Bonfiglioli Note If the data track cannot be evaluated error F1719 Dig encoder Protocol error will be triggered In this case check Tracks Protocol 1184 setting Note When the frequency inverter is turned on the absolute position is read via the data tracks Via the incremental tracks the position is counted up in ternally and compared to the updated absolute position at regular inter vals This guarantees a very high positioning and speed accuracy at all supported transmission rates EnDat 2 1 encoders This chapter describes how EnDat 2 1 encoders are commissioned Note Only EnDat 2 1 encoders with SinCos tracks can be connected Note The EM ABS 01 module supports in the case of EnDat 2 1 encoders a baud rate of 100 kBit s Other baud rates will not be supported Step 1 Install the EM ABS 01 as described in chapter 5 2 Do not connect the encod er cable yet Step 2 Turn the frequency inverter on for parameter configuration mains voltage or DC 24 V Step 3 Configure the frequency inverter according to the following parameters e Adjust the
154. vocas XL 70 00 10 V 7 00 V 42 50Hz 4278075 Y2 85 v4 50 00 50 00 Hz 25 00 Hz Point 2 X2 80 00 10V 8 00 V Y2 85 00 50 00 Hz 42 50 Hz Tolerance band AX 2 00 10 V 0 20 V A 25Hz Point 1 has been shifted into the origin The parameter Tolerance band 560 is not taken into account in this example as no change of sign of the reference frequency value takes place X1 70 Y1 50 Point 1 X1 30 00 10 V 3 00 V Y1 50 00 96 50 00 Hz 25 00 Hz Point 2 X2 80 00 10V 8 00 V Y2 85 00 96 50 00 Hz 42 50 Hz Tolerance band AX 2 00 96 10V 0 20 V The direction of rotation is changed in this X1 30 Y1 50 example at an analog input signal of 4 85 V with a tolerance band of 0 20 V 86 EM ABS 01 for ACU 03 12 vv Bonfiglioli This operation mode limits the input characteristic to the area between 2096 and 100 of the analog signal If the value for a characteristic point of the X axis is out side 096 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 Kennlinienpunkt X Parameterwert X 100 00 20 00 20 00 Point 1 X1 70 00 100 0096 20 00 20 00 10V 7 60 V Y1 50 00 50 00 Hz 25 00 Hz Point 2 X2 80 00 100 0096 20 00 20 0090 10V 2 8 40V Y2 85 00 50 00 Hz 42 50 Hz Tolerance band
155. voltage insulation tests unless appropriate circuitry measures are taken before Do not connect any capacitive loads 2 6 I nformation on Use Warning AN The frequency inverter may be connected to power supply every 60 s This must be consi dered when operating a mains contactor in jog operation mode For commissioning or after an emergency stop a non recurrent direct restart is permissible After a failure and restoration of the power supply the motor may start unexpectedly if the AutoStart function is activated If staff is endangered a restart of the motor must be prevented by means of external cir cuitry Before commissioning and the start of the operation make sure to fix all covers and check the terminals Check the additional monitoring and protective devices according to DIN EN 60204 and applicable the safety directives e g Working Machines Act Accident Prevention Directives etc No connection work may be performed while the system is in operation 2 6 1 Operation with products from other manufacturers Please note that Bonfiglioli Vectron will not accept responsibility for compatibility with products from other manufacturers e g motors cables filters etc In order to achieve optimum system compatibility Bonfiglioli Vectron offers components which ensure easy commissioning and are perfectly adjusted to one another in operation Use of the device with products from other manufacturers will be at your own risk
156. wered See chapter 5 3 3 Power supply 8 4 3 Power supply Note Depending on the motor and encoder type used there are restrictions as to usability in applications See chapter 3 2 Range of applications of en coders Note The EM ABS 01 extension module has been enclosed with the frequency inverter as a separate component and must be fitted by the user This is described in the chapter 5 2 Mechanical Installation EM ABS 01 for ACU 03 12 v Bonfiglioli The extension module is assembled simply by plugging on without tools being needed thanks to the modular set up of the frequency inverters of the ACU series of devices Caution Carry out the assembly of the extension module before the frequency inverter is put into operation and only in a voltage free state The plug type terminals of the extension module enable economical overall fitting with a safe function Note Chapter 10 2 contains a compatibility list of the EM ABS 01 modules in combination with the ACU inverter firmware versions 3 1 Restrictions for operation of standard functions Note If an EM ABS 01 module is used with an ACU device the following func tions of the basic device can no longer be used e Repetition frequency mode via MFO1 of base device Instead repetition frequency mode can be realized via digital out puts of the EM ABS 01 module e Repetition frequency mode also PWM frequency input via digital inputs of basic device Instead the
157. xPDO2 P No TxPDO2 P No TxPDO2 P No Boolean uint int long input Byte input Byte input Byte 0 956 0 960 0 1 Booleani 1 Wordi 1 964 2 957 2 961 2 3 Boolean2 3 Word2 3 Longi 4 958 4 962 4 5 Boolean3 5 Word3 5 965 6 959 6 963 6 7 Boolean4 7 Word4 7 Long TxPDO3 P No TxPDO3 P No TxPDO3 P No Boolean uint int long input Byte input Byte input Byte 0 966 0 0 1 Booleani 1 1 976 2 967 2 2 3 Boolean2 3 3 Longi 4 968 4 4 5 Boolean3 5 5 977 6 969 6 6 7 Boolean4 7 Word4 7 Long2 72 EM ABS 01 for ACU Depending on the selected data information the percentages values are displayed via the uint int inputs 03 12 v Bonfiglioli 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 at the same time the factory setting Examples Boolean source Source Data 6 TRUE 7 FALSE 70 Contact input 1 71 Contact input 2 72 Contact input 3 161 Run signal 163 Reference value reached 164 Set frequency reached P 510 Examples uint int source Source Data 9 0 63 Reference Percentage 1 64 Reference Percentage 2 5
158. y Binary raw Binary not converted Note The colons are added in the case of parameterized SSI encoders for better readability in the display they do not form part of the transmitted telegram The colons are added according to the configuration of parameters SSI Error Extra Bits Low 1269 SSI Error Extra Bits High 1270 and Bits Turn 1271 Bits Multiturn 1272 Note The positioning value in SSI is not valued When it comes to diagnosis consider the coding system used by the encoder Gray code or binary code SinCos SinCos encoders do not use absolute values The actual value parameter remains emp ty 8 6 2 Actual position 03 12 Act position 1108 shows the current actual value position in user units u in positioning configurations x40 EM ABS 01 for ACU 115 Goo Bonfiglioli 8 7 116 Status of digital signals The status of the digital signals can be read decimal coding via parameter Digital inputs 250 Digital inputs hardware 243 and Digital outputs 254 The display of the digital input signals enables checking of the various control signals and their as signment to the corresponding software functions in particular during commissioning After conversion of the decimal figure into the binary system the bits 8 9 and 10 dis play the statuses of the inputs EM S1IND EM S2IND and EM S3IND Steuersignal 1 Dezimalwert 1 Steuersignal 2 Dezimalwert 2 Steuersignal 3 Dezimalwert
159. y on the phase in the physically first and last subscriber can be acti vated via the DIP switches on the EM ABS 01 extension module e Set to ON right position for passive termination Atten By default the bus termination is set to 1 OFF switch in left position tion Data line CAN high X410B 6 1200 Data line CAN low X410B 5 passive 4 EMABSOlfoACU O32 7 2 Cables v Bonfiglioli For the bus line use twisted a cable with harness shield no foil shield Atten tion Control and communication cables must be kept physically separate from the power cables The braided shield of the communication cable is to be connected to ground PE on both sides on a large area and with good conductivity 7 3 Control terminal X410B The system bus is connected via three sockets of the plug X410B on the EM ABS 01 extension module ji i X410A X410B 5 j 7 Terminal Input output Description X410B 5 CAN Low CAN Low System bus X410B 6 CAN High CAN High System bus X410B 7 GND CAN GND System bus 03 12 EM ABS 01 for ACU 45 Gio Bonfiglioli 7 4 Baud rate setting line lengths The Baud rate settings must be the same in all subscribers The maximum Baud rate depends on the necessary total cable length of the system bus The Baud rate is set up via param
160. ys check the position angle Offset 1188 and carry out a referencing operation in the case of positioning applications configuration x40 Note When an absolute value encoder is used referencing is not required after encoder or motor replacement to ensure correct function of the ACU device Adjustments of Home Offset 1131 are applied directly After encoder or motor replacement correct function of the system is achieved by performing a referencing operation or offset adjustment The signals provided by the encoder are used in the EM ABS 01 for various plausibility checks This makes the system more fail safe and less prone to unwanted interfe rence During operation the encoders and communication with the encoder are monitored Critical conditions are reported via device errors Most error evaluations will only be performed when the power output stage is activated Danger Some absolute value encoder types enable to zero or change the posi tion transmitted by the encoder Do not use this function as this will change the commutation angle in synchronous motors for Offset 1188 and correct speed control is not guaranteed Changing the value while the system is in operation can result in signifi cant failures of the system Attention Via parameter Change Sense of Rotation 1199 you can change the di rection of rotation of the motor system In the case of absolute value encoders a change of Change Sense of Rotation 1199 will result
161. zation tool The identifier assignment for the second SDO channel is always to the spe cification 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 60 EM ABS 01 for ACU 03 12 v Bonfiglioli 7 10 Communication channels SDO1 SDO2 7 10 1 03 12 SDO telegram SDO1 SDO2 The service used for the exchange of parameter data is SDO Segment Protocol Expedited The data type uint int long are exchanged in a telegram Access to the parameters in the frequency inverters with a statement of parameter number and data set is displayed via the addressing defined for object access pur suant to the specifications of CANopen via Index Sub Index Index parameter number Sub index data set The data to be transmitted have a length of 2 bytes for uint int and 4 Bytes for long For simplification and standardization 4 bytes are always transmitted The data are on bytes 4 7 of the SDO telegram uint int variables are transmitted in bytes 4 and 5 with bytes 6 und 7 0 long variables are transmitted in bytes 4 7 Writing parameters Client 9 Server SDO Download expedited Control byte 0x22 uint int Server 3 Client Download Response gt writing process free of errors byte Ox60 SB MSB Oxnn Server gt Client Abort SDO Tra

EM-ABS-01 - Cod. vec760 r0

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