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PROFINET - Cod. vec1027 r0

1. No Description Unit Setting range Chapter 371 Rated current Hz 8 3 3 373 No of pole pairs 1 24 10 2 1 375 Rated frequency Hz 10 00 1000 00 11 3 3 388 Bus Error Behaviour 0 5 6 5 390 Profibus PROFINET reference Hz 0 00 999 99 11 3 3 392 Transition 5 0 5 11 3 2 412 Local Remote 0 44 11 414 Data set selection 0 4 11 420 Acceleration Clockwise Hz s 0 00 9999 99 10 1 Deceleration Clockwise H2 s 0 01 9999 99 10 2 8 Hz s 0 01 9999 99 11 3 Hz s 0 01 9999 99 11 4 1 424 Hz s 0 01 9999 99 A Hz s 0 01 9999 99 430 R Rise Time Clockwise ms 0 2000 10 2 8 431 Ramp Fall Time Clockwise ms 0 2000 11 3 432 Ramp Rise Time Anticlockwise ms 0 2000 11 4 1 433 Ramp Fall Time Anticlockwise ms 0 2000 434 Reference Ramp 1 3 11 3 3 549 Max Control deviation 0 01 20 00 11 1 1 11 2 1 i 7 0 637 Switch off threshold Vo 0 0 100 0 11 3 1 11 3 2 638 Holding time S 0 0 200 0 1115 Feed constant 1 2147483647 1116 Gear Shaft revolutions 1 65535 10 2 1 1117 Gear Motor revolutions 1 65535 1122 Master position source Selection 11 4 7 1130 Homing mode 0 35 2147483647 ALAN Home otet 2147483647 10 1 1132 Fast speed 1 2147483647 10 2 9 1133 Creep speed 1 2147483647 11 4 4 1134 Acceleration 1 2147483647 1135 Ramp time 0 2000 1143 Fault Reaction 0 3 10 10 3 r u s 214748364
2. EM S3IND The digital inputs set via the control word can be monitored using parameter Digital inputs 250 Digital input S1IND will only be displayed if controller release is switched on at STOA and STOB andthe control word Bit 0 was set If the data set switching function is used please ensure that Parameter Local Remote 412 is set to 2 Con trol via remote contacts is set in all data sets used CM PROFINET 10 13 0 10 13 W Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready for activation Active Operation enabled gt Fault Voltage enabled Quick stop Low active Activation disabled Warning Remote Target reached 11 Internal limit value active 15 Warning 2 If operation mode Control via remote contacts is used controller release must be turned on at STOA Terminal X210A 3 and STOB Terminal X210B 2 and Bit 0 of the control word must be set in order to be able to start the drive Operation modes Control via contracts and Control via remote contacts support operation mode Speed vl modes of operation velocity mode ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre quency inverter control ele
3. Following error 15 100 CM PROFINET Warning 2 10 13 Control word W Bonfiglioli Identification Sequence mode Bit 4 Resume Bit 6 Halt Bit 8 Start motion block Bit 9 Motion block se lect 0 4 Bit 11 15 Value Description 0 Single motion 1 Automatic sequence 0 Start motion block motion block switching 1 Start motion block last active motion block 0 Execute command from bit 4 Sequence mode 1 Stop axis with ramp of current motion block The fre quency inverter remains in Operation enabled status 0 Stop axis with ramp of current motion block 0 gt 1 Execute motion block s n Start motion block n 1 Motion block select Control word Motion block select Sta Sto Res Seq 4 3 2 1 o Motion block select Resulting start mo 4 3 2 1 0 tion block 0 0 0 0 0 1 0 0 0 1 1 4 1 0 0 0 0 17 1 1 al 1 1 32 Status word Identification Value Description Motion block in 0 Single motion Motion block complete progress Automatic sequence Sequence complete Bit 8 1 Single motion automatic sequence active Target reached Target position not reached yet Bit 10 0 Halt 0 only motion blocks with posi tioning Halt 1 Axle decelerated Halt 0 Target position reached only 1 motion blocks with positioning Halt 1 Axle has velocity 0 I
4. Voltage enabled Quick stop low active Switch on disabled Warning 11 2 Phasing Done or M S Correction Done Remote Target reached In gear Internal limit active 13 15 M S Position Correction successful Following error Warning 2 e The function Master Slave Position Correction is only allowed to be used after complete setup of this function Check for parameter setup chapter 11 4 7 1 A Dangerous state due to faulty parameterization Master Slave Position Correction 10 13 CM PROFINET 113 GD Bonfiglioli Control word Identification Stop drive with ramp 1296 S Deceleration Start electronic 0 gear 1 Bit 4 Start Start electronic gear with master speed reference value with ramp 1295 S Acceleration M S Correction not started M S Correction Bit 5 Direct Sync Bit 6 Start Master Slave Position correction See chapter 11 4 7 1 Master Slave Position Correction Direct Synchronisation enabled Direct Synchronisation disabled Execute command from bit 4 Start el gear Bit 8 Start Phasing Stop axis with ramp of current motion block The fre uency inverter remains in Operation enabled status Phasing disabled aborted Bit 9 Phasing select 0 1 Bit 12 13 Phasing select Start Phasing wit
5. Chapter 5 1 11 6 3 7 6 5 8 5 8 1 11 3 10 2 10 2 7 10 2 8 10 2 6 10 2 9 10 2 10 10 3 10 2 2 11 12 10 13 v Bonfiglioli 5 Assembly disassembly of the communication module 5 1 Assembly The CM PROFINET communication module is delivered in a case for assembly In ad dition a PE spring is supplied for PE connection shield ule e Before installation of the communication module the frequency inverter must be disconnected from power supply Installation is not permissible while the unit is energized e Do not touch the PCB visible on the back of the module otherwise compo nents may be damaged d Danger of destruction of frequency inverter and or communication mod Work steps e Disconnect the frequency inverter from mains voltage and protect it against be ing energized unintentionally e Remove covers 1 and 2 of the frequency inverter Slot B 4 for the com munication module is now accessible Steckplatz B 1 ar Steckplatz A p TT 3 4 NI N ee 3 e Mount the supplied PE spring 5 using the M4 screw 6 in the unit The spring must be aligned centrally e Insert the communication module in slot B 4 until it engages audibly e Fix the communication module and PE spring 5 using the M2 screw provided at the module e Inthe upper cover 1 break out the pre punched cutout 3
6. In the RAM the data is not protected against loss of power Once power supply is disrupted the data must be written again 8 1 6 1 Example Writing of index parameters Typically index parameters are written regularly during commissioning or in simple positioning applications Writing of Parameter 1202 Target position distance Type double word in Index 1 in RAM gt Index 34 for write access with parameter value 30000 First step Set index parameter Order from master AK 2 Order code write int uint parameter value PNU 1200 0x4B0 IND 0 PWEh 0x0000 PWEI 0x0022 34 Designa PWE high PWE low tion code value high word Byte Byte Byte Byte Byte Byte Ss oxBo o o oxoo oxoo oxoo 1 0 2 3 4 5 Parameter value Byte no Response from slave AK 1 response code transmit int uint parameter value PNU 1200 0x4B0 IND 0 PWEh 0x0000 PWEI 0x0022 34 10 13 CM PROFINET 37 38 G amp D Bonfiglioli Designation __PKE IND PWE high PWE low code value value high word Eeee ae Byte Byte Byte Byte Byte Byte Byte SCs oxBo o o oxoo oxoo oxoo Byteno 0 1 2 3 4 5 6 Second step Set value of target position 0x22 Order from master AK 3 order code write long parameter value PNU 1202 0x4B2 IND 0 PWEh 0x0000 PWEI 0x7530 30000 Design
7. Profile position mode the correct sequence must be sent by the PLC OUT IN PZD1 Control word Status word PZD11 Modes of Op M Of Op Displ PZD3 4 Target position Remark 0x0000 0x0050 any any any Disable voltage Activation disabled 0x0000 0x0050 0x0001 0x0001 any Profile position mode 0x0006 0x0031 0x0001 0x0001 any Stop Ready for activation 0x0007 0x0033 0x0001 0x0001 0x1234 0x5678 Start Active 0x0007 0x000F Oxnn37 0x0001 0x0001 0x1234 0x5678 Enable operation Positioning operation is not started Operation enabled 6a 0x0007 or 0x000F 0x001F Oxnn37 0x0001 0x0001 0x1234 0x5678 Operation enabled start ab solute positioning with pro file If a positioning operation is already in process this oper ation will be completed Then the new profile will be used Operation enabled 6b 0x0007 or 0x000F 0x005F Oxnn37 0x0001 0x0001 0x1234 0x5678 Operation enabled start rel ative positioning with pro file If a positioning operation is already in process this oper ation will be completed Then the new profile will be used Operation enabled 6C 0x0007 or 0x000F 0x003F 0xnn37 0x0001 0x0001 0x1234 0x5678 Operation enabled start ab solute positioning with pro file Running positioning opera tions will change and
8. application manual 10 2 5 Position Controller 10 13 CM PROFINET 55 GO Bonfiglioli The position controller evaluates the positioning operation target actual position and tries to control the drive such that it comes as close as possible to the specifications For this purpose an additional frequency is calculated for compensation of position deviations By setting the corresponding parameter this frequency can be limited The parameter settings of the position controller determine how quick and to what extent position deviations are to be compensated Via Time Constant 1104 you can define the maximum time in which the position deviation is to be compensated Via parameter Limitation 1118 you can define to which value the speed is limited for compensation of the position deviation Description Factory setting 10 00 ms 1104 300 00 MS 100 005 1118 327 680 u s Factory parameter setting Configuration 30 240 or 540 2 Factory parameter setting Configuration 30 440 Example Position deviates by 1 motor shaft revolution time constant is set to 1 ms The posi tion controller will increase the motor frequency by 1000 Hz in order to compensate the position deviation Parameter Limitation 1118 must be set sufficiently Controller block diagram Acceleration Pre Controller ISq Ref APC ISQpes Speed Controller Limitation Trajectory generator Limitation 1118 Position Position Controller
9. 3 Enable operation Operation mode specific Operation mode specific Operation mode specific Fault reset Halt Operation mode specific 11 Manufacturer specific 2 Manufacturer specific 13 Manufacturer specific 14 Manufacturer specific is Manufacturer specific Bits 9 15 are used depending on the configuration and on Mode of Operation Control word bits 4 5 6 operation mode specific and bit 8 halt are used in motion con trol configurations Parameter Configuration 30 x40 only 10 13 CM PROFINET 67 GX Bonfiglioli 68 i i 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled 3 Fault Voltage enabled Quick stop Low active Switch on disabled Warning Manufacturer specific Remote Target reached 11 Internal limit active 12 Operation mode specific 13 Operation mode specific 14 Manufacturer specific iss Manufacturer specific Warning 2 Bit 14 is not used Status word bits 12 and 13 Depending on mode of operation are only used in Motion Control configurations Parameter Configuration 30 x40 ACTIVE CUBE frequency inverters support an external 24 V power supply for the
10. Homing attained Bit 12 Homing error Bit 13 Description Stop 0 Home position still not reached 1 Axle decelerated Stop 0 Home position reached 1 Axle has speed 0 No homing error Homing error occurred homing not completed successfully For a description of homing operations refer to Chapter 13 6 Homing modes CM PROFINET 97 GY Bonfiglioli 11 4 4 1 Sequence example In order to start homing mode the correct sequence must be sent by the PLC Preparation Set Homing mode 1130 factory setting 0 no homing Set Home Offset 1131 if available factory setting 0 Set Fast speed 1132 factory setting 327680 u Set Creep speed 1133 factory setting 163840 u Set Acceleration 1134 factory setting 327680 u s Set Ramp time 1135 if available factory setting 0 ms PZD1 PZD11 OUT Control word Modes of operation Remark IN Status word Mod Of Op Displ 1 0x0000 Disable voltage 0x0050 Switch On Disabled 2 0x0006 Homing 0x0006 3 0x0006 0x0006 Shutdown 0x0031 0x0006 to switch on 4 0x0007 0x0006 Switch On 0x0033 0x0006 Switched On 5a Ox000F 0x0006 Enable Operation Oxnn37 0x0006 5b Ox001F 0x0006 Enable Operation and start Homing 0x1n37 0x0006 homing attained r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made Dang
11. always be used Bit 5 rfg unlock Rfg unlock 0 The last speed will be maintained and used Rfg unlock 1 The ramp function is active and changes according to the reference value and the ramp Bit 6 rfg use ref Rfg use ref 0 Reference value 0 is used Rfg use ref 1 The reference value from Target Velocity is used Bit 8 Halt STOP 0 gt Execute positioning STOP 1 gt Stop axis The frequency inverter remains enabled in Operation enabled state If special function generator 1299 S Special Function Generator 9 Zero the reference value from the ramp output will also be used if bit 4 rfg enable 1 and if bit 4 rfg enable 0 the reference value from the source specified in 1299 S Spe cial Function Generator will be used Bit 4 rfg enable 0 Reference value from special func 1299 O Special Function Genera 1299 O Special Function Genera tor 9 Zero tor 9 Zero tion Reference value from ramp output Bit 4 rfg enable 1 Reference value from ramp output 80 CM PROFINET 10 13 11 4 1 1 Sequence example In order to start velocity mode the correct sequence must be sent by the PLC Preparation W Bonfiglioli Set Acceleration clockwise 420 to the required value factory setting 5 Hz s Set Deceleration clockwise 421 to the required value factory setting 0 01 Hz s 0 01 means that the value set for t
12. Bonfiglioli Frequency conversion PDP Word to internal representation If the frequency inverter is equipped with a PROFINET module CM PROFINET or an extension module with Systembus the Convert PDP internal function will be availa ble It converts frequency values with Profibus representation to frequency values with device internal representation and vice versa see Chapter 11 3 3 Reference value actual value Frequency conversion Profibus representation Internal representation In F PDP word1 O e 774 Out F intern long1 1370 x In F PDP word2 775 Out F intern long2 1371 Convert Reference 1374 Lu XXX XX Hz In F intern long1 776 Out F PDPconv word1 1372 In F intern long2 777 Out F PDPconv word2 1373 The standardization for In F PDP word1 2 and Out F PDPconv word1 2 is Reference Binary Decimal Hexadecimal Value 100 16384 0x4000 100 49152 0xC000 Possible range 200 32768 to 32768 0x7FFF through 0x8000 The function uses its own reference value Convert Reference 1374 for data con version The advantage of this function is the fact that the Word data type is used for frequency values instead of the Long data type CM PROFINET 47 GX Bonfiglioli 8 5 Resetting errors Depending on the settings and operating state of the device errors can be reset in various Ways e When using control via parameter Local Remote 412 Statemachine Set bit 7 of control word PZD1
13. Bonfiglioli Vectron ACTIVE CUBE PROFINET Communication module CM PROFINET Frequency inverter 230 V 400 V E ta y xq CUS Bonfiglioli ontrol and green solutio v Bonfiglioli TABLE OF CONTENTS 1 General Information about the Documentation 1 ccccsssseeeeeeesseeeeeneeeeeeenanseeeenenseenenons 6 1 1 Thisdocument 111 20000vrssrcreeen aci eee nai ie nerina irene 7 1 2 Warranty and liability 0 20 00 rear 7 1 3 Obligation r0 1 0000 eeeeeneeeeeenaneeeeeennaaeeseeonaeeeseenaseeseenauseeeeneaseesenoaseeseeoegeeeenooanenees 8 1 4 Copyright 00 crrrreeiiee eee iii iii 8 1 5 Storage 2 eccsseeeeeeeeeeneecusneeeenuecusnseaeeesuenueeeeaueuenaseeengeeeogeueuageueoseeeaseeansuengeesaageeeogseenanens 8 2 General safety instructions and information on USEC ccseseeeeeeeeseeseneeeeeeeneeaeensneeneenens 9 2 1 TerminOlo dy ar E A A 9 2 2 Designated USEC ssceccccnseeseeeeeneseeeeeneeeeseenueeeeeonaeeeeeooaseusenoaseeseenauseseenoaseesenoaseenenaas 10 2 3 MISUSC csseeeeeseeeeeeeneeeeeeeeneeeeeeneueeeeeooaseeseeoaueeseeoaaseeeeooaseuseooaueeseanaaseseeooaseesenoaseesenons 10 2 3 1 EXDIOSIONIPFOLECHON siate lariana 10 2 4 Residualrisks 1rrrrs0rerres serene eee eiee eee ee reni 11 2 5 Safety and warning signs on the frequency inverter sssecsesseeeeseneeeseneeeeenenens 11 2 6 Warning information and symbols used in the user Manual
14. e g during transport Center of gravity is not the middle of the electric cabinet modules 2 5 Safety and warning signs on the frequency inverter e Comply with all safety instructions and danger information provided on the frequency inverter e Safety information and warnings on the frequency inverter must not be removed 10 13 CM PROFINET 11 GW Bonfiglioli 2 6 Warning information and symbols used in the user manual 2 6 1 Hazard classes The following hazard identifications and symbols are used to mark particularly important information Identification of immediate threat holding a high risk of death or serious injury if not A avoided Identification of immediate threat holding a medium risk of death or serious injury if not avoided ry if not avoided A Identification of immediate threat holding a low risk of minor or moderate physical inju Identification of a threat holding a risk of material damage if not avoided 2 6 2 Hazard symbols Symbol Meaning Symbol Meaning d General hazard A Suspended load Electrical voltage A 2 6 3 Prohibition signs Hot surfaces Symbol Meaning No switching it is forbidden to switch the machine plant assembly on 12 CM PROFINET 10 13 2 6 4 Personal safety equipment Symbol Meaning Q Wear body protection 2 6 5 Recycling Symbol Meaning D Recycling to avoi
15. for the plug X310 8 e Mount the two covers 1 and 2 10 13 CM PROFINET 21 GX Bonfiglioli 5 2 22 Disassembly Disconnect the frequency inverter from power supply and protect it against be ing energized unintentionally Remove the covers 1 and 2 of the frequency inverter see Chapter 5 1 Assembly Loosen the M2 screw 7 on the communication module Unplug the communication module from Slot B by unlocking the locking hooks 9 on the right and left side of the module from the case of the frequency in verter using a small screwdriver The locking hooks 9 are located at the place where the locking hooks 10 for the upper cover project from the case of the frequency inverter e To do this insert the screwdriver in the gap between the case of the module and the frequency inverter carefully and push the locking hook inwards in the direction of the arrow lt 4 As soon as the right side is unlocked pull out the module a bit on the right side and hold it e Hold the module on the right side while unlocking the locking hook on the left side in the same way 9 e Pull the module out of the slot by gently pulling on the right and left side al ternately Disassemble the PE spring 5 see Chapter 5 1 Assembly Mount the two covers 1 and 2 see Chapter 5 1 Assembly CM PROFINET 10 13 v Bonfiglioli 6 Description of module and commissioning 6 1 C
16. operated in the field weakening range above its reference frequency Example Parameter Rated frequency 375 is set to 50 00 Hz With the setting of parameter Profibus PROFINET reference 390 to 100 00 Hz the value range 200 Hz is possible The reference value for the frequency inverter from PZD2 is supplied via the reference line value This reference value is combined in the input of the ramp function with the internal reference frequency from the reference frequency channel For information on the reference frequency channel refer to the frequency inverter Operating Instruc tions 74 CM PROFINET 10 13 10 13 Bonfiglioli ramp set point operation mode 434 I i refer to note A Sh internal 0 set point z frequency ramp Res line o Y fmax set point NSA The internal reference value from the reference frequency channel and the reference line value can be fed to the ramp individually or as an added variable The operation mode of the ramp function is set via the data set switchable parameter Ramp set point 434 Description The internal reference frequency is determined from Internal reference fre den the percentage reference value source or the refer q y ence frequency channel The reference value is supplied externally via the 2 Reference line value na communication interface 3 internal reference line Addition considering the sign of
17. 1179 Emergency Ramp u s Profile Position Mode gt P 1179 Emergency Ramp u s Table Travel Record Mode gt P 1179 Emergency Ramp u s Move Away from Limit Switch gt P 1179 Emergency Ramp u s Electr Gear Slave gt P 1179 Emergency Ramp u s Target position Profile Position Mode gt P 1293 S Target Position Recommended 672 OUT PZD3 4 Long Table Travel Record Mode gt P 1202 Target Pos Actual values Alle Modi Position Act Value u Recommended P 1304 IN PZD3 4 Long 743 MCI Actual Position u MUX Output Recommended P 1307 IN PZD5 Word 927 MUX Output DC link circuit voltage x xxx V Recommended P 1308 IN PZD6 Word 120 Udc Warnstatus Recommended P 1312 IN PZD7 Word 772 Warning States Fehlerstatus Recommended P 1313 IN PZD8 Word 773 Error State Kontaktwort Hardware Recommended P 1313 IN PZD9 Word 79 Contact Word Hardware Current Actual Value x x Recommended P 1317 IN PZD10 Word 125 Absolute Current see chapter Modes of Operation Display Recommended P 1322 IN PZD11 Word 742 MCI Modes of Operation Aktuelle Geschwindigkeit Recommended P 1323 IN PZD12 Word 744 MCI Act Speed rpm Contouring error u P 1109 Act Contouring Error Torque Actual Value x x Nm P 244 Torque Special Objects All modes Modes of Operation Recommended 665 OUT PZD11 Word Control Word fix to OUT PZD1 gt P 410 Control word Stat
18. 29 8 1 Parameter access via communication channel PKW rrrreiiiiirie iii 29 dl OfderliD ciano 30 8 1 2 Response ID iaia 30 OM Se Eiro MOSS AGC sac ra 31 8 1 4 Communication procedure airline 32 8 1 5 Parameters data set selection and cyclic Writing 33 8 1 5 1 Communicationi examples ai ia 34 8 1 6 Handling of index parameters cyclic writing 0 00 36 8 1 6 1 Example Writing of index parameters i 37 8 1 6 2 Example Reading of index parameters ee 39 8 2 Parameter access through reading writing of data Sets 0 sacre 40 8 3 Process data channel cesccseseeeeeneeeeeeennneeeeenoneeuenonaseuseonageeseenauseseeuauseesenogseesenons 42 8 3 1 Data types of OUT IN Objects 42 8 3 2 PROFINET output sources OUT PZD X ttt tt rn rrtrtt ttet tn rnnr en ennn 44 8 3 3 PROFINET input parameters IN PZD X nan 45 8 4 Frequency conversion PDP Word to internal representation ssssssssssssnsnnnnnnnna 47 8 5 Resettingerrors 1 00rrrsrarere esa a einer eee eee iiie eine iii 48 9 Operation without Motion Control 1 21rrrrssrrrere siae ee cene ie eee einer nie 49 10 Motion Control nterface MCI sccsscsscsscssccsccnscnsensensensensenssensensensensensennsensensensensenssonss 49 10 1 Object and parameter relationShipS ss 111 11 5 5 50 10 2 Functions of the Motion Control n
19. EEEE EEEE EEEE EEEE 17 3 Introduction xrrrrsrrreree aaa rene eee ie nese iene ener einer iii 18 3 1 Supportedconfigurations 1 210rrsssrreeees iaia einen 19 3 2 Initialization time ccsscceeeeeseseeeeeneeeeesenenseeeeeonaeeuseonaseeseenaeeseenouseeeauoaseesenoaeeenenaas 20 4 First commiissioning xrvrss00rrrres ara ee sese ee eine eee eine iii 20 5 Assembly disassembly of the communication Module 111111rrrrrrrrsiiri ii iiiiiinea 21 5 1 E e h T rain iene 21 10 13 CM PROFINET 3 GY Bonfiglioli 5 2 Disassembly 0 000rrrsa criniera iene iene eee iii 22 6 Description of module and COMMISSIONING 2srrrssarereren aree reni eee eee eine 23 6 1 Connector assignment 11vss200rrrssaerenee siii n iene e eee nie 23 6 2 LEDstatusindicators 1rrr200rrree aa ie eine e een iii eee 23 6 3 Setting the station address 11 2200rrrs sa rerere naar arenarie reni ene aerei 23 6 4 Alarmmessages 1rrrrssrereeeaa eee eee ee eine eee 24 6 5 Operating behavior in the case of bus connection failure 111r rr 25 7 Settingtheprocessdata 1xvrsrcrrreeaneiene earn eee iii ieri 26 7 1 Configuration process on PROFI NET IO controller 111rs 200 rrresiiie iena 26 7 2 Availableobjects rrra rire iii eee ieri 28 8 Handlingofobjects 1rrrrs sr rre see eee einen iii einen
20. MCI refer to Chapter 11 4 The Modes of operation func tion is available for switching to other MCI modes e Digital inputs STOA and STOB must be set Start clockwise and Start anti clockwise have no function in these configurations In configurations without Motion Control parameter Configuration 30 x40 the following must be noted e Transition 4 will only be processed if Bit 4 Voltage enabled of the status word is set This feature is downward compatible with older software ver sions e The frequency inverter can only be controlled if the logic operation is true The logic inputs for Start Clockwise and Start anticlockwise can be connected directly with On or Off parameter Start Clockwise 68 and Start Anti clockwise 69 Digital inputs STOA and STOB must be set This results in Release STOA and STOB AND Start clockwise OR Start Anticlockwise CM PROFINET 10 13 10 13 Bonfiglioli Status word The status word indicates the current operating state Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switch on Quick Fault Operation Switche Ready to disabled stop enabled d on switch on State Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault reaction active Fault X means any value Bit 7 Warning can be set at any time It reports a device internal warning The cause of the warning is evaluated by reading the warning
21. Out PZD3 Boolean 640 Out PZD3 Word 656 Out PZD3 4 Long 672 Out PZD4 Boolean 641 Out PZD4 Word 657 3 Out PZD5 Boolean 642 Out PZD5 Word 658 Out PZD5 6 Long 673 Out PZD6 Boolean 643 Out PZD6 Word 659 4 Out PZD7 Boolean 644 Out PZD7 Word 660 Out PZD7 8 Long 674 Out PZD8 Boolean 645 Out PZD8 Word 661 5 Out PZD9 Boolean 646 Out PZD9 Word 662 Out PZD9 10 Long 675 Out PZD10 Boolean 647 Out PZD10 Word 663 6 Out PZD11 Boolean 648 Out PZD11 Word 664 Out PZD11 12 Long 676 Out PZD12 Boolean 649 Out PZD12 Word 665 44 e Each source can be linked to an input parameter of the frequency inverter of the same data type The method is the same as the method used for the System Bus receive objects e Boolean sources represent Boolean objects e Word sources represent percentage current or torque objects e Long sources represent frequency or position objects The sources are typically linked to the sources using the linking function of the Motion Control interface For an example refer to Chapter 10 4 Motion Control Mapping for PROFINET CM PROFINET 10 13 8 3 3 Bonfiglioli PROFI NET input parameters IN PZD x In the table below the available input parameters of the PZD In objects are listed The content of the sources depends on the application For the different data types the relevant input parameters must be linked to the sources of the frequency inverter e Avai
22. PKW object the CM PROFINET module supports read and write access to data sets The function is described in Chapter 8 2 Parameter access through read ing writing of data sets Each PZD object contains two Word data type input and output objects For infor mation on how to handle this object refer to Chapter 8 3 1 Data types of OUT IN objects Configuration process on PROFI NET IO controller The following chapter describes the configuration procedure of a frequency inverter with the PROFINET communication module CM PROFINET using the example of the Siemens STEP7 hardware configurator Generally the procedure is the same for other configurations First the device description file is installed in the hardware configurator if not done already This is done in the menu Options I nstall GSD file Here enter the path and name of the GSD file Once the GSD file is installed the frequency inverter will appear on level PROFI NET IO Additional Field Devices Drives Bonfiglioli Vectron PROFI NET 10 Connection From this position a frequency inverter BV Drive can be connected to the PROFINET system drag amp drop CM PROFINET 10 13 Bonfiglioli Vectron HW Contig SIMATIC 300 1 Configuration LT200 Projekt Dba hS DE ae OO Sw 1 arora BE FROFIBUS OF PROFIBUS Pa B PRONNET IO Phone PROFINET 40 Sytem E Adhora Fald Davicas Drives Borgia a SIMATIC AO fp siarc 4
23. active motion block 2 motion blocks 7 10 Bonfiglioli PLC Drive o __7 o 10 __ oO CM PROFINET 103 GW Bonfiglioli 104 motion block sequence sequence mode control bit 4 1 start motion block control bit 9 motion block in progress status bit 8 target reached status bit 10 position active motion block sequence motion block 4 5 6 PLC Drive CM PROFINET 10 13 10 13 Interrupted motion blocks sequence Automatic sequence control bit 4 1 Sequence Motion block 4 5 6 Motion block 5 interrupted start motion block w Bonfiglioli control bit 9 PLC resume controlbit 6 Drive motion block in progress status bit 8 target reached status bit 10 j position H active eu motion blek O 4 5 O 5 6 0 motion block I to resume Lt o oa SY 6 1 CM PROFINET 105 GU Bonfiglioli 11 4 5 1 Sequence example In order to start Table travel record mode the correct sequence must be sent by the PLC PZD1 PZD11 OUT Control word Modes of operation Remark IN Status word Mod Of Op Displ 1 0x0000 any Disable voltage 0x0050 any Switch On Disabled 2 OxFFFF 1 Table travel record mode OxFFFF 1 3 0x0006 OXFFFF 1 Shutdown 0x0031 OxFFFF _ 1 R
24. been an down OT The parameter settings Bus Error Behaviour 388 2 5 are evaluated depending on parameter Local Remote 412 There are numerous options of parameterizing the fault and warning behavior of the frequency inverter For details about possible faults refer to Chapter 13 5 Error mes sages 10 13 CM PROFINET 25 GW Bonfiglioli 7 Settingthe process data 7 1 26 Depending on the application used different process data objects with various lengths and contents are required for data exchange The CM PROFINET module enables a wide range of settings Using a hardware configurator the user can de sign the process data objects required for the relevant application Two types of process data objects are available The required objects must be created in the hardware configuration of the PROFINET IO controller On the frequency inverter side it is not possible to set up the required object The frequency inverter adjusts itself to the created object au tomatically Object Object length bytes Object length words PKW 8 4 PZD 4 2 For more information on the contents of the objects refer to Chapter 8 Handling of objects The PKW object is used for read and write access to frequency inverter parameters The object will produce additional bus load because it will send its contents with each data exchange cycle no matter if it is actually needed or not As an alternative to the
25. ccsssseeeeseeeeenenees 12 2 6 1 Hazard classes sssiavesinwuvhitihnavletenanil indebted iaia 12 26 2 Hazardi symbolS pssradio iaia 12 2 6 3 PrONIDINOAMSIGNS x irta 12 2 6 4 Personal safety equipment nn aaa 13 2 6 5 RECyeing uso siae eg Dalai ae ia 13 2 6 6 Grounding SymMbol traina ao deeds 13 26 7 ESDSYMbOll o eat 13 2 6 8 Information SIJAS eian iaia aa ia 13 2 7 Directives and guidelines to be adhered to by the operator rrrr 14 2 8 Operator s general plant documentation 1 20r0rrrrereree eine ieri 14 2 9 Operator s operating staff s responsibilities 1 2211rrrs rr erree iii eee 14 2 9 1 Selection and qualification of staff aaa 14 2 9 2 General work SATCEY ic saissseu snes sei ders anne nese aetieneas needa aes cheng vane eet eae eas ae aerate aa 14 2 10 Organizational MEASULES 1 ccccseeeeeeeeeeeeeeeeeneeeeeeenasenseenaseeseenegeeseeooaeensenoaneenenons 15 2 10 L Generalitat alari 15 2 10 2 Use in combination with third party products eee 15 210 3 Transport ANG Storage ieioea i ira 15 2 10 4 Handling and installation ln nn nn nnn nn nee 15 210 5 Electrical conmections a gini Leila e il iaia 15 2 10 5 1 The five satety ules usi iii 16 2 10 60 lt Safe operationi dalia 16 2 10 7 Maintenance and service troubleshooting ee 17 2 10 8 Final decommissioning EEEE EEEE EEEE EEEE EEEE EEEE
26. control word transition from OxnnnF to 0x0007 Profile position mode will be stopped Then the mode can be restarted via OxnnnF As long as 0x0007 is active the mode of operation can also be changed safely Once modes of operation has been set to another value operation can be started with a corresponding sequence In order to start a profile you don t have to set the control word to 0x0007 first be fore switching to OxnnnF Once a profile has been processed a new profile can be started with the bit New Setpoint bit 4 in control word OxnnnF While a profile is being processed you can start a new profile without stopping by using the bits Change Setpoint immediately bit 5 and New Setpoint bit 4 CM PROFINET 10 13 Bonfiglioli 11 4 4 Homing mode 10 13 Homing mode can be selected via modes of operation 6 In homing mode the frequency inverter moves the drive to a reference position The method used for this movement is defined by parameter Homing mode 1130 Relevant objects OUT PZD1 Control word OUT PZD11 Modes of operation P 1130 Homing mode P 1132 amp P 1133 Fast speed creep speed P 1134 Acceleration IN PZD1 Status word IN PZD11 Modes of operation displa P 418 Minimum frequenc P 419 Maximum Frequency P 1179 Emergency stop ramp r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been
27. edited This defi nition also applies to user defined configurations The contents of process data channels PZD3 through PZD12 maximum without communication channel PKW are user defined In the data transmission it is assumed that the Motorola format is used as sup ported by a PLC type Siemens S7 CM PROFINET 10 13 Bonfiglioli 8 Handling of objects 8 1 Parameter access via communication channel PKW The communication channel PKW range has the following structure Designa PKW range tion PKE IND PWE high PWE low Contents Parameter ID Index Parameter value Parameter value high word low word High Low High Low High Low High Low Byte Byte Byte Byte Byte Byte Byte Byte Data System set bus Byte no 0 1 2 3 4 5 6 7 10 13 The data is transmitted in the Motorola format as used by the S7 PLC from Sie mens for example Thus the high byte is on the lower byte of the message and the low byte is on the higher byte The data set is always on the high byte of Index data set byte no 2 If system bus is used a system bus address is set on the low byte of Index System bus byte no 3 With this parameter access to a Systembus client is possible See Systembus instructions Low byte PRE High byte O wye jee sue i ESS a ro s AK Order response ID value range 0 15 PNU Parameter number value range 1 1599 The order and resp
28. equipment plants of the country in which the frequency inverter is used e The cables connected to the frequency inverters may not be subjected to high voltage insulation tests unless appropriate circuitry measures are taken before e Only connect the frequency inverter to suitable supply mains 10 13 CM PROFINET 15 GX Bonfiglioli 2 10 5 1 The five safety rules When working on in electrical plants always follow the five safety rules 1 2 3 4 5 2 Isolate Take appropriate measures to prevent re connection Check isolation Earth and short circuit Cover or shield neighboring live parts 10 6 Safe operation During operation of the frequency inverter always comply with the applicable national and inter national regulations laws on work on electrical equipment plants 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 the applicable na tional and international safety directives During operation never open the machine plant Do not connect disconnect any components equipment during operation The machine plant holds high voltage levels during operation is equipped with rotating parts fan and has hot surfaces Any unauthorized removal of covers improper use wrong installation or operation may result in serious injuries or material damage Some components e g the heat sink or brake
29. made The ramp times are specified via parameter 1135 In homing the mode specific bits of the control word and the status word are used as follows 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit Switch on Enable voltage Quick stop Low active Enable operation Homing operation start Fault reset Halt PP Po o o o o A CM PROFINET 95 GY Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on 7 Operation enabled gt Fault Voltage enabled Quick stop Low Active Switch on disabled Warning Remote Target reached 11 Internal limit active 12 Homing attained 13 Homing error 15 Warning 2 Control word Identification Value Description Homing opera 0 Homing not active tion start 0 gt 1 Start homing Bit 4 1 Homing active 1 gt 0 Stop homing Halt 0 Execute command from bit 4 Start homing Bit 8 1 Stop axis with acceleration value as deceleration for homing The frequency inverter remains enabled in Operation enabled status 96 CM PROFINET 10 13 10 13 Status word W Bonfiglioli Identification Target reached Bit 10
30. operation has been set to another value operation can be started with a corresponding sequence CM PROFINET 10 13 Bonfiglioli 11 4 3 Profile position mode Profile position mode can be selected viamodes of operation 1 In profile position mode the frequency inverter receives a target position followed by the command to travel to this target Relevant objects OUT PZD1 Control word OUT PZD11 Modes of operation OUT PZD3 4 Target position OUT PZD5 6 Profile velocit OUT PZD7 8 Profile acceleration OUT PZD9 10 Profile deceleration IN PZD1 Status word IN PZD11 Modes of operation display P 418 Minimum frequenc P 419 Maximum Frequency P 1179 Emergency stop ramp r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made The ramp times are specified via parameters 1176 1178 In profile position mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on Enable voltage Quick stop Low active Enable operation New set point gt Change set immediately amp Abs rel Fault reset Halt Change on set point 10 13 CM PROFINET 87 GX Bonfiglioli 88 15 14 13 12
31. resistor may be hot even some time after the ma chine plant was shut down Don t touch any surfaces directly after shutdown Wear safety gloves where necessary The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis charged Wait for at least 3 minutes after shutdown before starting electrical or mechanical work on the frequency inverter Even after this waiting time make sure that the equipment is deener gized in accordance with the safety rules before starting the work In order to avoid accidents or damage only qualified staff and electricians may carry out the work such as installation commissioning or setup In the case of a defect of terminals and or cables immediately disconnect the frequency inverter from mains supply Persons not familiar with the operation of frequency inverters must not have access to the fre quency inverter Do not bypass nor decommission any protective facilities The frequency inverter may be connected to power supply every 60 s This must be considered when operating a mains contactor in jog operation mode For commissioning or after an emer gency stop a non recurrent direct restart is permissible After a failure and restoration of the power supply the motor may start unexpectedly if the Auto Start function is activated If staff are endangered a restart of the motor must be prevented by means of external circuitry Before commissioning and the start o
32. rights the master is not entitled to write to the slave 30 CM PROFINET 10 13 Bonfiglioli 8 1 3 Error message Encoding of error messages in response data set PWE Low Low Byte in byte 7 Slave gt Master Error no decimal Meaning according to PROFI DRI VE non permissible parameter number PNU Parameter value cannot be edited lower or upper parameter value limit exceeded faulty data set no data set switchable parameter V Aa WINHW wrong data type 18 other error 20 system bus does not respond Extension Meaning 101 Parameter cannot be read 103 Error when reading EEPROM 104 Error when writing EEPROM 105 EEPROM checksum error occurred 106 Parameter must not be written in operation 107 Values of data sets are different 108 Unknown order Error number 20 may have different causes e If you do not use System Bus Check if the low byte is 0 zero With values greater than zero an attempt is made to address a System Bus client instead of the PROFINET client e If you use System Bus e g via an EM SYS module the addressed device is not re sponding Check if the addressed device is connected to power supply and the Sys tem Bus node addresses in the index low byte and in the parameter settings of the device to be addressed correspond to one another 10 13 CM PROFINET 31 GX Bonfiglioli 8 1 4 Communication procedure 32 An order from the master will always be answe
33. selection of necessary parame ters and the configuration of the software of the frequency inverter User manual The user manual documents the complete functionality of the frequency inverter The parameters required for special purposes for adjustment to the application and the numerous additional functions are described in detail Separate user manuals are supplied for optional components for the frequency inverter These manu als complement the operating instructions and the Quick Start Guide for the frequency inverter Application manual The application manual complements the documentation to ensure goal directed installation and commissioning of the frequency inverter Information on various topics in connection with the use of the frequency inverter is described in context with the specific application Installation instructions The installation manual describes the installation and use of devices complementing the Quick Start Guide and the user manual 6 CM PROFINET 10 13 W Bonfiglioli 1 1 This document The present user manual of the CM PROFINET communication module complements the Operating Instructions and the Quick Start Guide for the frequency inverters of the ACU 201 and ACU 401 de vice series The user manual contains important information on the installation and use of the PROFINET commu nication module CM PROFINET in its specified application range Compliance with this user manual contribu
34. state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before chang ing the mode of operation e g for status 0xnn33 CM PROFINET 10 13 W Bonfiglioli Once the sequence of the first four status words has been processed correctly the A ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area Bit 9 Start motion block must be active during positioning If bit 9 is reset to 0 the positioning operation is interrupted As long as 0x0007 is active the mode of operation can also be changed safely Once modes of operation has been set to another value operation can be started with a corresponding sequence 10 13 CM PROFINET 107 GY Bonfiglioli 11 4 6 Move away from limit switch mode 108 Move away from limit switch mode can be selected via modes of opera tion OxFE 2 In Move away from limit switch mode the drive moves back from a triggered limit switch to the permissible travel range Relevant objects OUT PZD1 Control word IN PZD1 Status word OUT PZD11 Modes of operation IN PZD11 Modes of operation display P 1133 P 1134 Acceleration r permissible only when the recommended settings from 10 4 Motion Cont
35. too small 264 Electronic voltage FO8nn Electronic voltage DC 24V too low high 265 Pre charging relay FO9nn Pre charging relay faulted 272 Brake chopper F10nn Brake chopper faulted 273 Output frequency Flinn Output frequency exceeded maximum fre quency 274 Safety function STO F12nn Diagnosis error of function STO STOA STOB monitoring 275 Motor load F13nn Earth fault IDC compensation limit mini mum current monitoring 276 Control connection F14nn Encoder signals external error 277 Table travel record F15nn Table travel record error in motion blocks 278 Parameter F16nn Parameter error 279 Encoder F17nn Encoder error 289 CAN Systembus slave error F21nn CAN Systembus slave node id nn reports error 290 CAN System bus F22nn CAN Systembus error 292 EM Module F24nn Unknown EM Module 304 Application F30nn Application error 511 Generic Fxxxx Generic error 24 CM PROFINET 10 13 v Bonfiglioli 6 5 Operating behavior in the case of bus connection failure The operating behavior in the case of failure of the PROFINET systems can be param eterized The required behavior can be set via parameter Bus Error behavior 388 0 no response Operating point is maintained Fault status will be activated immediately Factory 1 Error setting 2 Sto Control command Disable voltage and switch to p switch on disabled status ET stop and switch to switch E 5 Quick stop Eror Senas onee the dive has
36. torque control the default value is 0 coasting If the configuration is changed the value set for State transition 5 392 is also changed if necessary The behavior in transition 5 is only relevant for configurations without Motion Control parameter Configuration 30 x40 If State transition 5 392 was triggered with 1 DC brake a new control word will only be accepted after completion of the transition process The change of state from Operation enabled to Started is done after the Braking time 632 632 parameter ized for the DC brake has elapsed If parameter State transition 5 392 2 Ramp is set the control word can be set to Operation enabled again while the drive is decelerating In this way the drive accelerates to its set reference value again and remains in the state operation ena bled The change of state from Operation enabled to Switched On is done after the val ue has dropped below the set switch off threshold and the set holding time has elapsed equivalent to the behavior in the case of a quick stop In this context pa rameters Switch off threshold stop function 637 percentage of parameter Maximum Frequency 419 and Holding time 638 Holding time after passing of threshold are relevant CM PROFINET 73 GY Bonfiglioli 11 3 3 Reference value actual value In PZD2 the master sends its reference value to the frequency inverter in its output data set
37. u s 1458 Override Profile Deceleration 1 2 1 1 u s2 Override Target velocity vl lrpm 32768 32767 rpm 1460 Override Target velocity pv 231 1 2 t 1 u s 126 CM PROFINET Parameter Data set selection414 is only accessible via the communication channel of objects PPO1 and PPO2 It cannot be addressed via the VPlus control software or the KP500 control unit For information about positioning and use of the Motion Control Interface refer to the application manual Positioning 10 13 W Bonfiglioli 13 Appendix 13 1 Control Word overview The tables on this page provide an overview of the functions of the control word bits Bit Standard No MCI Profile Ve MCI Profile Positioning without MCI Velocity Mode locity Mode Position Mode n witch On Switch On nable Voltage Enable Voltage ick Stop Quick Stop Quick Stop w active low active low active low active low active nable Operation Enable Operation New setpoint Change set immedi riguseret absre ault reset Fault reset Fault reset Fault reset Fault reset Hot fat Hat Hat Change on setpoint om 5 m ae Dv els Dv gt alsjelsle s e lel eles jel Mode travel record from Limit Sw Gear Slave Mode low active low active low active low active Loi es ee ees Resume Direct Sync It Start motion block Motion Block Select 1 a Phasing Profil
38. via the data set switchable parameter Lo cal Remote 412 No Description Min Max Factory set Local Remote o 4 For operation with PROFINET only operation modes 0 1 and 2 are relevant The other settings refer to the control option via the KP500 control unit Control via The Start and Stop commands as well as the direction of 0 contacts rotation are controlled via digital signals Chapter 11 1 f The frequency inverter is controlled via the control Control via word gt aes oe 11 4 Only this setup supports positioning functions via prers 14 4 1 4 the control word and modes of operation Control via The Start and Stop commands as well as the direction of 2 remote contacts rotation are controlled via virtual digital signals of the Chapter 11 1 control word Parameter Local Remote 412 is dataset switchable i e you can switch between the different operation modes by selecting another data set For example a frequency inverter can be controlled via the bus and emergency mode can be activated locally when the bus master fails This switch over is also identified by the status word re mote bit Data set switching can be effected locally via control contacts at the digital inputs of the frequency inverter or via the bus For data set switching via the bus parameter Data set selection 414 is used e a ting Data set selection o 5 0 With Data set selection 414 0 data set switching via con
39. warranty liability claims for any personal and or material damage if such damage is due to one or more of the following causes e inappropriate use of the frequency inverter e non compliance with the instructions warnings and prohibitions contained in the documentation e unauthorized modifications of the frequency inverter e insufficient monitoring of parts of the machine plant which are subject to wear e repair work at the machine plant not carried out properly or in time e catastrophes by external impact and force majeure 10 13 CM PROFINET 7 GX Bonfiglioli 1 3 Obligation This user manual must be read before commissioning and complied with Anybody entrusted with tasks in connection with the e transport e assembly e installation of the frequency inverter and e operation of the frequency inverter must have read and understood the user manual and in particular the safety instructions in order to prevent personal and material losses 1 4 Copyright In accordance with applicable law against unfair competition this user manual is a certificate Any copyrights relating to it shall remain with BONFIGLIOLI VECTRON GmbH Europark Fichtenhain B6 47807 Krefeld Germany This user manual is intended for the operator of the frequency inverter Any disclosure or copying of this document exploitation and communication of its contents as hardcopy or electronically shall be forbidden unless permitted expressly Any non com
40. word word Byte Byte Byte Byte Byte Byte Byte Oooo ooo Toal oB o 0x22 Byte no 1 5 6 7 Response from slave AK 1 response code transmit int uint parameter value PNU 1201 0x4B1 IND 0 PWEh 0x0000 PWEI 0x0022 34 Designation PKE PWE low Contents Parameter Parameter Parameter code value value high word low word AA AAA Byte Byte Byte Byte Byte Byte Byte Px oxB2 0 o 0x00 0x00 0x00 0x22 Bytenoo 0o 1 2 3 4 5 6 Second step Read value of target position Order from master AK 1 order code read long parameter value PNU 1202 0x4B2 IND 0 PWEh 0x0000 PWEI 0x0000 10 13 CM PROFINET 39 GW Bonfiglioli 8 2 40 Designation PKE PWE low Contents Parameter Parameter Parameter code value value hig h word Eels Byte Byte Sari o EA Byte Byte 000 0x00 Response from slave AK 2 order code transmit long parameter value PNU 1202 0x4B2 IND 0 PWEh 0x0001 PWEI 0xE078 Designation PWE high PWE low Contents Parameter Parameter Parameter code value value high word aeee E Byte Byte Byte Byte Byte Byte Byte px 0x82 0 0 0x00 0x01 0xE0O Byteno o 1 2 3 4 5 6 If various parameters of an index are to be read it will be sufficient to set index access via 1201 once at the beginning 0x78 Parameter access throug
41. 00 SIMATIC PC Based Contest 300 400 DB SIMATICPC Stai SS 0 aoe cu 79 67S 206 Vectron Garbh inerte wath PROFINET 10 SD MLA 28 OMM 201 od The two possible objects PKW and PZD are available in the BV Drive menu The required object can be assigned to the frequency inverter drag amp drop The screen shot of the STEP7 hardware configurator shows a frequency inverter configured with 3 PZD objects connected to the PROFINET I0 system _ HW Config SIMA TIC 2OO 1 Configuration LT 200_Projemt Der 8 Be de OO Ew Dive PKW D Des OUTAN PED 4 Bytes OUTAN SIMATIC PC Based Conte 200 400 a f SIMATIC PE Staton 179 GIS 206 Wontgicd Vectron Gbit xj verter rath PROFINET IO GSOMLA 2 2 6 CMM 207208 18 ed of view e Each configured PZD object comprises two word objects 4 bytes PZDn and PZDn 1 one for input and one for output o e The data flow direction IN input and OUT output is given from the PLC s point 10 13 CM PROFINET 27 GW Bonfiglioli 7 2 28 Restrictions for user defined configuration settings e The PKW object is allowed only once at slot 1 e Atleast one PZD object must be configured e The total number of bytes must be less than or equal to 24 bytes 12 words If the restrictions are not followed a configuration error is signaled by the controller PLC upon PROFINET startup Available objects The configured data exchange objects general
42. 003 Switched On 5 0x0007 0x0003 0x1234 0x5678 Enable Operation no change 4 to previous state if already 0x000F enabled The Profile Velocity mode is started with refer ence PZD5 6 Profile velocity and Ramp profile PZD7 8 Profile acceleration and PZD9 10 Profile decelera tion Changes to Target Ve locity and Ramps are taken over immediately Oxnn37 0x0003 Operation enabled In addition to the Profile speed PZD5 6 Acceleration PZD7 8 and Deceleration 9 10 must be assigned appropriate values gt 0 These PZDs are not shown in the table for reasons of clarity Generally it is recommended that all specified PZDs be changed at the same time Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation e g for status 0xnn33 86 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from OxnnnF to 0x0007 Profile position mode will be stopped Then the mode can be restarted via OxnnnF As long as 0x0007 is active the mode of operation can also be changed safely Once modes of
43. 031 OxFFFE 2 Ready to switch on 4 0x0007 OxFFFE 2 Switch On 0x0033 OXxFFFE 2 Switched On 5 0x000F OxFFFE 2 Enable Operation Oxnn37 OxFFFE 2 Operation enabled 6a 0x001F OxFFFE 2 Move away from limit switch mode 0xn2B7 OXxFFFE 2 Operation enabled limit switch active clearing active 0xn637 OXxFFFE 2 Operation enabled and limit switch cleared tar get reached r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before chang ing the mode of operation e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the li ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area Bit 4 Move away from limit switch must be active in the clearing phase If bit 4 is reset to 0 the clearing operation is interrupted As long as 0x0007 is active the mode of operation can also be changed safely Once modes of operation has been set to another value operation can be started with a corresponding sequence 10 13 CM PROFINET 111 GY Bonfiglioli 11 4 7 El
44. 0x8000 e By pressing the stop button of the control panel Resetting by pressing the STOP button is only possible if Parameter Lo cal Remote 412 permits control via the control panel e Via parameter Error acknowledgment 103 which is assigned a logic signal or a digital input A reset via a digital signal can only be carried out when parameter Lo cal Remote 412 permits this or when an input with the addition hardware is selected in the case of physical inputs Some errors will occur again after an error reset In such cases it may be neces sary to take certain measures e g moving from a limit switch in the non disabled direction 48 CM PROFINET 10 13 W Bonfiglioli 9 Operation without Motion Control In speed controlled configurations including Technology Controller Electronic Gear and Torque Control gt all configurations except for x40 various control modes are available The control mode is set via Parameter Local Remote 412 For details refer to Chapter 11 Control of frequency inverter In speed controlled configurations the reference speed is set via PZD2 10 Motion Control nterface MCI 10 13 The Motion Control Interface MCI is a defined interface of the ACU device for posi tioning control via Field Bus Typically this interface is used by field bus systems such as PROFINET With the Motion Control Interface the user can carry out a positioning operation via a field bus using a position
45. 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low active Switch on disabled Warning 10 11 12 Remote Target reached Internal limit active 13 15 CM PROFINET Set point acknowledge Following error Warning 2 10 13 10 13 Control word Bonfiglioli Change on Change set New set Description set point point imme point Bit 9 diately Bit 5 Bit 4 0 031 Positioning operation to be complet ed target reached before the next one is started X 031 Next positioning operation to be started immediately 1 031 Positioning operation to be started with the current speed profile until the current reference value is reached then the next positioning operation is to be processed Identification Value Description Abs rel Bit 6 Bit 8 Status word The target position is an absolute value The target position is a relative value Execute positioning operation Stop axle with profile deceleration if not supported by pro file acceleration the frequency inverter will remain in sta tus Operation enabled Identification Target reached Bit 10 Set point acknowledge Bit 12 Following error Bit 13 Value 0 Descripti
46. 24 Gear factor denomi nator Phasing 1125 Phasing Offset 1126 Phasing Speed 1127 Phasing Accelera tion 1 The mode of operation is set via 1292 S Modes of Operation Factory setting 801 Obj Ox6060 modes of 2 Velocity mode 2 Parameters 1285 1292 1293 1294 1295 1296 amp 1297 are used for linking the CANopen objects and internal functions For CANopen they don t have to be changed For PROFINET refer to Chapter 10 4 Motion Control Mapping for PROFINET 3 The limitation results from Minimum frequency418 and Maximum Frequency 419 Through Limi tation 1118 of the position controller in Configuration x40 an increase above the Maximum Fre quency can occur because the output of the position controller is added to the Maximum Frequen cy 4 Emergency stop or Delay is used depending on the stopping behavior Mode of operation 630 or the behavior in the case of communication errors Bus Error Behaviour 388 52 CM PROFINET 10 13 W Bonfiglioli Vectron Relationships between objects parameters and conversions Speed Limit All modes gt P 419 Max frequency Hz P 1118 Limit Output Position Controller u s Speed Homing Mode gt P 1132 amp P 1133 Homing Speeds u s Velocity Mode vl gt P 1297 S Target velocity rpm Recommended 665 OUT PZD12 Word Profile velocity Mode pv gt P 1294 S Profile velocity u s Recommended 673 OUT PZD5 6 Long Profile Posi
47. 433 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Msi 0 Switch on Enable voltage Quick stop Low active 3 Enable operation Rfg enable gt Rfg unlock Rfg use ref Fault reset Halt CM PROFINET 10 13 W Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on 7 Operation enabled gt Fault Voltage enabled gt Quick stop low active Switch on disabled Warning _ _ Remote Target reached not used 11 Internal limit value active 15 Warning Block diagram Bit 5 rfg unlock LI li Run_RFG O O 7 Lock Output O ri Bit 6 rfg use ref 0 Ri Bit 4 rfg enable 1 i I I R Refe i l i am e ference 1 ORE O4 amp Function Generator Special Function Generator 10 13 CM PROFINET 79 GW Bonfiglioli Bit 4 rfg enable Rfg enable 0 the reference speed comes from a manufacturer specific special func tion Rfg enable 1 The reference speed corresponds to the ramp output The special function is evaluated only if 1299 S Special Function Generator 9 Zero If 1299 S Special Function Generator 9 Zero the value of the ramp output will
48. 650 3577411 Fax 84 650 3577422 www bonfiglioli vn salesvn bonfiglioli com GY Bonfiglioli power control and green solutions Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry mobile machinery and renewable energy applicacations since 1956 Bonfiglioli Riduttori S p A tel 39 051 647 3111 COD VEC 1027 RO Via Giovanni XXIII 7 A fax 39 051 647 3126 40012 Lippo di Calderara di Reno bonfiglioli bonfiglioli com Bologna Italy www bonfiglioli com
49. 7 1170 Fixed speed 1 2147483647 10 2 6 10 4 10 13 CM PROFINET 125 GI Bonfiglioli No Description Unit Setting range Chapter 1175 u s 1 2147483647 1176 Ramp time Accel ms 0 2000 1177 Deceleration u s 1 2147483647 10 2 6 10 4 1178 Ramp time Decel ms 0 2000 1179 Emergency stop ramp u s 1 2147483647 1180 Operation mode Selection 11 4 7 u s 0 2147483647 u s 65535 1277 Velocity Window Time ms 65535 11 4 2 0 0 1277 Threshold Window u s 0 65535 1279 Threshold Window Time ms 0 65535 1324 In PZD 11 12 Long ui ata 2147483647 1284 m S Synchronisation offset u 2147483647 11 4 7 1 1285 S Target velocity pv u s Selection 10 1 A Selection 10 1 10 2 2 1292 S Modes of Operation 10 4 10 5 1293 S Target Position Selection 10 1 1294 S Profile Velocity Selection 10 5 6 1295 S Acceleration Selection 10 4 1296 S Deceleration Selection 10 5 1297 S Target Velocity vl rpm Selection 1299 S Special Function Generator Selection 11 4 1 1300 In PZD 3 Boolean all In PZD parameters 8 3 3 10 4 1454 Override Modes Of Operation Selection 1455 Override Target Position 1210 1456 Override Profile Velocity Li 2 1 u s 1457 Override Profile Acceleration 1 2 1 1
50. ES ccsseccnesecnneseneeseenneseneeeeeonseeneeseeeasecoeaeeneuseeneeseneaseneesseneasenss 129 13 4 Application warning MeSSAGES cececeeeseeeeeeeseeeeneneeeseenaueeseenoaseeeeseaneneenooaees 130 13 5 Error MESSAGES 2 ccceseeeeseeenneeeeeneueouseeenueueuaeeeengeueouseeengeueuasseuouseenaeeeuageuengenenaneeans 131 13 6 HOMING MOES cceesscnesscenesecnessenseeeeneseeneeeeeoessenensennaseeoeeseneeseeneeseneaeeneesseneasenss 132 13 7 e e 134 13 7 1 Speed 1 min into frequency HZ 134 13 7 2 Frequency Hz into speed 1 MIN 134 13 7 3 Speed in user units per second u s into frequency HZ i 134 13 7 4 Frequency Hz into speed in user units per second U S reee 134 13 7 5 Speed in user units pro second u s into speed 1 MIN i 134 13 7 6 Speed 1 min into speed in user units per second U S 134 WOK TE O I I TI 135 10 13 CM PROFINET 5 GX Bonfiglioli 1 General Information about the Documentation For better clarity the documentation of the frequency inverter is structured according to the custom er specific requirements The present manual was created in the German language The German manual is the original version Other language versions are translations 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
51. Motion Control can be changed white table area Bit 4 Start electronic gear must be active during the movement If bit 4 is reset to 0 the movement is interrupted As long as 0x0007 is active the mode of operation can also be changed safely Once modes of operation has been set to another value operation can be started with a corresponding sequence Bit 5 Start Position Correction is only allowed to be used when the Slave is in gear Status word Bit 10 Bit 5 Start Position Correction should be used for optimum results when the master drive doesn t move When Bit 5 of the Control word is reset to 0 the movement is interrupted CM PROFINET 10 13 Bonfiglioli 11 4 8 Motion Control configurations 10 13 For certain functions e g Technology Controller or Torque Reference value the reference percentage channel is required Reference percentages are transmitted by PROFINET via OUT PZD3 The following sources can be set for parameter Reference percentage source 476 for example 96 Absolute value Profibus OUT PROFINET OUT PZD3 is the reference value PZD 3 source as an absolute value 196 Profibus OUT PZD3 PROFINET OUT PZD3 is the reference value source as a value with sigh CM PROFINET 123 GY Bonfiglioli 12 Parameter List The parameter list is structured according to the menu branches of the control unit For b v etter overvi
52. P Active Current In PZD 5 Word 1307 772 Warning Status In PZD 6 Word 1308 773 Error Status CM PROFINET 45 GX Bonfiglioli When an object is set to a certain source number it must be ensured that the relevant objects have the preset values at the same place This method is the same as is the one used in the case of objects for Systembus transmission transmit objects e Boolean inputs represent Boolean objects e Word inputs represent percentage current or torque objects e Long inputs represent frequency or position objects The displayed PDP active current depends on the type of control In the case of O field oriented controls the torque forming current is displayed In applications with U f characteristic control the active current also measured for the torque will be displayed The PDP effective current will always be positive The torque forming current and the active current are signed A positive current sign corresponds to motor operation mode A negative current sign corresponds to generator operation mode Current standardization Bri fi Value 100 16384 0x4000 Possible range 200 32768 to 32768 0x8000 through Ox7FFF For internal standardization the data set switchable parameter Rated Current 371 is used as the reference value No Description Min Max Factory set tin 371 Rated current 0 01 l FUN 10 l FUN l FUN 46 CM PROFINET 10 13 8 4 10 13 W
53. R RAMP times 57 58 RESPONSE ID escrin iii 30 RUN LED onere a 23 S Safety GENERA ssa da rt 9 Sequence example Electronic Gear Slave mode 121 Homing Mode raianta 98 Move away from limit switch eee 111 Profile Position Mode es 93 Table travel Mode 106 Velocity Mode Fpm 81 Without Motion Control 76 Sequence Example Profile Velocity mode 86 Shutdown procedure 17 Speed lillo Lie ile bia 57 58 Standardization 46 State machine Device CONtrol 67 Status word ONEIVIEW urlata 128 Storage sirinin ar aaia Aaa 15 T Table travel record mode 59 99 Target positiona idiin 57 Transition 5 of state machine 73 TFANSPORt coi i ia 15 10 13 CM PROFINET 135 GU Bonfiglioli V W Velocity mode 78 Warning messageS i 129 Warranty and liability eee 7 136 CM PROFINET 10 13 GY Bonfiglioli Bonfiglioli worldwide network Bonfiglioli Australia 2 Cox Place Glendenning NSW 2761 Locked Bag 1000 Plumpton NSW 2761 Tel 61 2 8811 8000 Fax 61 2 9675 6605 www bonfiglioli com au sales bonfiglioli com au Bonfiglioli Brazil Travessa Claudio Armando 171 Bloco 3 CEP 09861 730 Bairro Assun o S o Bernardo do Campo Sao Paulo Tel 55 11 4344 1900 Fax 55 11 4344 1906 www bonfigliolido
54. S Start S Slave CM PROFINET 117 GW Bonfiglioli Function with direct synchronization The drive accelerates the master speed with the ramps parameterized in the motion block When the motion block is started the drive is synchronized with the master drive directly The master position is processed directly by the position controller The acceleration and deceleration for synchronizations follow an S curve The relative position change due to acceleration is compensated by the po sition controller Start Positioning In Gear 3 V Ref V Position Controller Speed Master speed nos ARPA OR I Position S Slvave 10 13 CM PROFINET 118 W Bonfiglioli 11 4 7 1 Master Slave Position Correction 10 13 When using this functionality master drive and slave drive have to use the same mechanical characteristics i e gear transmission ratios and use the same reference system The Master Slave Position Correction offers as part of the Electronic Gear the possibil ity to synchronize the absolute Position of the Slave to the absolute Position of the master This function is helpful in example in applications in which drives often work inde pendently from each other and have to work together for certain activities In exam ple this could be the case in crane applications where normal loads are operated in tently from each other and which are switched together for heavy loads To speed up the switchi
55. Sha Controller In order to avoid oscillations of the drive while it is at standstill amplification is re duced to 50 of the parameterized value for small position deviations Amplification 100 50 Control deviation 0 50 0 25 0 00 0 25 0 50 of position 56 CM PROFINET 10 13 W Bonfiglioli The following behavior may indicate that the controller parameters are not config ured properly drive is very loud drive vibrates frequent contouring errors inexact control For the setting options of other control parameters e g speed controller and accel eration pre controller refer to the operating instructions of the frequency inverter Optimize the settings in actual operating conditions as control parameters for speed controller and acceleration pre controller depend on the actual load Optimize with different types of load to obtain good control behavior in all situations 10 2 6 Profile position mode PZD PZD PZD PZD Parameters Parameters Target position The target position u is evaluated in positioning mode and must be set via a PZD object Example S Target position 1293 672 OUT PZD3 4 Long Positioning speed The positioning speed u s for positioning mode is typically set via a PZD object Example S Positioning speed 1294 674 OUT PZD5 6 Long If S Positioning speed 1294 is set to 9 Zero the value from Fixed speed 1 1170 is used Acceleration The acceler
56. T component CM PROFINET has manufacturer ID 0x020B hexadeci mal The latest device description can be downloaded from the Bonfiglioli com website The file bears a name like GSDML V2 3 BV CMM 20130604 xml where the version number and the date might be updated The manufacturer ID is assigned by PROFIBUS Nutzerorganisation e V in Karls ruhe With the CM PROFINET communication module it is possible to access ALL fre quency inverter parameters from a controller There is no access control via the control level as in the case of the KP500 manual control unit or the VPlus PC soft ware Changing parameters the functions of which are not known to the user can result in unintended movements and material and or personal losses as well as inoperativeness of the frequency inverter CM PROFINET 10 13 v Bonfiglioli 3 1 Supported configurations ACTIVE CUBE inverters support different types of control and reference values e Standard without Positioning functions e Positioning via contacts or remote contacts e Positioning via Motion Control Interface MCI via field bus Motion control configurations are set when parameter configuration 30 x40 in example 240 To use the full functionality of the Motion Control Interface Parameter Local Remote 412 1 Control via State machine must be set The inverter s behavior with respect to control word status word and modes of operation modes of operation display is different
57. Table Record Mode Profile Positioning Mode Velocity Mode Homing CM PROFINET 69 GX Bonfiglioli 70 oo Control word The device control commands are triggered by the following bit patterns in the Con trol word Enable operation Enable voltage Command Shutdown Switch on Disable voltage Quick stop Low active Disable operation Fault reset x X X 0 Enable operation 1 X i 051 X means any value Transition 3 command Switch On 0x07 will only be processed if Bit 4 Voltage enabled of the Status word is set Transition 4 Command Enable operation OxF will only be processed if the release is set via the hardware contacts STO If the hardware release via STO is not set the frequency inverter will remain in status Switched On 0x33 until the hardware release via STO is present In status Operation enabled 0x37 the device will switch to status Switched On 0x33 internally once the hardware release via STO is reset In configurations with Motion Control parameter Configuration 30 x40 the fol lowing must be noted e Transition 4 is not available e In status 5 Operation enabled 0x37 an additional start signal must be pro vided via bits from the High Byte of the control word in order to start a movement of the motor For a description of the start signal for this Motion Control Interface
58. a PWE high PWE low Contents Parameter Parameter Parameter code value value high word low word Low Byte 0x30 High Low High Low High Low High Byte Byte Byte Byte Byte Byte Byte __ 0x34 0x2 o o 0x00 0x00 0x75 0 6 1 3 5 Response from slave AK 2 order code transmit long parameter value PNU 1202 0x4B2 IND 0 PWEh 0x0000 PWEI 0x7530 30000 Designation PKE PWE low Contents Parameter Parameter Parameter code value value high word low word Byte Byte Byte Byte Byte Byte Byte o 0x0 Byte 0x24 0x82 0 0x00 0x30 Byten 0 1 2 3 4 5 6 If various parameters of an index are to be edited it will be sufficient to set index access via parameter 1200 once at the beginning CM PROFINET 10 13 W Bonfiglioli 8 1 6 2 Example Reading of index parameters In order to read an index parameter you will have to set the indexing parameter to the relevant index first then you can read the parameter Reading of Parameter 1202 Target position distance type long in Index 1 with parameter value 123000 123000 0x0001 E078 First step Set index parameter Order from master AK 2 Order code write int uint parameter value PNU 1201 0x4B1 IND 0 PWEh 0x0000 PWEI 0x0022 34 Designation PKE PWE low Contents Parameter Parameter Parameter code value high value low
59. active Switch on disabled Warning Remote 10 Target reached 11 Internal limit active 12 Velocity 13 Max Slippage 15 Warning 2 The Profile Velocity Mode is used to set the reference speed in user units u s The reference speed PZD5 6 Profile Velocity is taken over in mode operation enabled immediately 0xnn37 The acceleration and deceleration ramp are specified by PZD7 8 Profile acceleration and PZD9 10 Profile deceleration Setting Bit 8 Halt of the control word delays the drive with ramp PZD9 10 Profile deceleration and holds the drive at standstill Resetting Bit 8 results in an acceleration with ramp PZD7 8 Profile acceleration to the actual reference velocity Control word Bit 8 Halt HALT 0 gt Execute Profile Velocity Mode HALT 1 gt Halt Axis The Frequency inverter remains in state Operation enabled 84 CM PROFINET 10 13 10 13 Bonfiglioli Via parameter 1276 Velocity Window and 1277 Velocity Window Time Bit 10 Tar get reached of the status word is set Via parameter 1278 Threshold Window and 1279 Threshold Window Time Bit 12 Velocity of the status word is set Via parameter 1275 Max Slippage a slip monitoring via Bit 13 Max Slippage of the status word can be set up Status word Bit 10 Target reached Target reached 0 gt The actual velocity doesn t ma
60. amps ms are set for velocity mode vl via parameters Ramp rise time clockwise 430 Ramp fall time clockwise 431 Ramp rise time anticlockwise 432 and Ramp fall time anticlockwise 433 Emergency stop ramp The emergency stop ramp Hz s for velocity mode vl is set via parameters Emergen cy stop clockwise 424 and Emergency stop clockwise 425 10 2 8 Profile velocity mode pv PZD Parameters Parameters Parameters Parameters 10 2 9 Parameters Parameters Parameters 58 Speed The reference speed vl is evaluated in velocity mode vl and must be set via a PZD object Example S Reference speed pv u s 1285 665 OUT PZD12 Word Acceleration The acceleration Hz s for velocity mode vl is set via parameter S Accelera tion 1295 Deceleration The deceleration Hz s for velocity mode vl is set via parameter S Deceleration 1296 Ramp times acceleration and deceleration The ramp times of the acceleration and deceleration ramps ms in positioning mode are set via parameters Ramp Rise time 1176 and Ramp Fall time 1178 Emergency stop ramp The emergency stop ramp u s for positioning mode is set via parameter Emergen cy ramp 1179 Homing mode Homing mode The homing mode is set via parameter Homing mode 1130 For a description of the homing modes refer to Chapter 13 6 Homing modes Home offset Via parameter Home offset 1131 you can define a home offset Speed The speeds during h
61. and receives information about the actual value in its input data set The use of the reference actual value channel depends on the set configuration con trol method The actual value is generated according to the control method used The reference value and actual value refer to parameter Rated frequency 375 OR Profibus PROFINET Reference 390 The distinction is made based on the setting of parameter Profibus PROFINET refer ence 390 If Profibus PROFINET reference 390 0 the values are obtained from Rated frequency 375 f Profibus PROFINET reference 390 0 Profi bus PROFINET reference 390 is used Both parameters are data set switchable Description Min X Factory setting No T i Hz 50 00 Hz Profibus PROFINET reference 999 99 Hz The reference and actual value are transmitted in standardized form Standardization is effected through the variable used as the reference variable Rated frequency 375 OR Profibus PROFINET reference 390 Reference value Binary Decimal Hexadecimal 100 16384 0x4000 100 49152 0xC000 Value range 200 32768 through 32768 0x7FFF through 0x8000 Example n Parameter Profibus PROFINET reference 390 the rated frequency of 60 00 Hz is set The required reference frequency is 30 00 Hz Since this is 50 of the reference value 8192 0x2000 must be transmitted as the reference value With the reference variable Profibus PROFINET reference 390 a machine can be
62. apply the new profile Operation enabled 6d 0x0007 or 0x000F 0x007F 0xnn37 0x0001 0x0001 0x1234 0x5678 Operation enabled start rel ative positioning with pro file Running positioning opera tions will change and apply the new profile Operation enabled 10 13 0x01nF any any CM PROFINET HALT Drive is decelerated with ramp Velocity decelera tion Oxnn37 0x0001 Operation enabled 93 amp Bonfiglioli 94 r permissible only when the recommended settings from10 4 Motion Control Mapping for PROFINET have been made In addition to the Target position in PZD3 4 Profile speed PZD5 6 Acceleration PZD7 8 and Deceleration 9 10 must be assigned appropriate values gt 0 These PZDs are not shown in the table for reasons of clarity Generally it is recommended that all specified PZDs be changed at the same time Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With
63. are possible in applications with field oriented control The standardization is as described below Word data type Percentage The range for percentage values is 300 00 300 00 The values in OUT IN PZDn are shown with a factor of 100 Data contents Data contents Logical Hexadecimal Decimal interpretation OUT IN PZDn word 300 00 OUT IN PZDn word 0x0000 gt sl 0 00 OUT IN PZDn word 0x7530 30000 300 00 n 3 12 Word data type Current A device internal standardization conversion is performed for the current The standardization is as follows Reference value Reference current A Standard current A 213 213 8192 decimal 0x2000 hexadecimal 42 CM PROFINET 10 13 10 13 W Bonfiglioli Word data type Torque A device internal standardization conversion is performed for the torque The stand ardization of a reference torque corresponds to that of a reference current see Word data type Current If the machine is operated with a rated flux value a reference torque corresponds to a reference current The specified equation for reference current and reference torque applies to opera tion with the rated flux value This must be considered when a machine is operated in the field weakening range The device internal standard must be considered when current or torque variables are used Data type Long The Long data type can be used
64. ation u s for positioning mode is typically set via a PZD object Example S Acceleration 1295 675 OUT PZD7 8 Long If S Acceleration 1295 is set to 9 Zero the value from Acceleration 1175 is used Deceleration The deceleration u s for positioning mode is typically set via a PZD object Example S Deceleration 1296 676 OUT PZD9 10 Long If S Deceleration 1296 is set to 9 Zero the value from Deceleration 1177 is used Ramp times acceleration and deceleration The ramp times of the acceleration and deceleration ramps ms in positioning mode are set via parameters Ramp Rise Time 1176 and Ramp Fall Time 1178 Emergency stop ramp The emergency stop ramp u s for positioning mode is set via parameter Emergen cy ramp 1179 10 2 7 Velocity mode vi PZD 10 13 Speed The reference speed vl is evaluated in velocity mode vl and must be set via a PZD object Example S Target Velocity vl rpm 1297 665 OUT PZD12 Word CM PROFINET 57 GW Bonfiglioli Parameters Parameters Parameters Parameters Acceleration The acceleration Hz s for velocity mode vl is set via parameters Acceleration clockwise 420 and Acceleration anticlockwise 422 Deceleration The deceleration Hz s for velocity mode vl is set via parameters Deceleration clockwise 421 and Deceleration anticlockwise 423 Ramp times acceleration and deceleration The ramp times for the acceleration and deceleration r
65. ation 1295 is set to 9 Zero the value from Acceleration 1175 is used 3 If S Deceleration 1296 is set to 9 Zero the value from Deceleration 1177 is used The following table shows recommended settings for transmission direction PLCT ACU 1300 In PZD 3 Boolean 7 Off 1301 In PZD 4 Boolean 7 Off 1302 In PZD 3 Word 9 Zero 1303 In PZD 4 Word 9 Zero 1304 I n PZD 3 4 Long 743 Actual position value user units 1305 In PZD 5 Boolean 7 Off 1306 In PZD 6 Boolean 7 Off 1307 In PZD 5 Word 927 Output MUX 1308 I n PZD 6 Word 120 Udc 1309 In PZD 5 6 Long 9 Zero 1310 In PZD 7 Boolean 7 Off 1311 In PZD 8 Boolean 7 Off 1312 In PZD 7 Word 772 Warning status 1313 In PZD 8 Word 773 Error status 1314 In PZD 7 8 Long 9 Zero 1315 In PZD 9 Boolean 7 Off 1316 In PZD 10 Boolean 7 Off 1317 In PZD 9 Word 79 Contact assignment word hard ware 1318 In PZD 10 Word 125 Absolute current value 1319 In PZD 9 10 Long 9 Zero 1320 In PZD 11 Boolean 7 Off 1321 In PZD 12 Boolean 7 Off 1322 In PZD 11 Word 742 MCI Modes of operation 1323 In PZD 12 Word 744 MCI Speed rpm 1324 In PZD 11 12 Long 9 Zero 60 CM PROFINET 10 13 W Bonfiglioli The following graph shows the parameters P and sources S which are used for de fining the Motion Control Interface Homing function P 1288 S Ext Homing S639 MCI Start Homing P 1289 S Homing D
66. ation manual 10 13 CM PROFINET 131 GW Bonfiglioli 13 6 Homing modes For parameter Homing Mode 1130 the following settings are available Factory setting No homing the current position value is not changed The current position value is the value saved upon last disconnection of power supply 0 No Homing Done 1 Neg Limit switch amp zero impulse Homing to negative HW limit switch with detection of encoder ref signal 2 Pos limit switch amp zero impulse Homing to positive HW limit switch with detection of encoder ref signal Homing to positive home switch with detection of Pos Home Sw Ref Signal left encoder ref signal Ref position is the first encoder of Edge ref signal to the left of the edge of the home switch signal Homing to positive home switch with detection of da Pos Home Sw Ref Signal right encoder ref signal Ref position is the first encoder of Edge ref signal to the right of the edge of the home switch signal Homing to negative home switch with detection of 5 Neg Home Sw Ref Signal right encoder ref signal Ref position is the first encoder of Edge ref signal to the right of the edge of the home switch signal Homing to negative home switch with detection of 6 Neg Home Sw Ref Signal left encoder ref signal Ref position is the first encoder of Edge ref signal to the left of the edge of the home switch signal 7 Pos Limit Sw zero pulse to th
67. brasil com br bonfigliolidobrasil bonfiglioli com Bonfiglioli Canada 2 7941 Jane Street Concord Ontario L4K 4L6 Tel 1 905 7384466 Fax 1 905 7389833 www bonfigliolicanada com sales bonfigliolicanada com Bonfiglioli China 19D No 360 Pu Dong Nan Road New Shanghai International Tower 200120 Shanghai Tel 86 21 5054 3357 Fax 86 21 5970 2957 www bonfiglioli cn bdssales bonfiglioli com cn Bonfiglioli Deutschland Sperberweg 12 41468 Neuss Tel 49 02131 2988 0 Fax 49 02131 2988 100 www bonfiglioli de info bonfiglioli de Bonfiglioli Espafia TECNOTRANS BONFIGLIOLI S A Pol Ind Zona Franca sector C calle F n 6 08040 Barcelona Tel 34 93 4478400 Fax 34 93 3360402 www tecnotrans com tecnotrans tecnotrans com Bonfiglioli France 14 Rue Eug ne Pottier BP 19 Zone Industrielle de Moimont Il 95670 Marly la Ville Tel 33 1 34474510 Fax 33 1 34688800 www bonfiglioli fr btf bonfiglioli fr Bonfiglioli India PLOT AC7 AC11 Sidco Industrial Estate Thirumudivakkam Chennai 600 044 Tel 91 0 44 24781035 24781036 24781037 Fax 91 0 44 24780091 24781904 www bonfiglioliindia com bonfig vsnl com Bonfiglioli Italia Via Sandro Pertini lotto 7b 20080 Carpiano Milano Tel 39 02 985081 Fax 39 02 985085817 www bonfiglioli it customerservice italia bonfiglioli it Bonfiglioli New Zealand 88 Hastie Avenue Mangere Bridge Auckland 2022 New Zealand PO Bo
68. ched Setting Ha t 1 will stop a currently executed movement The axle is stopped with the ramp 1296 S Deceleration Target reached is set to 0 to start the deceleration and to 1 when the speed reaches value 0 The drive remains in Operation ena bled status To continue the interrupted movement reset Halt to 0 Bit Target reached is set to 0 to start the acceleration and to 1 when the conditions for Gear in of parameters In Gear Threshold 1168 and In Gear Time 1169 are reached Phasing With the phasing function the slave position is offset from the master position re ceived by the value of Phasing Offset 1125 CM PROFINET 10 13 10 13 W Bonfiglioli Function without direct synchronization Standard Synchronization The drive accelerates the master speed with the ramps parameterized in the motion block As soon as the master speed is reached for the first time the drive is synchro nized with the master drive The slave is engaged at the current position and operates at a synchronous angle to the master In the case of a relative positioning operation this engaging position is used as the start position The acceleration and deceleration for synchronizations follow an S curve The relative position change due to acceleration is not compensated Start Positioning In Gear i Speed Master speed eS ar Position ps As in Gear Fn A
69. control operation modes The preset mode is Modes of operation 2 velocity mode Basic functions The state machine must be set to operation enabled before the position command can be issued via the operation mode specific bits of the contro word Once a mode of operation has been set by the PLC no commands will be accepted for this operation mode until this operation mode is displayed in the modes of operation display object The bits in the contro word and status word marked as operation mode specific are only supported in configurations with position control Configuration 30 x40 CM PROFINET 77 GY Bonfiglioli 11 4 1 78 Velocity mode rpm Velocity mode rpm can be selected via modes of operation 2 In velocity mode the operation mode specific of the control word control the ramp generator RFG Ramp Function Generator The block diagram illustrates the func tion Relevant objects OUT PZD1 Control word IN PZD1 Status word OUT PZD12 Target velocity rpm IN PZD12 Actual Speed rpm OUT PZD11 Modes of operation IN PZD11 Modes of operation displa P 418 Minimum frequency P 420 amp P 422 Acceleration P 419 Maximum Frequency P 421 amp P 423 Deceleration P 424 amp P 425 Emergency stop r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made The ramp times are specified via parameters 430
70. ctronics Even when mains voltage is disconnected com munication between the controller PLC and the frequency inverter is still possible Bit 4 Power supply enabled of the status word shows the current mains power supply status Bit 4 Power supply enabled 0 signals No mains voltage starting of drive not possible Bit 4 Power supply enabled 1 signals Mains voltage on drive ready for start ing CM PROFINET 65 G3 Bonfiglioli 11 1 1 Device state machine State machine not ready to 1 switch on 0x00 4 switched on ouau fault 0x23 0x08 stop drive start drive operation 5 enabled 0x37 Switched on l 0 0 0 I Operation enabled 1 1 0 1 il AL Fault x x 1 x x means any value Bit 7 Warning can display a device internal warning message at any time The cur rent warning is evaluated by reading the warning status with parameter Warn ings 270 Bit 10 Target reached is set when the specified reference value is reached In the special case of power failure regulation the bit is also set when the power failure reg ulation reaches the frequency 0 Hz see frequency inverter Operating Instructions For Target reached there is a hysteresis tolerance range which can be set via the parameter Max control deviation 549 see frequency inverter operating instructions Bit 11 Internal limit value act
71. d waste collect all E amp Y materials for reuse 2 6 6 Grounding symbol Symbol Meaning Ground connection 2 6 7 ESD symbol Symbol Meaning ESD Electrostatic Discharge can damage components and assemblies 2 6 8 Information signs Symbol Meaning Tips and information making using the frequency inverter easier 10 13 CM PROFINET wW Bonfiglioli 13 GX Bonfiglioli 2 7 Directives and guidelines to be adhered to by the operator The operator must follow the following directives and regulations e Ensure that the applicable workplace related accident prevention regulations as well as other ap plicable national regulation are accessible to the staff e An authorized person must ensure before using the frequency inverter that the device is used in compliance with its designated use and that all safety requirements are met e Additionally comply with the applicable laws regulations and directives of the country in which the frequency inverter is used Any additional guidelines and directives that may be required additionally shall be defined by the op erator of the machine plant considering the operating environment 2 8 Operator s general plant documentation e In addition to the user manual the operator should issue separate internal operating instructions for the frequency inverter The user manual of the frequency inverter must be included in the user manual of the whole plant 2 9 Operator s operating
72. de parameters and PZD objects are used as follows 1454 Override Modes Of Operation or PZD11 Modes of Operation 1455 Override Target Position or PZD3 4 Target Position 1456 Override Profile Velocity or PZD5 6 Profile Velocity 1457 Override Profile Acceleration or PZD7 8 Profile Acceleration 1458 Override Profile Deceleration or PZD9 10 Profile Deceleration 1459 Override Target Velocity vl rpm or PZD12 Target Velocity 1460 Override Target Velocity pv u s or PZD5 6 Profile Velocity With the default settings 1 in parameters 1455 1460 and 0 in parameter 1454 Override Modes Of Operation the values of the Motion Control from the links of pa rameters 1292 1297 are used If the parameter settings deviate from the factory settings the value of the relevant parameter will be used It is possible to define cer tain ranges of the trajectory via the override function and other values via the Motion Control Interface The target position 1 u cannot be used as target position because 1455 Override Target Position 1 deactivates the Override Function CM PROFINET 10 13 Bonfiglioli 11 Control of frequency inverter 10 13 The master sends its control commands control word via the output object PZD1 to the frequency inverter and receives feedback about its status via a status word sta tus word The frequency inverter can generally be controlled via three operation modes The operation modes can be selected
73. dule 22 E Electrical Connections 15 Electronic gear slave mode 112 Emergency stop ramp 57 58 Error Messages es 31 131 G General Information about the Documentation ila 6 H HOMINQ ir 55 HOMINI MOHE eiiiai 58 95 I Index Parameter Willer 37 39 Index parametersS eee 36 REO Ocean fatato 39 Installation annenin i ia 15 L Local Remote 63 M Maintenance 17 Mapping Alia 60 W Bonfiglioli Master Slave Position Correction 119 Mode of operation Table travel record mode 59 99 Modes of operation display 55 Motion DIOCK 59 Motion DIOCKS 59 Motion Control Interface MCI Object and parameter relations 50 Motion Control Interface MCI 19 49 Motion Control Interface MCI 60 Move away from limit switch mode 108 o Operation mode velocity rpmM sss ii 78 Order Dreset iaaiiai a 30 P Parameter access Read index parameters 39 Write index parameter 37 39 Position CEVIATION ccccccceceeeeeeeeaeeese eens 56 Positioning Speed 57 Profibus ProfiNet reference 74 Profile position mode 87 BZD iaia 42 PZD1 Remote contacts 64 State Machine 67 PZD ennan n E tetta 74
74. e Homing to home switch with detection of encoder left of left home switch edge ref signal Homing direction positive clockwise 8 Pos Limit Sw zero pulse to the Reversal of direction of rotation when positive HW right of left home switch edge limit switch is reached 9 Pos Limit Sw zero pulse to the Ref position is the first encoder ref signal to the left of right home switch edge left or right of the left or right edge of the home 10 Pos Limit Sw zero pulse to the switch signal right of right home switch edge 11 Neg Limit Sw zero pulse to the Homing to home switch with detection of encoder right of right home switch edge ref signal Homing direction negative anticlock 12 Neg Limit Sw zero pulse to the wise Reversal of direction of rotation when nega left of right home switch edge tive HW limit switch is reached 13 Neg Limit Sw zero pulse to the Ref position is the first encoder ref signal to the right of left home switch edge left or right of the left or right edge of the home 14 Neg Limit Sw zero pulse to the switch signal left of left home switch edge 17 30 like 1 14 but without encoder ref signal 17 Neg Limit Switch Moving to negative HW limit switch 18 Pos Limit Switch 19 Pos Home Sw to the left of Moving to positive home switch Home position is to edge the left of the edge of the home switch signal 20 Pos Home Sw to the right of Movin
75. e Sel 1 Ue cm mm Motion Block Select 2 Phasing Profile Sel 2 Motion Block Select 3 Motion Block Select 4 e DE a 3 a 5 6 8 9 10 Ey 12 13 EJ 15 Dv 10 13 CM PROFINET 127 GY Bonfiglioli 13 2 Status Word overview The tables on this page list in an overview the functionality of the Status Word bits Ready to Switch on Ready to Switch On Ready to Switch On witched On Switched On Switched On Operation enabled Operation enabled Operation enabled Fault Voltage enabled Voltage enabled j Voltage enabled Quick Stop Quick Stop Quick Stop Quick Stop low active low active low active low active low active O T wn fa o A x Ww ct O gel Switch On Disabled f Switch On Disabled f Switch On Disabled Switch On Disabled we On Disa i Warning Warning Warning Dv Q Remote Remote Remote Remote Target reached Target reached Target reached Target reached Target reached Internal limit active f Internal limit active f Internal limit active Internal limit active Internal limit active Set point acknowl Homing done Target Pos reached o o 5 3 2 2 3 3 Q Q N Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Switched On Switched On Switched On Switched On Operation enabled Operation enabled Operation enabled Operation enabled Fault Voltage enabled Voltage enabled Voltage enabled Volta
76. eady to switch on 4 0x0007 OxFFFF 1 Switch On 0x0033 OxFFFF _ 1 Switched On 5a 0x000F OxFFFF 1 Enable operation Oxnn37 OxFFFF 1 Operation enabled 5b 0x020F OxFFFF 1 Start motion block 1 as single motion block 0xn337 0xFFFF 1 Operation enabled and Positioning active 0xn637 OxFFFF 1 Operation enabled and Target reached 5c Ox0AOF OxFFFF 1 Start motion block 2 as single motion block 0xn337 OxFFFF 1 jOperation enabled and Positioning active 0xn637 OxFFFF 1 Operation enabled and Target reached 5d 0x120F OxFFFF 1 Start motion block 3 as single motion block 0xn337 OxFFFF 1 Operation enabled and Positioning active 0xn637 OxFFFF 1 Operation enabled and Target reached 5e 0x021F OxFFFF 1 Start motion block 1 as sequence motion block 0xn337 0xFFFF 1 Operation enabled and Positioning active 0xn637 OxFFFF 1 Operation enabled and Target reached 5f 0x004F OxFFFF 1 Resume previous motion block as single motion block 0xn337 0xFFFF 1 Operation enabled and positioning active 0xn637 OxFFFF 1 Operation enabled and target reached 5g 0x005F OxFFFF 1 Resume previous motion block as sequence motion block 0xn337 0xFFFF 1 Operation enabled and positioning active 0xn637 OxFFFF 1 Operation enabled and target reached 106 r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made Dangerous
77. ear without Direct Synchronisa tion and Phasing Profile 4 See 6a OxFFFD 3 See 6a 8a 0x025F OxFFFD 3 Start Electronic Gear with Direct Synchronisa tion and Phasing Profile 1 See 6a OxFFFD 3 See 6a 8b 0x125F OxFFFD 3 Start Electronic Gear with Direct Synchronisa tion and Phasing Profile 2 See 6a OxFFFD 3 See 6a 10 13 CM PROFINET 121 G8 Bonfiglioli 8c 0x225F OxFFFD 3 Start Electronic Gear with Direct Synchronisa tion and Phasing Profile 3 See 6a OxFFFD 3 See 6a 8d 0x225F OxFFFD 3 Start Electronic Gear with Direct Synchronisa tion and Phasing Profile 4 See 6a OxFEFD 3 Disable voltage 9 0x001F OxFFFD 3 Enable Operation the Slave drive synchronizes 0x003F to the Master position Oxnn37 OxFFFD 3 Operation enabled 0x1n37 M S Position Correction finished r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before chang ing the mode of operation e g for status 0xnn33 122 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the
78. ectronic gear Slave The mode Electronic gear Slave can be selected via modes of operation OxFD 3 In Electronic gear slave mode the drive follows a master drive as a slave drive Relevant objects OUT PZD1 Control word IN PZD1 Status word IN PZD5 Actual position OUT PZD11 Modes of operation IN PZD11 Modes of operation displa 419 Maximum Frequency 1179 Emergency stop ramp 1106 Following error window 1119 Following error time 1165 _ Position window 1166 Target window time 1123 amp Electronic Gear Gear fac 1125 1126 Electronic Gear Phasing 1 1124 tor 1127 1142 Electronic Gear Phasing 4 In Electronic gear Slave mode the operation mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 as Switch on 1 Enable voltage Quick stop low active Enable operation Start Gearing Start M S Correction Direct Sync Fault reset Halt Start phasing 12 Phasing switching 0 13 L _______ b I phasing switching 1 112 CM PROFINET 10 13 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 W Bonfiglioli Bit Ready to switch on Switched on Operation enabled Fault 5
79. ed by the manu facturer are met e Provide appropriate tools as may be required for performing all work on the frequency inverter properly 14 CM PROFINET 10 13 v Bonfiglioli 2 10 Organizational measures 2 10 1 General e Train your staff in the handling and use of the frequency inverter and the machine plant as well as the risks involved e Use of any individual parts or components of the frequency inverter in other parts of the opera tor s machine plant is prohibited e Optional components for the frequency inverter must be used in accordance with their designated use and in compliance with the relevant documentation 2 10 2 Use in combination with third party products e Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility with third party products e g motors cables or filters e In order to enable optimum system compatibility BONFIGLIOLI VECTRON GmbH offers compo nents facilitating commissioning and providing optimum synchronization of the machine plant parts in operation e If you use the frequency inverter in combination with third party products you do this at your own risk 2 10 3 Transport and storage e The frequency inverters must be transported and stored in an appropriate way During transport and storage the devices must remain in their original packaging e The units may only be stored in dry rooms which are protected against dust and moisture and are exposed to
80. eived are extrapolat ed even for slow settings of TXPDO Time of the mas ter Depending on the application select a setting of the corresponding TxPDO Long of the master 606 Internal act Position 16 16 mechanical posi tion of master drive Value will not change ab ruptly when a homing operation of the master drive is completed RxPDO1 Longl Ms extrapolated 620 motion profile gen internal reference position reference position of master drive advantage Im proved controller properties Value will not change abruptly when a homing operation of the master drive is completed Settings 607 and 627 are only to be used in exceptional situations In most applications source 606 or 620 is the better setting In setting 11 RxPDO1 Long1 extrapolated of parameter Master position source 1122 the Operation mode 1180 of the system bus synchronization must be set to 1 or 10 to ensure reliable functional operation 1 If the error message F1453 Systembus Synchronization not activated is dis played when the slave drive is started operation mode 1 2 3 or 10 must be select ed 2 Synchronization of processing with data message or cyclic sending of SYNC mes sage 3 Not recommended for el gear because no extrapolation carried out CM PROFINET 115 GX Bonfiglioli Master Position Source 1122 RxPDO1 Long1 master position position Speed sensor 1 speed S
81. equenc P 1119 Contouringerror time P 419 Maximum Frequency P 1109 Act contouring error P 1179 Emergency ramp P 1165 Target window P 1246 Actual Motion Block P 1166 Target window time P 1249 Motion block to resume OUT PZD11 Modes of operation P 1106 Error threshold r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made In table travel record mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Switch on Enable voltage Quick stop Low active 3 Enable operation Sequence mode Resume Fault reset Halt Start motion block 11 Motion block select 0 12 Motion block select 1 13 Motion block select 2 14 Motion block select 3 15 Motion block select 4 CM PROFINET 99 GX Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 it Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Low Active Switch on disabled Warning 8 Motion block in progress Remote Target reached 11 Internal limit active In gear 13
82. er Creep speed 1133 Once the active limit switch has been cleared the drive is stopped Once speed 0 has been reached status word bit 10 Target reached will be set When both directions of rotation are blocked e g due to simultaneous triggering of positive and negative limit switch error message F1449 Both directions locked In this case the function Move away from limit switch cannot be used In the clearing phase of a hardware limit switch the hysteresis defined in parameter Hysteresis 1149 will be active After detection of the limit switch edge the axis will be moved on at least by the defined hysteresis distance Setting Halt to 1 will stop the started clearing operation The axis will be stopped Status bit Target reached is set to 1 when the speed reaches value 0 The drive remains in Operation enabled status By resetting Ha t to 0 the interrupted clear ing operation will be continued and Target reached will be reset to 0 110 CM PROFINET 10 13 W Bonfiglioli 11 4 6 1 Sequence example In order to clear the limit switches the correct sequence must be sent by the PLC PZD1 PZD11 OUT Control word Modes of operation Remark IN Status word Mod Of Op Displ 1 0x0000 any Disable voltage 0x0050 any Switch On Disabled 2 OxFFFE 2 Move away from limit switch OxFFFE 2 3 0x0006 OxFFFE 2 Shutdown 0x0
83. eration enabled 6e 0x005F 0x0002 OxABCD Starts Velocity mode at current speed current ramps will be can celed Oxnn37 0x0002 Operation enabled 10 13 CM PROFINET 81 GO Bonfiglioli 6f 0x004F 0x0002 OxABCD 1299 S Special Function Generator 9 Zero gt Starts Velocity mode at current speed current ramps will be canceled 1299 S Special Function Generator 9 Zero gt Starts with reference value from source from 1299 S Special Function Generator Oxnn37 0x0002 Operation enabled 7 Ox01xx 0x0002 OxABCD HALT Drive is decelerated at ramp Velocity deceleration Oxnn37 0x0002 Operation enabled r permissible only when the recommended settings from 10 4 Motion Control Map ping for PROFINET have been made Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from OxnnnF to 0x0007 Velocity mode will be stopped Then the mode can be re
84. erence value rising edge while a reference value is being processed The new reference value is pro cessed immediately new set point control bit 4 PLC target position set point current target Drive position processed lal l l set point acknowledge status bit 12 target reached status bit 10 actual speed 10 13 CM PROFINET 91 GW Bonfiglioli 92 Example set of set points control bit change on set point 0 1 control bit change set immediately 0 The travel profile is changed during an active positioning operation Change on set point 0 The current target position is approached with a Stop Once the position has been reached the new reference value is set Change on set point 1 The current target position is approached at the active speed Once the current target position has been reached the new reference value is applied without reducing the speed to zero The gray line in the segment Actual speed shows the speed behaviors when the control bit Switch at reference value is set to 1 new set point control bit 4 PLC target position set point current target Drive position processed set point acknowledge status bit 12 target reached status bit 10 actual speed change on set point 0 change on set point 1 CM PROFINET 10 13 11 4 3 1 Sequence example W Bonfiglioli In order to start
85. erous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before chang 98 ing the mode of operation e g for status 0xnn33 Once the sequence of the first four status words has been processed correctly the ACU is ready for operation dark table area In state operation enabled OxnnnF the state of the Motion Control can be changed white table area With control word transition from 0x0007 or 0x000F to 0x001F the homing operation is started Bit Homing attained Bit 12 returns the status in the status word As long as 0x0007 is active the mode of operation can also be changed safely Once modes of operation has been set to another value operation can be started with a corresponding sequ ence CM PROFINET 10 13 Bonfiglioli 11 4 5 Table travel record mode 10 13 Table travel record mode can be selected via modes of operation OxFF 1 Table travel record mode used pre defined positions Each target position is defined by a motion block Several motion blocks can be defined For a description of motion blocks refer to the Positioning application manual Relevant objects OUT PZD1 Control word IN PZD1 Status word IN PZD5 Actual position IN PZD11 Modes of operation display P 418 Minimum fr
86. ew the parameters are marked with pictograms The parameter is available in the four data sets The parameter value is set by the SETUP routine This parameter cannot be written when the frequency inverter is in operation 12 1 Actual values No Description Unit Indication range Chapter Internal reference frequency 1000 00 1000 00 11 3 3 Active dataset 1 4 11 250 Digital inputs 0 255 11 1 260 Current error 0 OxFFFF 13 5 270 Warnings 0 OXFFFF 13 3 274 Warning application 0 OXFFFF 13 4 282 Reference bus frequency Hz 1000 00 1000 00 11 3 3 283 Reference ramp frequency Hz 1000 00 1000 00 11 3 3 ue 2147483647 1108 Actual Position u 2147483647 10 2 4 2147483647 1109 Act Contouring Error u 2147483647 10 2 4 only 124 Parameters Current error 260 Warnings 270 and Application warnings 274 are accessible via the communication channel of objects PPO1 and PPO2 They can not be addressed via the VPlus control software or the KP500 control unit CM PROFINET 10 13 12 2 Parameters W Bonfiglioli
87. exadecimal and the code YY low byte hexadecimal Motion Control Deviation Position Controller Control F14 Pos SW Limit Switch Interface Pos SW Limit Sw lt Neg SW Limit Sw Pos HW Limit Switch 60 Pos HW Limit Sw Non permissible signal source 66 Pos HW Limit Sw wrong mode for EM SHOD i Neg HW Limit Sw Non permissible signal source Neg HW Limit Sw Input deactivated by PWM FF input Neg HW Limit Sw Input deactivated of index controller Neg HW Limit Sw wrong mode for MFI 1 Neg HW Limit Sw Input deactivated by encoder 1 Neg HW Limit Sw Input deactivated by encoder 2 Neg HW Limit Sw wrong mode for EM S1IOD F15 x User Defined Error in Motion Block 1 xs 32 No Homing M S Position Correction Master Position source not set Check chapter 11 4 7 1 Master Slave Position Correction PROFI NET F27 14 Communication loss to PLC PNIO Configuration Error wrong configuration of cyclic data objects PZD This message is only displayed if Bus Error Behaviour 388 0 The current error can be read via parameter Current error 260 Parameter Current error 259 indicates the current error as plain text in the control panel and the VPlus PC control software In addition to the error messages mentioned there are other error messages speci fied in the Operating Instructions The errors of the Motion Control Interface F14xx F15xx are described in detail in the Positioning applic
88. f the operation make sure to fix all covers and check the terminals Check the additional monitoring and protective devices according to EN 60204 and ap plicable safety directives e g Working Machines Act or Accident Prevention Directives 16 CM PROFINET 10 13 v Bonfiglioli 2 10 7 Maintenance and service troubleshooting Visually inspect the frequency inverter when carrying out the required maintenance work and inspections at the machine plant Perform the maintenance work and inspections prescribed for the machine carefully including the specifications on parts equipment replacement Work on the electrical components may only be performed by a qualified electrician according to the applicable rules of electrical engineering Only use original spare parts Unauthorized opening and improper interventions in the machine plant can lead to personal injury or material damage Repairs on the frequency inverters may only be carried out by the manufac turer or persons authorized by the manufacturer Check protective equipment regularly Before performing any maintenance work the machine plant must be disconnected from mains supply and secured against restarting The five safety rules must be complied with 2 10 8 Final decommissioning Unless separate return or disposal agreements were made recycle the disassembled frequency in verter components Scrap metal materials Recycle plastic elements Sort and dispose of other component mater
89. for frequency and position variables Frequencies use the internal representation of the frequency inverter xxx Hz 4000 Hz 2 Examples 50 00 Hz gt 50 00 4000 00 2 0x01999999 80 00 Hz gt 80 00 4000 00 23 0xFD70A3D8 The position information depends on the settings of the Motion Control Systems see Positioning application manual Data contents Data contents Logic Hexadecimal Decimal reproduction OUT IN PZDx y Long Application Application specific specific x y 3 4 5 6 11 12 CM PROFINET 43 GX Bonfiglioli 8 3 2 PROFI NET output sources OUT PZD x In the table below the available output sources of the PZD Out objects are listed The content of the sources depends on the application For the different data types the relevant sources must be linked to the input parameters of the frequency invert er e Availability of output sources depends on the number of configured PZD objects e Each configured PZD object comprises either two Boolean two Word or one Long output object s e A PZD output object can only be used for one data type depending on the re quirements of the application e The first PZD object configured obligatory represents PZD1 2 with fixed con tents and functions Number of Boolean sources Word sources Long sources configured Identification Source Identification Source Identification Source PZD objects no no no 2
90. g to positive home switch Home position is to edge the right of the edge of the home switch signal 21 Neg Home Sw to the right of Moving to negative home switch Home position is edge to the right of the edge of the home switch signal 22 Neg Home Sw to the left of Moving to negative home switch Home position is edge to the left of the edge of the home switch signal 132 CM PROFINET 10 13 Bonfiglioli 23 Pos Limit Sw to the left of left Moving to home switch Homing direction positive home switch edge clockwise Reversal of direction of rotation when 24 Pos Limit Sw to the right of left positive HW limit switch is reached home switch edge Ref position is to the left or right of the left or right 35 _ Pos Limit Sw to the left of right edge of the home switch signal home switch edge 26 Pos Limit Sw to the right of right home switch edge 27 Neg Limit Sw to the right of Moving to home switch Homing direction negative right home switch edge anticlockwise Reversal of direction of rotation 28 Neg Limit Sw to the left of when negative HW limit switch is reached right home switch edge Ref position is to the left or right of the left or right Neg Limit Sw to the right of edge of the home switch signal 29 left home switch edge 30 Neg Limit Sw to the left of left home switch edge sat poseo mete Moh Aek Ref position is the first encoder ref
91. ge enabled O T e o tali x 1a cr sj Quick Stop Quick Stop Quick Stop low active low active low active low active Switch On Disabled Switch On Disabled Switch On Disabled Switch On Disabled Remote Remote Target reached Target reached Internal limit active Internal limit active Internal limit active Homing attained In gear Homing error Following error o Following error sa e Warning 2 Motion Block in ua Phasing Done Progress D 3 3 gt ct 5 D a Dv 2 Q N 128 CM PROFINET 10 13 Bonfiglioli 13 3 Warning messages 10 13 The different control methods and the hardware of the frequency inverter include functions for continuous monitoring of the application In addition to the messages documented in the frequency inverter Operating Instructions further warning mes sages are activated by the PROFINET communication module CM PROFINET The bit coded warning reports are issued via parameter Warnings 270 according to the fol lowing pattern Parameter Warnings 270 is provided for read out via a PLC Parame ter Warnings 269 provides the information including a brief description in VPlus and the KP500 control unit Bit no Warning Description code 0x0002 0x0004 0x0008 0 Warning xt 1 2 3 4 0x0010 5 6 7 8 0x0040 0x0080 14 0x4000 Warning Udc 15 0x8000 Warning Application warning status 367 The meanings
92. h profile defined by Bits 12 amp 13 Phasing Profile n 1 Control word 114 Status word Identification Value Description Phasing done 0 Phasing or M S Correction in process or not started yet or M S Correction Phasing or M S Correction done si 1 Single motion automatic sequence active i Target reached 0 Halt 0 Electronic gear still not in gear gear In Halt 1 Axis decelerated Bit 10 1 Halt 0 Electronic gear in gear Halt 1 Axis has speed 0 M S Position Cor 0 _ M S Correction is running or wasn t started yet rection successful 1 M S Correction finished Bit 12 See chapter 11 4 7 1 Master Slave Position Correction Following error 0 No following error Bit 13 1 __ Following error CM PROFINET 10 13 10 13 Bonfiglioli Basic functions Mode 3 Electronic gear Slave implements a mode for a slave drive in the electronic gear to a master drive The master of the electronic gear must be connected to the slave via signal cables or System Bus recommended The master input is selected in the Slave via parameter Master position source 1122 Encoder 1 taken over from encoder input 1 Resolver taken over from encoder input 2 or resolver The current position of the master drive is taken over by the process data channel RxPDO1 Long1 of the sys tem bus Additionally the data rec
93. h reading writing of data sets The PROFINET communication module CM PROFINET features the PROFINET data set access function This feature can be used as an alternative to the PKW commu nication object in the data exchange object The PKW object is always sent to the bus regardless of whether it is currently being used or not Thus it produces un necessary bus load CM PROFINET 10 13 Bit w Bonfiglioli Data set access messages for parameter access are special PROFINET messages which are sent only if a parameter is required Unlike in the case of PKW objects data access messages can access all parameter types including string type parame ters The S7 PLC uses two special functions SFC58 WR_REC and SFC59 RD_ REC for data set access Addressing is carried out based on the diagnosis address of the device to be accessed Slot 0 Sub slot 1 Index Index addresses the accessed parameters using the following code 13 12 11 10 9 8 7 6 5 4 3 2 Data set Parameter number Data type Contents Data type high byte low byte byte Permissible index range 0 0x7FFF Data types and byte arrangement low byte Contents Data type Contents high byte 10 13 first char uint int 2 bytes long 4 bytes string 1 99 bytes PROFINET IO Controller PLC PROFINET CM ProfiNet Systembus slave Systembus slave Sys
94. he acceleration will also be used for decel eration PZD1 PZD11 PZD12 OUT Control word Modes of operation Reference Remark IN Status word Mod Of Op Displ actual speed 1 0x0000 arbitrary Disable voltage 0x0050 any Switch On Disabled 2 0x0002 any Velocity mode 0x0002 any 3 0x0006 0x0002 any Shutdown 0x0031 0x0002 any Ready to switch on 4 0x0007 0x0002 any Switch On 0x0033 0x0002 anySwitched On 5 0x000F 0x0002 OxABCD Enable operation no change of pre vious status if already enabled Oxnn37 0x0002 Operation enabled 6a 0x007F 0x0002 OxABCD _ Starts Velocity mode with reference value from OUT PZD12 OxABCD Oxnn37 0x0002 Operation enabled 6b Ox006F 0x0002 OxABCD 1299 S Special Function Generator 9 Zero gt Starts Velocity mode with ref erence value from OUT PZD12 OxABCD 1299 S Special Function Generator 9 Zero gt Starts with reference value with source from 1299 S Special Function Generator Oxnn37 0x0002 Operation enabled 6c 0x003F 0x0002 OxABCD _ Starts Velocity mode with reference value 0 Oxnn37 0x0002 Operation enabled 6d 0x002F 0x0002 OxABCD 1299 S Special Function Generator 9 Zero gt Starts Velocity mode with ref erence value 0 1299 S Special Function Generator 9 Zero gt Starts with reference value with source from 1299 S Special Function Generator Oxnn37 0x0002 Op
95. iI GEE E I UEINI NNI YJYOCOEE di Fi f Hz No of pole pairs P 373 Gear Box Motor Shaft Revolutions P 1117 13 7 5 Speed in user units pro second u s into speed 1 min 60 Gear Box Motor Shaft Revolutions P 1117 n v x Ss X aaa n n i j rVia 7kf A sl Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 13 7 6 Speed 1 min into speed in user units per second u s Feed constant P 1115 Gear Box Driving Shaft Revolutions P 1116 x x 60 Gear Box Motor Shaft Revolutions P 1117 u v 7 n rpm 134 CM PROFINET 10 13 Index A Acceleratio Niacin ainis 57 Acknowledging error messages 48 Actual position value 55 Application warning messages 130 Application warnings 130 Assembly Communication module 21 B Bus Error behavior 25 C Communication channel 29 Configuration S eeren 19 Connector assignment 23 Contouring errors 55 Control Ea a e E E A 64 Remote contacts 64 Control word OVEFV EW ui 127 Control Word OVErVieW izii i lie iaia 127 Copyright 8 Current poSsitioN c curia 55 D Data type BOoOolean i 42 CUNEN iii 42 LONG ss teaveend teameraaveawedie 43 PERCENtAGe siiiii 42 TOGUE serrin 43 Worda saina a a a 42 Deceleration ia 57 Designated USE eee 10 Disassembly Communication mo
96. ials Electric scrap electronic components lubricants and other utility materials must be treated as special waste and may only be disposed of by specialized companies CNY Always comply with any applicable national disposal regulations as regards environ amp Y mentally compatible disposal of the frequency inverter For more details contact the competent local authorities 10 13 CM PROFINET 17 GX Bonfiglioli 3 18 I ntroduction The present document describes the possibilities and properties of the PROFINET communication module CM PROFI NET for the frequency inverters of the ACU series of devices Specification PROFI NET IO device real time class 1 conformance class A For a PROFINET connection the frequency inverter must be equipped with the CM PROFINET communication module The CM PROFINET component is supplied sepa rately and must be installed by the operator The installation procedure is described in Chapter 5 1 Assembly This manual is not to be understood as providing general basic information on PROFINET It requires basic knowledge of the methods and effects of PROFINET on the user s side In some chapters setting and display options via the PC software VPlus are described as an alternative to the KP500 control unit If you wish to use the VPlus PC software you will need an optional serial interface adapter KP232 or direct Ethernet connection to the PROFINET system ProfiNet The PROFINE
97. ible to move in the direction that is still enabled General ly any mode of operation can be used for clearing as long as the travel command has the enabled direction As long as the limit switch is triggered the limit switch warning in the status word and actual value parameters Warnings 269 Warnings Application 273 and Controller status 275 will remain Once the limit switch is cleared the warning will be deleted in the status word and actual value parameters For simple clearing of the limit switches you can use mode 2 Move away from limit switch see Chapter 11 4 6 Move away from limit switch mode CM PROFINET 59 G Bonfiglioli 10 4 Motion Control Mapping for PROFI NET With the Motion Control Interface the user can edit the sources which the Motion Con trol Interface accesses By default the sources are set to CANopen For PROFINET they will have to be changed The following table shows recommended settings for transmission direction PLC gt ACU No Description Min Max Recommended settings for PROFI NET mode 1292 664 OUT PZD11 Word 1293 672 OUT PZD3 4 Long 1294 673 OUT PZD5 6 Long 1295 674 OUT PZD7 8 Long 1296 675 OUT PZD9 10 Long 1297 665 OUT PZD12 Word 1299 S Special Function e Generator 1285 S Target Velocity pv u s Selection 673 OUT PZD5 6 Long 1 If S Profile Velocity 1294 is set to 9 Zero the value from Fixed speed I 1170 is used 2 If S Acceler
98. iglioli 11 4 Motion control configurations ob mo 10 13 Dangerous state due to new mode If the mode of operation modes of operation is changed during operation control word OxnnnF a dangerous state may occur in the new mode e BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation e g for status 0xnn33 Motion Control Definition For the full function of the Motion Control Interface you will have to set Lo cal Remote 412 1 Control via state machine In all other operation modes of pa rameter Local Remote 412 there are major restrictions The descriptions in this chapter and of all objects used are based on the setting Local Remote 412 1 Control via state machine The usage of Positioning for setting Local Remote 412 1 is described in the Posi tioning application manual The function of the state machine describes the basic operating behavior of the fre quency inverter in configurations with position control Configuration 30 x40 The objects control word and status word described above support the bits marked as operation mode specific These bits and bit Target reached have different meanings in the different position control operation modes defined by modes of operation The following chapters describe the application of the operation mode specific bits in the contro word and status word depending on the different position
99. ile it is not in perfect condition e without protection enclosure e g covers e without safety equipment or with safety equipment deactivated The manufacturer shall not be held liable for any damage resulting from such misuse The plant oper ator shall bear the sole risk 2 3 1 Explosion protection The frequency inverter is an IP 20 protection class device For this reason use of the device in explo sive atmospheres is not permitted 10 CM PROFINET 10 13 v Bonfiglioli 2 4 Residual risks Residual risks are special hazards involved in handling of the frequency inverter which cannot be elim inated despite the safety compliant design of the device Remaining hazards are not obvious and can be a source of possible injury or health damage Typical residual hazards include Electrical hazard Danger of contact with energized components due to a defect opened covers or enclosures or im proper working on electrical equipment Danger of contact with energized components in frequency inverter if no external disconnection de vice was installed by the operator Electrostatic charging Touching electronic components bears the risk of electrostatic discharges Thermal hazards Risk of accidents by hot machine plant surfaces e g heat sink transformer fuse or sine filter Charged capacitors in DC link The DC link may have dangerous voltage levels even up to three minutes after shutdown Danger of equipment falling down over
100. in verter control electronics Even when mains voltage is disconnected communication between the controller PLC and the frequency inverter is still possible Bit 4 Power supply enabled of the status word shows the current mains power sup ply status Bit 4 Power supply enabled O signals No mains voltage starting of drive not possible Bit 4 Power supply enabled 1 signals Mains voltage on drive ready for start ACTIVE CUBE and ACTIVE frequency inverters may indicate different states because in ACTIVE CUBE bit 4 of the status word is used as shown above CM PROFINET 10 13 11 2 1 10 13 Ww Bonfiglioli State machine diagram State machine Enable operation 1 Fault reset 0x80 12222222200000 Switch on 1 disabled 0x50 or 0x40 from all states Entry in state machine 13 Fault reaction Z active Ox0F Not ready to 1 switch on 0x00 14 I Disable voltage Shutdown 2 7 0x00 0x06 or Quick stop 0x02 Disable voltage Ready to 3 switch on 0x00 0x31 or 0x21 or Quick stop t 0x02 10 6 Shutdown 9 Disable voltage 0x00 Switch on 3 0x07 4 Switched on 0x33 0x00 or internal 12 Shutdown 8 Enable Disable _ 4 5 gt operation operation Ox0F 0x07 Quick stop 0x02 Operation Quick stop 5 enabled 11 active Hebannazeazenz en 0x37 0x07 MCI Starting Signal
101. in the two different types of configuration Standard Necessary settings Configuration 30 x40 Local Remote 412 Remote contacts gt The control Start Stop Frequency change over etc is carried out typically via o Digital contacts o Remote contacts via Field bus gt Reference values result from the selected configuration Typical are o Reference speed Reference frequency Analogue input Fixed values from parameters Target velocity o Percentage reference value for technology controller or Torque control Analogue input Fixed values from parameters Please refer to chapter 11 3 Configurations without Motion Control for the control without Position ing functionality Positioning via contacts or remote contacts Necessary settings Configuration 30 x40 Local Remote 412 Remote contacts gt The control Start Stop Target position change over etc is carried out typically via o Digital contacts o Remote contacts via Field bus gt Reference values result from the selected configuration Typical are o Reference speed Reference frequency o Reference target position Please refer also to the application manual Positioning MCI Motion Control Interface Positioning via Field bus Necessary settings Configuration 30 x40 Local Remote 412 1 Statemachine gt The control Start Stop mode change over etc is carried out via PZD1 Control word gt Reference values result from the
102. ing profile typically including the target posi tion speed acceleration deceleration quick stop and mode specific information The Motion Control Interface uses modes of operation for switching between the differ ent modes The supported modes as per CANopen Standard DS402 are e 1 Profile Position mode e 2 Velocity mode rpm e 3 Profile Velocity mode u s e 6 Homing Bonfiglioli Vectron specific mode e 1 or OxFF Table Travel record mode e 2 or OXFE Move Away from Limit Switch e 3 or OxFD Electronic Gear Slave electronic gear as slave The current mode is shown in modes of operation display The mode of operation can be switched in any operating state of the ACU It is recommended that a currently active movement be stopped by the PLC first then to switch the mode of operation and restart in the new mode In order to use the Motion Control Interface 412 Local Remote 1 Control via statemachine must be set In configurations without Motion control Configuration 30 x40 only velocity mode vi is available For a description of the positioning parameters please refer to the Positioning applica tion manual CM PROFINET 49 GY Bonfiglioli 10 1 Object and parameter relationships Depending on the selected mode of operation various objects and parameters are used The various objects and parameters must be set specifically for the different modes of operation Use of Decelera
103. internal reference value frequency and reference line value The Internal reference frequency can be controlled via the frequency inverter with the control unit KP500 or the control software VPlus the reference line value is supplied via PZD2 If Ramp setpoint 434 2 reference line value only this reference line value is lim ited to fmin The sign in front of fmin with reference value 0 is derived from the sign in front of the last reference line value which was not 0 After Mains On the reference line value is limited to fmin For Ramp setpoint 434 3 the sign of the total reference value results from the total of internal reference frequency and reference line value Internal reference fre Internal reference value from the reference xxx xx Hz quency 228 frequency channel cy 282 283 reference line value CM PROFINET 75 GW Bonfiglioli 11 3 4 Sequence example 76 In configurations without Motion Control Configuration 30 x40 the PLC must send the correct sequence 1 Control word 0x0000 Disable voltage 2_ Control word 0x0006 3 Control word 0x0007 witch On 4 Control word Ox000F Enable operation OR 1 Control word 0x0000 Disable voltage 2 Control word 0x000F In configurations without Motion Control Configuration 30 x40 the second shortened sequence can be used because transition 4 is available in these configu rations CM PROFINET 10 13 W Bonf
104. ive indicates that an internal limit is active This may be the current limit the torque limit or the overvoltage control All functions will result in the reference value being left or not reached Bit 15 Warning 2 signals a critical operating state which will result in a fault switch off of the frequency inverter within a short time This bit is set if there is a delayed warning relating to the motor temperature heat sink inside temperature xt monitor ing or mains phase failure 66 CM PROFINET 10 13 W Bonfiglioli 11 2 Control via state machine In the operation mode Control via state machine Local Remote 412 1 the fre quency inverter is controlled via the control word of the state machine Transition 4 to status Operation enabled is only possible if in a configuration for Motion Control parameter Configuration 30 x40 the controller release is set via STOA and STOB if in other configurations parameter Configuration 30 x40 the controller re lease is set via STOA and STOB and if one of the digital inputs S2IND or S3IND is set Typically S2IND Start clockwise S3IND Start anticlockwise PZD1 Parameter Control word 410 is applicable to the frequency inverter if parame ter Local Remote 412 is set to 1 Control via state machine 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on 1 Enable voltage 2 Quick stop Low active
105. ive when spec ifying the data set IND Entry in data set 0 Data set IND 5 Entry in data set 1 Data set IND 6 When writing to data set switchable parameters note Via data set IND 0 data set switchable parameters can be set to the same value in all data sets CM PROFINET 33 G Bonfiglioli 8 1 5 1 Communication examples 34 read settings ee ed 1 D P x 1 S L E 999 00 5 00 Hz Example 1 Parameter 400 is a type int word P W is not data set switchable and is to be read Order from master AK 1 order code read parameter value PNU 400 0x190 IND 0 PWEh 0 PWEI 0 Designa PKE PWE high PWE low tion ID high word low word Byte Byte Byte Byte Byte Byte Byte oxi1 ox90 o o o o 0 1 4 5 Response from slave AK 1 response code transmit int uint parameter value PNU 400 0x190 IND 0 PWEh 0 PWEI value Designa PKE PWE high PWE low tion Contents Parameter Parameter value Parameter value ID high word low word High Low High Low High Low High Byte Byte Byte Byte Byte Byte Byte 4 5 6 Ox11 1 Example 2 Parameter 480 is a type long double word P I D is data set switchable and is to be written The target data set is Data set 3 Reference value 300 00 Hz 30000 is transmitted According to integer arithmetics the negative va
106. ives accident prevention regulations guidelines and generally accepted rules of technolo gy in order to assess the operationally safe condition of the frequency inverter 10 13 CM PROFINET 9 GX Bonfiglioli 2 2 Designated use The frequency inverter is designed according to the state of the art and recognized safety regulations The frequency inverters are electrical drive components intended for installation in industrial plants or machines Commissioning and start of operation is not allowed until it has been verified that the ma chine meets the requirements of the EC Machinery Directive 2006 42 EC and DIN EN 60204 1 The frequency inverters meet the requirements of the low voltage directive 2006 95 EEC and DIN EN 61800 5 1 CE labeling is based on these standards Responsibility for compliance with the EMC Directive 2004 108 EC lies with the operator Frequency inverters are only available at specialized dealers and are exclusively intended for commercial use as per EN 61000 3 2 No capacitive loads may be connected to the frequency inverter 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 at all times 2 3 Misuse Any use other than that described in Designated use shall not be permissible and shall be consid ered as misuse For example the machine plant must not be operated e by uninstructed staff e wh
107. kwise ramp Quick Stop 425 Emergency stop anticlockwise Homing 1130 Homing type Method 1 The mode of operation is set via 1292 S Modes of Operation Factory setting 801 Obj Ox6060 modes of 2 Velocity mode 2 Parameters 1285 1292 1293 1294 1295 1296 amp 1297 are used for linking the CANopen objects and internal functions For CANopen they don t have to be changed For PROFINET refer to Chapter 10 4 Motion Control Mapping for PROFINET 3 The limitation results from Minimum frequency 418 and Maximum Frequency 419 Through Limi tation 1118 of the position controller in Configuration x40 an increase above the Maximum Fre quency can occur because the output of the position controller is added to the Maximum Frequen cy 4 Emergency stop or Deceleration is used depending on the stopping behavior Mode of opera tion 630 or the behavior in the case of communication errors Bus Error Behaviour 388 50 CM PROFINET 10 13 Bonfiglioli Modes of Operation Target position 1293 S target position Speed 1294 S Pos speed Limitation 418 Minimum frequency 419 Maximum Frequency Acceleration 1295 S Acceleration Deceleration 1296 S Deceleration Emergency stop a 1179 Emergency stop ramp Quick Stop 1 The mode of operation is set via 1292 S Modes of Operation Factory setting 801 Obj 0x6060 modes of 2 Velocity mode 2 Parameters 1285 1292 1293 1294 1295 1296 amp 1297 are u
108. lability of input sources depends on the number of configured PZD objects e Each configured PZD object comprises either two Boolean two Word or one Long input parameter s e A PZD input object can only be used for one data type depending on the re quirements of the application e The first PZD object configured obligatory represents PZD1 2 with fixed contents and functions Number of Boolean parameter Word parameter Long parameter configured Identification Parame Identification Parame Identification Parame PZD objects ter no ter no ter no 2 In PZD 3 Boolean 1300 In PZD 3 Word 1302 In PZD 3 4 1304 In PZD 4 Boolean 1301 In PZD 4 Word 1303 Long 3 In PZD 5 Boolean 1305 In PZD 5 Word 1307 In PZD 5 6 1309 In PZD 6 Boolean 1306 In PZD 6 Word 1308 Long 4 In PZD 7 Boolean 1310 In PZD 7 Word 1312 In PZD 7 8 1314 In PZD 8 Boolean 1311 In PZD 8 Word 1313 Long 5 In PZD 9 Boolean 1315 In PZD 9 Word 1317 In PZD 9 10 1319 In PZD 10 Boolean 1316 In PZD 10 Word 1318 Long 6 In PZD 11 Boolean 1320 In PZD 11 Word 1322 In PZD 11 12 1324 In PZD 12 Boolean 1321 In PZD 12 Word 1323 Long 10 13 By default the input parameters are set to Off or Zero except Parameters 1302 1303 1307 and 1308 The default settings of input parameters 1302 1303 1307 and 1308 is compati ble with the CM PDP module In PZD 3 Word 1302 770 PDP Effective Current In PZD 4 Word 1303 771 PD
109. lue is represented as follows OxFFFF8ADO CM PROFINET 10 13 10 13 W Bonfiglioli Order from master AK 8 order code write long array parameter value PNU 480 0x1E0 IND 3 PWEh OxFFFF PWEI 0x8AD0 Designa PKE PWE high PWE low tion Contents Parameter Parameter value Parameter value Loo Byte Byte Byte Byte Byte Byte Byte 0x81 OxEO 3 0 OxFF OXFF Ox8A Byte no 0 1 2 3 4 5 6 7 Response from slave AK 5 order code transmit long array parameter value PNU 480 0x1E0 IND 3 PWEh OXFFFF PWEI 0x8AD0 Designation PWE low Parameter Parameter Parameter value high value low word word Byte Byte Byte Byte Byte Byte _3 0 oxFF oxFF Ox84 2 5 CM PROFINET 35 G Bonfiglioli 8 1 6 Positioning PLC func tion Function Table Multiplexer CANopen multiplexer 36 Handling of index parameters cyclic writing Index parameters are used for various ACU functions Here 16 or 32 indexes are used instead of the 4 data sets For each function the individual indexes are ad dressed separately via an index access parameter Via the indexing parameter you can select if the data is to be written to EEPROM or RAM 1202 Target position distance 1203 Speed 1204 Acceleration 1205 Ramp Rise time 1206 Deceleration 1207 Ramp Fall time 1208 Motion mode 1209 Touch Probe Window 1210 Touch Probe Err
110. lues for Modes of operation in frequency inverter configurations without Motion control Parameter Configuration 30 x40 2 Velocity mode rpm In configurations without Motion Control any settings other than value 2 will be ig nored by the frequency inverter 10 2 3 Modes of operation display PZD Modes of operation display confirms the mode of operation set before by displaying the value of Modes of operation Modes of operation must be assigned to an IN PZD Example IN PZD 11 Word 1322 742 MCI Modes of operation After setting Modes of operation the PLC will have to wait for this confirmation before another command can be transmitted to the frequency inverter 10 2 4 Current position and contouring errors Parameter Act position value 1108 returns the actual position in user units Using an IN PZD the actual position can be transmitted to the PLC cyclically Example IN PZD 3 4 Long 1304 743 Act position value user units Parameter Act contouring error 1109 returns the actual contouring error Using an IN PZD the actual contouring error can be transmitted to the PLC cyclically Example IN PZD 3 4 Long 1304 747 Act contouring error user units The contouring error can be monitored internally in order to trigger a device error once a threshold is reached For details on parameters Fault reaction 1120 Warning threshold 1105 Error threshold 1106 and Contouring error time 1119 refer to the Positioning
111. ly have two components which are available either fully partly or not at all in the different object configurations These components are the communication channel and the process channel The communication channel PKW object is used for access write read to any parameters in the frequency inverter The string parameters to which no access is possible form an exception The communication follows a defined handshake proce dure and includes several cyclic data exchange cycles The process data channel PZD object is processed in each cycle Reference values are taken over and actual values are handed over Thus the data is updated with each cyclic data exchange Transmission direction I O controller gt 10 device OUT Process data channel PZD range PZD 2 PZD x PZDx PZD x PZD x Communication channel PKE IND PWE PWE PZD 1 Pwen Pwel HSW Outx PKW Parameter ID Value PZD Process data channel STW Control HSW Main reference word value Outx User defined Transmission direction I O device gt IO controller IN Communication channel Process data channel PKE IND PWE PWE PZD 1 __ Pweh PweI zsw PZD range PZD 2 PZD x PZD x PZDx PZD x HIW Inx Inx Inx Inx PKW Parameter ID Value PZD Process data channel ZSW Status word HIW Main actual value Inx User defined Process data channel objects PZD1 PZD2 are fixed and cannot be
112. n 73 11 3 3 Reference value actual value aaa 74 113 4 SEQUENCE example aiiai iiiaae a i aa 76 11 4 Motion control Configurations sssssssssssnnununnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn na 77 11 4 1 Velocity mode rpm rieira anaia ei 78 11 4 11 Sequence example eensiiuraniidici a ear 81 11 4 2 Profile Velocity mode U S ee 83 11 4 2 1 Example Seguente nsciis idid air 86 11 4 3 Profile position Mode i 87 ILA 3 1 SEQUENCE EXAMPIO rrisnin aa n a aiaa a Ta TE 93 IL44 Homing MOMS ninenin e iaia 95 11 4 4 1 Sequence example ercicsson aa inr S oa 98 11 4 5 Table travel record Mode ii 99 11 4 5 1 Sequence example nn nn nn nn a ne 106 11 4 6 Move away from limit switch Mode ii 108 11 4 6 1 Sequence example nn ae 111 IL 4 7 Electronic geat Slave ea ind 112 11 4 7 1 Master Slave Position Correction e 119 IL 4 7 2 Sequence example lina ai 121 11 4 8 Motion Control configurationSs ee 123 12 Parameter LiSt 11 2101000 rrresiir ieri iii 124 12 1 ActualvalUesS usi oraria icv i cai 124 12 2 Parameters 1 s0 002 0rscreieeiee ee iee iene ener iii iene ieri 125 13 Appendix 2 00 vr cessa rene en anen ene irene eee 127 13 1 Control Wordoverview 1 1r rire 127 13 2 StatusWordoverview 11 1rrrrririii iii 128 13 3 Warning MeOSSAG
113. n gear 0 Electronic gear not coupled Bit 12 1 Electronic gear coupled Following error 0 No following error Bit 13 1 Following error Basic functions The control bit Automatic sequence defines if a single motion Automatic sequence 0 or and automatic motion block sequence Automatic sequence 1 is to be exe cuted 10 13 CM PROFINET 101 GX Bonfiglioli 102 In both cases the selection of the required motion block motion block number of single motion or start motion block number of automatic sequence is calculated by the motion block switching feature with the rising edge of Start motion block Motion block is being processed is set to 1 while a selected motion block or an automatic sequence is being executed Motion block is being processed will remain set to 1 until the motion block sequence is complete When a single motion block is executed Motion block is being processed will be set to 0 once the single motion block is complete When an automatic sequence is executed Motion block is being processed will be set to 0 once a motion block with setting 0 for Next motion block end of motion block 1 error stop 2 Stop error or 3 emergency stop error is reached During the automatic processing of motion blocks the currently processed motion block is indicated by parameter Actual motion block 1246 If the execution of motion blocks is interrupted by
114. ne of the following error messages occurs e F1444 Pos limit switch lt Neg limit switch e F1445 Both limit switches at the same time e F1446 Wrong limit switch wiring If one of these errors has occurred the wiring and parameter settings must be checked first before resuming operation CM PROFINET 109 GX Bonfiglioli Control word Identification Move away from Value 0 Description Do not start or stop movement limit switch mode 1 Start or resume movement from limit switch to travel Bit 4 range Halt 0 Execute command from bit 4 Move away from limit Bit 8 switch 1 Stop axis with ramp of current motion block The fre quency inverter remains enabled in Operation enabled status Status word Identification Target reached Bit 10 Basic functions Limit switch still active Axle decelerated Limit switch cleared Axle has speed 0 In mode 2 Move away from limit switch the drive is cleared from a triggered hard ware limit switch or software limit switch The direction of rotation depends on the active limit switch If the positive limit switch is active the drive moves to negative direction and vice versa Move away from limit switch mode is started in status Operation enabled by con trol word bit 4 Move away from limit switch The drive is accelerated with the ramp from parameter Acceleration 1134 to the speed set in paramet
115. ng together process the Master Slave Position correction can be used to synchronize the absolute position of the Slave with the absolute position of the Mas ter Additionally by using an Offset a relative reference can be set up in the target posi tion Preparations Master drive The Master drive must be set up as follows TxPDO2 Identifier 927 640 or a different not used Identifier TxPDO2 Function 932 1 controlled by time or 2 controlled by SYNC TxPDO2 Long 964 743 Act Position User Units Preparations Slave drive The Slave drive must be set up as follows RxPDO2 Function 926 640 or the Identifier defined in the Master drive The function Master Slave Position Correction expects the Target Position u always in RxPD2 Long When using this function RxPDO2 Long1 and also RxPDO2 Word1 RxPDO2 Word2 RxPDO2 Booleanl and RxPDO2 Boolean2 are not allowed to be used for any other purpose CM PROFINET 119 GX Bonfiglioli 120 Starting of Master Slave Position Correction in Slave drive To start the Master Slave Position correction at first Bit 4 and then Bit 5 have to be set in the Control word Bit 5 is only allowed to be set when Bit 10 In Gear is shown in the Status word By setting Bit 5 in the Control word the Slave drive is started to position to the Master position Offset The acceleration is done with Parameter Acceleration 1134 The used velocity can be set up via Parameter Fast Speed 1132 As long a
116. nt by the PLC PZD1 PZD11 OUT Control word Modes of operation Remark IN Status word Mod Of Op Displ 1 0x0000 any Disable voltage 0x0050 any Switch On Disabled 2 OxFFFD 3 Electronic Gear Slave mode OxFFFD 3 3 0x0006 OxFFFD 3 Shutdown 0x0031 OxFFFE 3 Ready to switch on 4 0x0007 OxFFFD 3 Switch On 0x0033 OxFFFE 3 Switched On 5 0x000F OxFFFD 3 Operation enabled reference speed 0 Oxnn37 OxFFFE 3 Operation enabled 6a 0x001F OxFFFD 3 Start electronic gear without direct synchroniza tion 0xn327 OxFFFD 3 Operation enabled Slave not coupled yet Phasing not finished 0xn337 OxFFFD 3 Operation enabled Slave not coupled yet Phasing finished 0xn727 OxFFFD 3 Operation enabled Slave coupled Phasing not yet finished 0xn737 OxFFFD 3 Operation enabled Slave coupled Phasing fin ished 6b Ox005F OxFFFD 3 Start Electronic Gear with Direct Synchronisation See 6a OxFFFD 3 See 6a 7a 0x021F OxFFFD 3 Start Electronic Gear without Direct Synchroni sation and Phasing Profile 1 See 6a OxFFFD 3 See 6a 7b 0x121F OxFFFD 3 Start Electronic Gear without Direct Synchronisa tion and Phasing Profile 2 See 6a OxFFFD 3 See 6a 7C 0x221F OxFFFD 3 Start Electronic Gear without Direct Synchronisa tion and Phasing Profile 3 See 6a OxFFFD 3 See 6a 7d 0x321F OxFFFD 3 Start Electronic G
117. nt of a device name without the PROFINET configurator The TCP IP configuration of VPlus shows the IP settings and as the Host name the device name saved in the module If a CM PROFINET module must be replaced the device name assigned before without PROFINET configurator can be assigned again CM PROFINET 23 G amp D Bonfiglioli e Start the TCP IP configuration in VPlus and enter the device name as the Host name The IP settings must also be made again 6 4 Alarm messages In the case of a frequency inverter fault CM PROFI NET sends an alarm message This function can be deactivated via parameter Profibus PROFINET Diagnostic Alarm Message 1444 0 Off No alarm message in the case of a frequency inverter fault 1 On Alarm message in the case of a frequency inverter fault Factory setting List of Alarm messages Error Type Error Text Help Text 257 Ixt Overload FOlnn Inverter rated current exceeded 258 Heatsink temperature FO2nn Heatsink temperature too high 259 Inside temperature F03nn Inside temperature too high 260 Motor connection FO4nn Motor temperature protection switch V belt monitoring phase failure 261 Output current FO5nn Overload short circuit earth fault asymmet ric current phase monitoring 262 Internal Fault FO6nn Internal Fault 263 DC Link voltage FO7nn DC Link voltage too low high brake motor chopper threshold
118. of opera tion is set permanently to 2 velocity mode velocity mode vl Modes of operation display will also be 2 velocity mode velocity mode vl These settings cannot be changed Relevant objects OUT PZD1 Control word OUT PZD2 Target velocit IN PZD2 Control effort P 418 Minimum frequency P 420 amp P 422 Acceleration P 419 Maximum Frequency P 421 amp P 423 Deceleration P 424 amp P 425 Emergency stop IN PZD1 Status word The ramp times are specified via parameters 430 433 Behavior in the case of a quick stop In quick stop the parameters Switch off threshold 637 percent of parameter Maxi mum Frequency 419 and Holding time 638 holding time after falling short of the switch off threshold are relevant Maximum Frequency In the case of a quick stop the drive is stopped via emergency stop ramps The emergency stop ramps are set via parameters Emergency Stop Clockwise 424 and Emergency Stop Anticlockwise 425 Start Quick Stop Emergency Stop Clockwise 424 VA Emergency Stop Anticlockwise 425 Holdig Time Stop Function 638 Switch off Threshold Stop Fct 637 t OFF change of state If frequency speed reaches the value zero during the switch off time the drive con tinues to be supplied with current until the switch off time has elapsed This ensures that the drive is at a standstill when the state changes The quick stop behavior is only rele
119. of the individual warnings are described in detail in the frequency in verter Operating Instructions CM PROFINET 129 GW Bonfiglioli 13 4 Application warning messages When the highest bit of the warning message is set an Application warning message is present The application warning messages are bit encoded as per the following pattern via parameter Appli cation warnings 274 Parameter Application warnings 273 indicates the warnings as plain text in the control panel and the VPLus PC control software Use parameter Application warnings 274 in order to read the warning messages via Field Bus Bit no Warning code Description V belt SW limit switch clockwise SW limit switch anticlockwise HW limit switch clockwise HW limit switch anticlockwise 0x0020 CONT contouring error 9 0x0200 reserved 10 11 12 13 14 15 0x8000 reserved O N A9AU DAa WIN EH O Warning Absolute encoder For details on the warnings refer to the frequency inverter Operating Instructions and the Positioning application manual The Warning Bit 6 Absolute encoder can be read out via Parameter 1274 in VPlus or 1273 via field bus The Absolute encoder warnings are described in detail in the Exten sion manual EM ABS 01 130 CM PROFINET 10 13 v Bonfiglioli 13 5 Error messages The error code stored following a fault comprises the error group FXX high byte h
120. oming are set via parameters Fast speed 1132 and Creep speed 1133 CM PROFINET 10 13 Parameters Parameters Parameters Parameters 10 2 10 PZD W Bonfiglioli Acceleration and Deceleration The acceleration and deceleration during homing are set via parameter Accelera tion 1134 Ramp times acceleration and deceleration The ramp times of the acceleration and deceleration ramps for homing are set via parameter Ramp Rise time 1135 Start position after homing After homing P 1185 1 gt Drive remains in coast to stop position P 1185 1 gt Drive is moved actively to set position Flying Homing The Flying homing can be used to update the reference position during a running motion This function is described in the application manual Positioning Table travel record mode Motion block The motion blocks are controlled via control word PZD1 Select start motion block with bits 11 15 Select sequence mode with bit 4 Start motion block with bit 9 Continue motion block with bit 6 For details on the functions of the motion blocks in table travel record mode refer to the Positioning application manual 10 3 Move away from Hardware limit switches 10 13 When a hardware limit switch is triggered an error message will be triggered depend ing on the settings of parameter Fault reaction 1143 and the relevant direction of rotation will be disabled After an error reset it is poss
121. on Stop 0 Target position still not reached Stop 1 Axle decelerated 1 Stop 0 Target position reached Stop 1 Speed of axis is 0 0 The travel profile calculation has not applied the position value yet 1 The travel profile calculation has applied the position value 0 No following error 1 Following error CM PROFINET 89 GY Bonfiglioli 90 Example single set point control bit change on set point control bit change set immediately Once a reference value has been transmitted to the drive the controller signals a permissible value in the control word by a rising signal edge for the bit New reference value The drive responds by setting the bit Reference value confirmed and starts moving to the new target position After that the controller resets the bit New refer ence value and the drive resets the bit Reference value confirmed Once the bit Reference value confirmed has been reset the drive is ready for receiving a new target position new set point control bit 4 target position set point current target position processed set point acknowledge status bit 12 target reached status bit 10 actual speed PLC CM PROFINET 10 13 Bonfiglioli Example single set point control bit change on set point 0 control bit change set immediately 1 A new reference value is confirmed by the control bit New ref
122. one Int homing P 412 Local Remote 1 gt P 1286 S Ref Position S 632 MCI Target Position gt P 1287 S Act Position S 633 MCI Velocity Ref 5 S 634 MCI Acceleration i gt MCI S 635 MCI Ramp Rise Time a gt S 636 MCI Deceleration 5 2 PI S 637 MCI Ramp Fall Time 2 o S 638 MCI Interpolated Position ki S 746 MCI Ramp Param Switch Over gt oO H i 8 gt P 1298 S Interpolation Data Globals S MPG control word MPG status word MCI control word MCI status word 10 5 Motion Control Override The Motion Control Override feature can be used for specifying a travel profile via seri al communication VABus or Modbus This enables testing of a travel profile in the VPlus user software for Windows when the controller has not yet been completely pro grammed This function can also be used as a simulation mode The Function Motion Control Override do not support the following modes e Interpolated Mode e Cyclic Synchronous Position Mode e Cyclic Synchronous Velocity Mode g Description Min i Factory setting Override Target Position _ 2 1 2 1 u Override Target Velocity vi rpm _ 32768 32767 rem__ 1rpm Override Target Velocity pv u s __ 2 1 2 1 u s Lu s 10 13 CM PROFINET 6l GY Bonfiglioli 62 Based on the recommended settings of the Motion Control Interface parameters 1292 1297 as described in Chapter 10 4 Motion Control Mapping for PROFINET the overri
123. onnector assignment The CM PROFINET module is connected to the PLC or switch using RJ45 connectors LAN RJ45 Connector Activity Link 6 2 LED status indicators The green RUN LED indicates the current status of the module Off Module is off On Module is on and running The red BF LED indicates the current status of the connection On Module has no Ethernet connection Flashing Module has Ethernet connection no cyclic exchange of data is taking place Off Exchange of Cyclic data is taking place 6 3 Setting the station address 10 13 A PROFINET IO controller accesses 10 devices based on unique device names The device name is assigned during system configuration using a PROFINET hardware configurator The PROFINET IO controller can also assign the IP settings During the hardware configuration it is set for each IO device if the local IP settings are used or the IP settings of the PROFINET IO controller are applied When the IP settings of the PROFINET IO controller are applied the local IP settings on the frequency inverter are blocked In this case the VPlus configuration software shows Zero for IP address Net mask and Gateway The IP settings cannot be edit ed via VPlus If you enter the Apply command the settings entered before are reset to Zero In the case of replacement of a module a special function of the CM PROFI NET module enables assignme
124. onse IDs are stored in the AK range If no parameter processing is to be performed the function type No Order must be selected The PNU range transmits the number of the parameter to be edited Parameter values data of type Integer Unsigned Integer 16 Bit and Long 32 Bit can be written and read The data type is specified in the order ID In the case of data set switchable parameters array the required data set is given under the index byte byte 2 An Excel file containing the required information about the parameters as regards the data type and data set switchability can be made available upon request CM PROFINET 29 GD Bonfiglioli 8 1 1 Order ID Order 1D AK Function int uint long DnE long arra int uint array write int uint array parameter value 8 long array write long array parameter value Array Applies to data set switchable parameters In Data set INDEX you will have to specify the required data set otherwise Data set INDEX 0 8 1 2 Response ID Response ID Function long i int uint array no order parameter value transmit long parameter value transmit int uint array parameter value 5 transmit long array parameter val ue 7 Order cannot be executed 8 no control rights for PKW interface e If the order ID 7 order not executable an error message is shown in PWE low byte 6 7 e f response code 8 no control
125. or Next Mo tion Block 1211 No of Repetitions 1212 Delay 1213 Delay Next Motion Block 1214 Event 1 1215 Event 1 Next Motion Block 1216 Event 2 1217 Event 2 Next motion block 1218 Digital signal 1 1219 Digital signal 2 1247 Digital signal 3 1248 Digital signal 4 1260 Interrupt Event 1 1261 Int Event 1 Eval Mode 1262 Int event 1 Next motion block 1263 Interrupt Event 2 1264 Int Event 2 Eval Mode 1265 Int event 2 Next motion block 1343 FT Instruction 1344 FT Input 1 1345 FT Input 2 1346 FT Input 3 1347 FT Input 4 1348 FT Parameter 1 1349 FT Parameter 2 1350 F7 Target Output 1 1351 FT Target Output 2 1352 FT Commentary 1252 Mux Input 1422 CANopen Mux Input o 1 32 CM PROFINET 33 34 65 33 34 65 17 18 33 17 18 33 1200 Write 1201 Read 1341 Write 1342 Read 1250 Write 1251 Read 1420 Write 1421 Read 10 13 Bonfiglioli 1 When the indexing parameter 0 all indexes will be written upon parameter access in EEPROM 17 for 16 indexes or 33 for 32 indexes will write all indexes in RAM The values are entered automatically in the EEPROM of the controller However only a limited number of write cycles is permissible for the EEPROM approx 1 million cycles When this number is exceeded the EEPROM will be destroyed e Values which are written cyclically at a high repetition rate should be written to the RAM and not the EEPROM
126. peed sensor 2 Resolver Synchronization between several drives must be performed at high updating rates in order to guarantee optimum results In the transmitter of the TxPDO object set a low value for the time e g TxPDO1 Time 931 If you use the SYNC function of Systembus set parameter SYNC time 919 to a lower value Note that due to these settings the bus load of the Systembus must provide for sufficient reserves for proper operation Systembus is described in the manuals of the extension modules with Systembus interface Block diagram electronic gear and phasing function Gear Factor Numerator Gear Factor Denominator Trajectory generator in gearing mode Speed sensor 2 Resolver speed 116 The master position and speed are multiplied by the gear factor When phasing is started the phasing profile is added to the master speed until the phasing offset is reached Start electronic gear and phasing function The electronic gear is started by control word bit 4 Start electronic gear The drive accelerates as specified in Acceleration 1295 Once the slave speed is coupled into the master status word bit 10 Target reached In Gear is set The conditions for In Gear status are set via parameters In Gear Threshold 1168 and In Gear Time 1169 Target reached In Gear is set when the electronic gear function is used and elec tronic gear synchronous running is rea
127. pliance will constitute an offense against the copyright law dated 09 September 1965 the law against unfair competition and the Civil Code and may result in claims for damages All rights relating to patent utility model or design registration reserved 1 5 Storage The documentation form an integral part of the frequency inverter It must be stored such that it is accessible to operating staff at all times If the frequency inverter is sold on to other users then this user manual must also be handed over 8 CM PROFINET 10 13 v Bonfiglioli 2 General safety instructions and information on use The chapter General safety instructions and information on use contains general safety instructions for the Operator and the Operating Staff At the beginning of certain main chapters some safety in structions are included which apply to all work described in the relevant chapter Special work specific safety instructions are provided before each safety relevant work step 2 1 Terminology According to the documentation different activities must be performed by certain persons with certain qualifications The groups of persons with the required qualification are defined as follows Operator This is the entrepreneur company who which operates the frequency inverter and uses it as per the specifications or has it operated by qualified and instructed staff Operating staff The term Operating Staff covers persons instructed by the Operato
128. r of the frequency inverter and assigned the task of operating the frequency inverter Skilled Personnel The term Skilled Personnel covers staff that are assigned special tasks by the Operator of the fre quency inverter e g installation maintenance and service repair and troubleshooting Based on their qualification and or know how Skilled Personnel must be capable of identifying defects and assessing functions Qualified electrician The term Qualified Electrician covers qualified and trained staff that have special technical know how and experience with electrical installations In addition Qualified Electricians must be familiar with the applicable standards and regulations they must be able to assess the assigned tasks properly and identify and eliminate potential hazards Instructed person The term Instructed Person covers staff that are instructed and trained about in the assigned tasks and the potential hazards that might result from inappropriate behavior In addition instructed per sons must have been instructed in the required protection provisions protective measures the appli cable directives accident prevention regulations as well as the operating conditions and have their qualification verified Expert The term Expert covers qualified and trained staff that have special technical know how and experi ence relating to the frequency inverter Experts must be familiar with the applicable government work safety direct
129. red by a slave response Each parameter request or response can only accept one order response at a time For this reason a defined handshake procedure must be followed between the master and slave In the initial situation the order and response ID must be 0 The master sets its order ID and waits until the slave changes the response ID from 0 to 0 Now the slave s response is available and can be evaluated Then the master sets its order ID 0 and waits until the slave changes the response ID from 0 to 0 This completes the commu nication cycle and a new cycle can start The slave will only respond to new orders once it has reacted to order ID 0 with re sponse ID 0 Idle request identification Master 0 a request can reply identification Slave 0 be started Master set data order identification reply identification of the slave unequal 0 evulate reply data of the slave set order identification 0 reply identification of the slave equal 0 CM PROFINET 10 13 W Bonfiglioli 8 1 5 Parameters data set selection and cyclic writing 10 13 For the parameters to be set refer to the Operating Instructions according to the chosen configuration The parameter list specifies if a parameter is switchable Data set INDEX 1 through 4 or is available once only Data set INDEX 0 The parameter list also provides information about the display format of a parame ter and its
130. rol Map ping for PROFINET have been made In Move away from limit switch mode the mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on Enable voltage Quick stop Low active 3 Enable operation 4 Move away from limit switch Fault reset Halt CM PROFINET 10 13 10 13 Ww Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Ready to switch on 1 Switched on Operation enabled Fault Voltage enabled Quick stop Low active Switch on disabled Warning 9 Remote 10 Target reached 11 Internal limit active 14 15 Warning 2 NOTE Move away from limit switch mode will always work with hardware limit switches In the case of software limit switches the mode will only work if a software limit switch Fault reaction 1144 with error stop was selected If a setting with warning e g 10 Warning was selected the software limit switch will not trigger an error thus Move away from limit switch mode will not clear the software limit switch NOTE Move away from limit switch mode must not be used when o
131. s the Master Slave Position correction is executed Bit 12 is deactivated in the Status word When the Master Slave Position correction is finished successfully Bit 12 is set During the Correction sequence the Status word bit 8 Master Slave Position correc tion is set to Low As soon as the Master Slave Position correction is finished or cancelled the Bit is set to High After first switch on or after a device reset the Phasing Done bit is also Low Since Bit 8 is also used for Phasing always the last started function is signaled by this bit Offset Reference The Offset for the M S Synchronization can be set via M S Synchronization offset 1284 Application limitations The function can be used in most of all applications without any limitations In appli cations with very long travelling distances the following must be checked e The position difference to be compensated must not be greater than 25 1 motor revolutions e The position difference to be compensated must not be greater than 272 1 user units Depending on the used reference system it can vary which limit is decisive Always the smaller limit must be complied with A motor with a reference speed of 6000 rpm would have to travel for around 5 5 minutes into one direction to exceed this limit CM PROFINET 10 13 11 4 7 2 Sequence example W Bonfiglioli In order to start Electronic Gear Slave mode the correct sequence must be se
132. sed for linking the CANopen objects and internal functions For CANopen they don t have to be changed For PROFINET refer to Chapter 10 4 Motion Control Mapping for PROFINET 3 The limitation results from Minimum frequency 418 and Maximum Frequency 419 Through Limi tation 1118 of the position controller in Configuration x40 an increase above the Maximum Fre quency can occur because the output of the position controller is added to the Maximum Frequen cy 4 Emergency stop or Deceleration is used depending on the stopping behavior Mode of operation 630 or the behavior in the case of communication errors Bus Error Behaviour 388 Profile Positioning mode 10 13 CM PROFINET 51 GD Bonfiglioli Table travel record Move away from limit Electronic gear Slave mode switch Modes of 1 2 3 Operation Target posi 1202 Target position tion Speed 1203 Speed 1132 Fast speed 1285 S reference speed pv 1133 Creep speed u s Limitation 418 Minimum frequency 418 Minimum frequency 418 Minimum frequency 419 Maximum Frequen 419 Maximum Frequen 419 Maximum Frequency cy cy Acceleration 1204 Acceleration 1134 Acceleration 1295 S Acceleration Deceleration 1205 Deceleration 1134 Acceleration 1296 S Deceleration Emergency 1179 Emergency stop 1179 Emergency stop 1179 Emergency stop stop ramp ramp ramp Quick Stop Motion block Selected via control word Gear factor 1123 Gear factor Numera tor 11
133. selected Modes of Operation Typical are o Reference speed via target velocity o Target position The usage of the Motion Control Interface is described in this manual in Chapters 10 Motion Control Interface MCI and 11 4 Motion control configurations 10 13 CM PROFINET 19 GX Bonfiglioli 3 2 I nitialization time When the frequency inverter is turned on the communication module must be initialized in addition to the frequency inverter The initialization can take up to 20 seconds 4 First commissioning 20 Wait until the initialization phase is complete before starting the communication RUN LED For first commissioning you should be familiar with the followings steps and the de scribed functions Installation of the module Selection of device control Local Remote 412 Commissioning of device functions via PLC o Setting the station address o Setting the process data o Fault Reaction Resetting errors o Parameter access Setting reference values o Reference speed in speed controlled configuration x10 x11 x15 x16 x30 x60 o Reference value in position configuration x40 Velocity mode vl Profile velocity mode pv Profile position mode Homing mode Table travel record mode Move Away from Limit Switch Mode of Operation change Diagnosis CM PROFINET Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter Chapter
134. setting Start motion block to 0 the drive will stop with the ramp set in the current motion block The interrupted mo tion block or automatic motion block sequence can be continued by setting Resume and a rising signal edge for Start motion block If Resume is set to 1 and no valid motion block is available the motion block selected by the motion block switch ing function will be used A valid motion block is indicated by parameter Motion block to Resume 1249 Motion block to Resume 1249 reads 1 if no valid motion block is present or if the last motion block or motion block sequence was not interrupted Target reached is set if the actual position of motion blocks with absolute or relative positioning reaches the position window In Gear is set when the electronic gear function is used and the electronic gear is coupled synchronous running Setting Ha t to 1 will stop a currently executed motion block The axle is stopped th the ramp set in the current motion block Target reached is set to 1 when the speed reaches value 0 The drive remains in Operation enabled status To contin ue the interrupted motion block reset Halt to 0 CM PROFINET 10 13 10 13 Examples single motion block sequence mode control bit 4 0 start motion block control bit 9 motion block in progress status bit 8 target reached status bit 10 position
135. signal in nega m 2 impulse to the right of act tive operation mode 33 or positive operation 34 a mode 34 direction Current position is ref position Home offset Pa 35 Current position rameter Home offset 1131 is taken over as actual position value For detailed descriptions of the homing modes refer to the Positioning application manual 10 13 CM PROFINET 133 G amp D Bonfiglioli 13 7 Conversions The speeds frequencies can be converted to other speed formats using the formulas in this chapter Frequency Hz into speed 1 min See Chapter 13 7 2 Speed into user units per second See Chapter 13 7 4 u s Speed 1 min in Frequency Hz See Chapter 13 7 1 Speed into user units per second See Chapter 13 7 6 u s Speed into user units per second Speed 1 min See Chapter 13 7 5 u s into Frequency Hz See Chapter 13 7 3 13 7 1 Speed 1 min into frequency Hz n min x No of pole pairs P 373 f Hz 2 13 7 2 Frequency Hz into speed 1 min f Hz x 60 No of pole pairs P 373 n rpm 13 7 3 Speed in user units per second u s into frequency Hz Hz u X No of pole pairs P 373 u Gear Box Motor Shaft Revolutions P 1117 Pizay Ri Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 13 7 4 Frequency Hz into speed in user units per second u s Feed Constant P 1115 Gear Box Driving Shaft Revolutions P 1116 u Hz x e x
136. small temperature deviations only The requirements of DIN EN 60721 3 1 for storage DIN EN 60721 3 2 for transport and labeling on the packaging must be met e The duration of storage without connection to the permissible nominal voltage may not exceed one year 2 10 4 Handling and installation e Do not commission any damaged or destroyed components e Prevent any mechanical overloading of the frequency inverter Do not bend any components and never change the isolation distances e Do not touch any electronic construction elements and contacts The frequency inverter is equipped with components which are sensitive to electrostatic energy and can be damaged if handled improperly Any use of damaged or destroyed components will endanger the ma chine plant safety and shall be considered as a non compliance with the applicable standards e Only install the frequency inverter in a suitable operating environment The frequency inverter is exclusively designed for installation in industrial environments e f seals are removed from the case this can result in the warranty becoming null and void 2 10 5 Electrical connections e The five safety rules must be complied with e Never touch live terminals The DC link may have dangerous voltage levels even up to three minutes after shutdown e When performing any work on with the frequency inverter always comply with the applicable national and international regulations laws on work on electrical
137. staff s responsibilities 2 9 1 Selection and qualification of staff e Any work on the frequency inverter may only be carried out by qualified technical staff The staff must not be under the influence of any drugs Note the minimum age required by law Define the staff s responsibility in connection with all work on the frequency inverter clearly e Work on the electrical components may only be performed by a qualified electrician according to the applicable rules of electrical engineering e The operating staff must be trained for the relevant work to be performed 2 9 2 General work safety e In addition to the user manual of the machine plant any applicable legal or other regulations relating to accident prevention and environmental protection must be complied with The staff must be instructed accordingly Such regulations and or requirements may include for example handling of hazardous media and materials or provision use of personal protective equipment e In addition to this user manual issue any additional directives that may be required to meet spe cific operating requirements including supervision and reporting requirements e g directives re lating to work organization workflow and employed staff e Unless approved of expressly by the manufacturer do not modify the frequency inverter in any way including addition of attachments or retrofits e Only use the frequency inverter if the rated connection and setup values specifi
138. started via OxnnnF As long as 0x0007 is active the mode of operation can be edited safely Once modes of operation has been set to another value operation can be started with a corre sponding sequence 82 CM PROFINET 10 13 Bonfiglioli 11 4 2 Profile Velocity mode u s The profile velocity mode is selected via object Modes of operation 3 In profile velocity mode the inverter receives a reference speed in u s OUT PZD1 Control word IN PZD1 Status word OUT PZD11 Modes of operation IN PZD11 Modes of operation displa OUT PZD5 6 Profile velocity P 418 Minimum frequency OUT PZD7 8 Profile acceleration P 419 Maximum Frequency OUT PZD9 10 Profile deceleration P 1179 Emergency stop ramp The Ramp Rise Fall times are set up via parameters 1176 and 1178 In profile velocity mode the operation mode specific bits of the control word and the status word are used as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 0 Switch on Enable voltage 7 Quick stop Low active gt Enable operation Fault reset c hat 10 13 CM PROFINET 83 GX Bonfiglioli 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop low
139. status with parameter Warnings 270 Bit 9 Remote is set if the operation mode is set to Control via state machine Lo cal Remote 412 1 and controller release is turned on Bit 10 Target reached is set when the specified reference value is reached In configurations without Motion Control parameter Configuration 30 x40 Target reached refers to the reference speed from OUT PZD2 In the special case of power failure regulation the bit is also set when the power failure regulation reaches the frequency 0 Hz see frequency inverter operating instructions For Target reached there is a hysteresis tolerance range which can be set via the parameter Max control deviation 549 see frequency inverter Operating Instructions Bit 11 Internal limit value active indicates that an internal limit is active This may be the current limit the torque limit or the overvoltage control All functions will result in the reference value being left or not reached Bit 15 Warning 2 signals a critical operating state which will result in a fault switch off of the frequency inverter within a short time This bit is set if there is a delayed warning relating to the motor temperature heat sink inside temperature Ixt monitor ing or mains phase failure CM PROFINET 71 GX Bonfiglioli 11 3 Configurations without Motion Control 11 3 1 72 In configurations without Motion Control Configuration 30 x40 Modes
140. tact inputs will be active If Data set selection 414 is set to 1 2 3 or 4 the selected data set is activated and data set switching via the contact inputs is deactivated If Data set selection 414 is set to 5 data set switching via contact inputs will be ac tive if the frequency inverter is not enabled Via parameter Active data set 249 the currently selected data set can be read Ac tive data set 249 indicates the active data set value 1 2 3 or 4 This is independ ent of whether the data set switching was done via contact inputs or Data set selec tion 414 CM PROFINET 63 GY Bonfiglioli 11 1 Controlvia contacts remote contacts 64 In PZD1 the master sends its control words via the output data set to the frequency inverter and receives information about the frequency inverter status words via the input data set In operation mode Control via contacts or Control via remote contacts Parameter Local Remote 412 0 or 2 the frequency inverter is controlled directly via digital inputs S1IND STOA and STOB S2IND through EM S3IND or via the individual bits of the virtual digital signals in the control word The function of these inputs is described in the frequency inverter operating instructions 15 14 13 12 1110 9 8 7 6 5 4 3 2 1 0 Bit S1IND STOA and STOB 4 452IND 2 53IND 2 SAIND S5IND gt S6IND amp MFI1D EM S1IND 2 EM S2IND
141. tch the reference velocity Target reached 1 gt The actual velocity matches the reference velocity The actual velocity differs at least from the defined time peri od in 1277 Velocity Window Time up to the defined amount us in 1276 Velocity Window Status word Bit 12 Velocity Velocity gt The Actual Velocity matches the comparison speed 0 The Actual Velocity has exceeded for a defined time 1279 Threshold Window Time a defined Velocity in user units per seconds u s 1278 Threshold Window Velocity gt The Actual Velocity doesn t match the Comparison Velocity 1 Status word Bit 13 Maximum Slippage Maximum Slippage gt The actual Slippage speed is smaller than defined 0 The comparison value of the slippage speed is defined Object 1275 Max Slippage Maximum Slippage gt The actual Slippage speed is bigger than defined 1 The comparison value of the slippage speed is defined 1275 Max Slippage CM PROFINET 85 GW Bonfiglioli 11 4 2 1 Example Sequence To start the Profile Velocity mode the correct sequence has to be sent from the PLC PZD1 PZD11 PzD5 6 OUT Control word Modes of Op Profile velocity Remark IN Status word M Of Op Displ 1 0x0000 any any Disable voltage 0x0050 any Switch On Disabled 2 0x0000 0x0003 any Profile Velocity mode 0x0050 0x0003 3 0x0006 0x0003 any Shutdown 0x0031 0x0003 Ready to switch on 4 0x0007 0x0003 0x1234 0x5678 Switch On 0x0033 0x0
142. tembus Master Systembus i Node ID x Systembus 7 Node ID 1 Systembus 7 Node ID 0 Systembus In order to access the parameters of the individual frequency inverters through Sys tem Bus Parameter 1600 is set to the ID of the relevant Systembus node The data type of 1600 is an unsigned integer value range 0 63 Parameter 1600 can be read and written CM PROFINET 41 GY Bonfiglioli 8 3 Process data channel This chapter describes how to handle the PZD objects For a description of the re quired process data objects PZD1 2 refer to Chapters 11 1 Control via con tacts remote contacts 11 2 Control via state machine and 11 3 3 Reference val ue actual value Objects PZD 3 12 can be used application specifically In the frequency inverter these objects are represented as sources for PZD Out objects data received from PROFINET controller and as input parameters for sources data to be sent to the master Inputs and outputs are as seen from the point of view of the PROFINET controller 8 3 1 Data types of OUT I N objects Data type Boolean Permissible values of Boolean are FALSE 0x0000 and TRUE OxFFFF Boolean Data contents value Hexadecimal OUT IN PZDn Boolean FALSE 0x0000 OUT IN PZDn Boolean TRUE OxFFFF n 3 12 Data type Word The Word data type can be used for percentage current and torque variables Cur rent and torque variables
143. terface MCI sccsscsscsscsscssensecsseneessensensensenss 54 102 1 Reference System ciccia 54 10 2 2 Modes Of operations ita 55 10 2 3 Modes of operation display nannan annene nnna 55 10 2 4 Current position and contouring errors nenat 55 10 2 5 Position Controller sssini ii iina a iiaia ai naa 55 10 2 6 Profile position Mode iaia 57 10 2 7 Velocity mode Micra ai 57 10 2 8 Profile velocity Mode pv nant 58 10 2 9 Homing mode ensaian aaa aria idana 58 10 2 10 Table travel record mode ii 59 10 3 Move away from Hardware limit switches 11 220 rr verrei 59 10 4 Motion Control Mapping for PROFI NET sssssssssssssnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 60 10 5 Motion Control Override sssssssssnnsnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnna 61 4 CM PROFINET 10 13 v Bonfiglioli 11 Control of frequency inverter sssssssssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnnm 63 11 1 Control via contacts remote contacts 221rrrs a rrrrresiieee eee 64 Ill Device state Machine ie iaia 66 11 2 Control via State machine r01 rari 67 112 1 State machine diagramia scanasiialionia iaia 69 11 3 Configurations without Motion Control 1sr 220rrrsssrree sese eee eee ninna 72 11 3 1 Behavior in the case of a quick Stop tee 72 11 3 2 Behavior in the case of transition 5 disable operatio
144. tes to avoiding risks minimizing repair cost and downtimes and increasing the reliability and service life of the frequency inverter For this reason make sure you read the user manual carefully Compliance with the documentation is required to ensure safe operation of the frequen cy inverter BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage caused by any non compliance with the documentation please contact the manufacturer In case any problems occur which are not covered by the documentation sufficiently 1 2 Warranty and liability BONFIGLIOLI VECTRON GmbH would like to point out that the contents of this user manual do not form part of any previous 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 for the aforementioned reasons Furthermore BONFIGLIOLI VECTRON GmbH excludes any
145. tion and Quick Stop depends on the modes of operation control commands and behavior in the case of communication errors see Bus Error Behav iour 388 The following tables provide an overview of the different objects and parameters The object parameter mentioned first in a cell will typically be used If an object is related to a parameter the parameter will be specified Parameters 1292 Modes of Operation and following 1293 1294 1295 1296 amp 1297 and 1285 S Target velocity pv ws are used for linking the internal functions to CANopen objects Usually these need not to be changed when using CANopen For PROFINET they will have to be changed Please check chapter 10 4 Motion Con trol Mapping for PROFINET for a setup proposal Homin Velocity Mode Profile Velocity Mode Modes of Operation Target posi tion Speed 1132 amp 1133 1297 S reference speed 1285 S reference speed pv Fast speed Creep speed vl rpm u s Limitation 418 Minimum frequency 418 Minimum frequency 418 Minimum frequency 419 Maximum Frequen 419 Maximum Frequen 419 Maximum Frequency 1 2 cy cy Acceleration 1134 Acceleration 420 Acceleration 1295 S Acceleration clockwise 422 Acceleration anti clockwise Deceleration 1134 Acceleration 421 Deceleration 1296 S Deceleration clockwise 423 Deceleration anti clockwise Emergency 1179 Emergency stop 424 Emergency stop 1179 Emergency stop stop ramp cloc
146. tion Mode gt P 1294 S Profile velocity u s Recommended 673 OUT PZD5 6 Long Table Travel Record Mode gt P 1203 Speed u s Move Away from Limit Switch gt P 1133 Homing Speed u s Electr Gear Slave gt Master x Gear Factor Phasing Deceleration Ramp Homing Mode gt P 1134 Acceleration u s Velocity Mode vl gt P 421 amp P 423 Hz s Profile velocity Mode pv gt P 1296 S Deceleration u s Recommended 675 OUT PZD9 10 Long Profile Position Mode gt P 1296 S Deceleration u s Recommended 675 OUT PZD9 10 Long Table Travel Record Mode gt P 1206 Deceleration u s Move Away from Limit Switch gt P 1134 Acceleration u s Electr Gear Slave gt Internal Reference Acceldration Ram Homing Mode gt P 1134 Acceleration u s Velocity Mode vl gt P 420 amp P 422 Hz s Profile velocity Mode pv gt P 1295 S Acceleration u s Recommended 674 OUT PZD7 8 Long Profile Position Mode gt P 1295 S Acceleration u s Recommended 674 OUT PZD7 8 Long Table Travel Record Mode gt P 1204 Acceleration u s Move Away from Limit Switch gt P 1134 Acceleration u s Electr Gear Slave gt Internal Reference Quick Stop Ramp Emergency Ramp Homing Mode gt P 1179 Emergency Ramp u s Velocity Mode vl gt P 424 amp P 425 Hz s Profile velocity Mode pv gt P
147. type int uint long String parameters cannot be transmitted due to the possible number of bytes The transmitted values are always integer numbers In the case of decimal values the decimal point is not transmitted The IND word hands over the required data set of the parameter In the present application the existing parameters are assigned data set number 0 to enable switching among multiple parameters switchable a number from 1 through 4 is assigned The actual parameter value is transmitted in the PWE range as 16 bit value int uint it occupies PWEI as 32 bit value long PWE high and PWE low with the high word being in PWE high If parameters are set to data set 0 each of the four data sets is set to the same value A read access with data set 0 to such parameters is only successful if all four data sets are set to the same value Otherwise an error message will be dis played The values are entered automatically in the EEPROM of the controller However only a limited number of write cycles is permissible for the EEPROM approx 1 mil lion cycles When this number is exceeded the EEPROM will be destroyed e Values which are written cyclically at a high repetition rate should be written to the RAM and not the EEPROM In the RAM the data is not protected against loss of power Once power supply is disrupted the data must be written again This procedure is activated when the target data set is increased by f
148. us Word fix to IN PZD1 lt P 411 Status word Homing Mode Homing method Homing method gt P 1130 homing type Table Travel Record Mode gt Motion Block selection via Control word bits 11 15 Electr Gear Slave gt P 1123 P 1124 P 1142 Gearfactor gt P 1125 P 1126 P 1127 Phasing Velocity vl gt Velocity mode rpm Velocity pv gt Profile Velocity mode u s The graphical overview shows the most important objects which are used Other ob jects are available in the different modes for additional information refer to the de scriptions of the objects and modes 10 13 CM PROFINET 53 GX Bonfiglioli The Motion Control Interface is a defined interface of the ACU devices for position con trol This interface is typically used in combination with a field bus such as PROFINET The source 125 Abs current value uses the device internal standardization see Chapter 8 3 1 Data types of OUT IN objects 10 2 Functions of the Motion Control nterface MCI 10 2 1 54 Via the Motion Control Interface numerous positioning functions can be addressed by a PLC directly Reference system In many modes the Motion Control Interface uses user units u These user units u result from the conversion of the gear factor parameters 1115 1116 1117 and No of pole pairs 373 Conversion between user units u and frequencies Hz f Hz z No of pole pairs 373 Gear Box Dri
149. vant for configurations without Motion Control parameter Configuration 30 x40 CM PROFINET 10 13 11 3 2 0 o 10 13 W Bonfiglioli Behavior in the case of transition 5 disable operation The behavior in transition 5 from Operation enabled to Switched On can be con figured via parameter State transition 5 392 No Description Min Max Factory set 392 Statetransition5 F o 2 2 0 Coast to sto Immediate transition from Operation enabled to p Switched On drive coasts to a standstill Activation of DC brake at the end of DC deceleration 1 DC brake there is the change from Operation enabled to Switched On Transition with normal ramp when the drive has come to 2 Ramp a standstill there is the change from Operation enabled to Switched On Setting 1 Direct current brake is only possible with applications with U f characteris tic control e g configuration 110 Other configurations do not support this operation mode If the frequency inverter is operated with a configuration which does not support the operation mode Direct Current Brake e g configuration 210 field oriented control value 1 cannot be used In this case the operation mode is not offered in the selection menus of the control unit KP500 and the control software VPlus By default State transition 5 392 is set to operation mode 2 Ramp For configura tions with
150. ving shaft revolutions 1116 v u Feed Constant 1115 bl Gear Box Motor shaft revolutions 1117 Feed Constant 1115 2 Gear Box Motor shaft revolutions 1117 u v f Hz l No of pole pairs 373 Gear Box Driving shaft revolutions 1116 The same formulas can be used for converting acceleration values from a Hz s to a u s and vice versa In the formulas replace speeds f Hz and v u s by accelera tions a Hz s and a u s For more details about the reference system refer to the Positioning application manual CM PROFINET 10 13 Bonfiglioli 10 2 2 Modes of operation In Modes of operation you can define the operation mode of the frequency inverter The available options depend on the set frequency inverter configuration PZD Modes of operation must be assigned via Parameter S Modes of Operation 1292 to an OUT PZD The mode of operation is switched via the assigned OUT PZD Available values for Modes of operation in frequency inverter configurations with Motion control Parameter Configuration 30 x40 Profile position mode Velocity mode rpm factory setting Profile velocity mode u s Homing mode Table travel record mode manufacturer specific mode of operation Move away from limit switch manufacturer specific mode of operation 3 Electronic Gear Slave manufacturer specific mode of operation ila NR O OW NFR I Available va
151. x 11795 Ellerslie Tel 64 09 634 6441 Fax 64 09 634 6445 npollington bonfiglioli com au Bonfiglioli Osterreich Molkereistr 4 A 2700 Wiener Neustadt Tel 43 02622 22400 Fax 43 02622 22386 www bonfiglioli at info bonfiglioli at Bonfiglioli South East Asia No 21 Woodlands indusrial park E1 02 03 Singapore 757720 Tel 65 6893 6346 7 Fax 65 6893 6342 www bonfiglioli com au sales bonfiglioli com sg Bonfiglioli South Africa 55 Galaxy Avenue Linbro Business Park Sandton Tel 27 11 608 2030 OR Fax 27 11 608 2631 www bonfiglioli co za bonfigsales bonfiglioli co za Bonfiglioli T rkiye Atat rk Organ ze Sanayi B lgesi 10015 Sk No 17 igli Izmir Tel 90 0 232 328 22 77 pbx Fax 90 0 232 328 04 14 www bonfiglioli com tr info bonfiglioli com tr Bonfiglioli United Kingdom Industrial Solutions Unit 7 Colemeadow Road North Moons Moat Redditch Worcestershire B98 9PB Tel 44 1527 65022 Fax 44 1527 61995 www bonfiglioli com uksales bonfiglioli com Mobile Solutions 3 7 Grosvenor Grange Woolston Warrington Cheshire WA1 4SF Tel 44 1925 852667 Fax 44 1925 852668 www bonfiglioli co uk mobilesales bonfiglioli co uk Bonfiglioli USA 3541 Hargrave Drive Hebron Kentucky 41048 Tel 1 859 334 3333 Fax 1 859 334 8888 www bonfiglioliusa com Bonfiglioli Vietnam Lot C 9D CN My Phuoc Industrial Park 3 Ben Cat Binh Duong Province Tel 84

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