BONFIGLIOLI Vectron ACTIVE User manual

www.bonfiglioli.com
Bonfiglioli Riduttori S.p.A.
Via Giovanni XXIII, 7/A
40012 Lippo di Calderara di Reno
Bologna, Italy
tel: [phone]
fax: [phone]
bonfiglioli@bonfiglioli.com
www.bonfiglioli.com
VEC 219 R1
ACTIVE and
ACTIVE Cube
Expansion Module EM-IO-03
Frequency Inverter 230V / 400V
Bonfiglioli has been designing and developing innovative
and reliable power transmission and control solutions
for industry, mobile machinery and renewable energy
applications since 1956.

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General points on the documentation
The present supplement of the documentation is valid for the frequency inverter se-
ries ACT and ACU. The information necessary for the assembly and application of
the EM-IO-03 expansion module is documented in this guidance.
For better clarity, the user documentation is structured according to the customer-
specific demands made of the frequency inverter.
Brief instructions
The brief instructions describe the fundamental steps for mechanical and electrical
installation of the frequency inverter. The guided commissioningsupports you in the
selection of necessary parameters and the software configuration of the frequency
inverter.
Operating instructions
The operating instructions document the complete functionality of the frequency in-
verter. The parameters necessary for specific applications for adaptation to the ap-
plication and the extensive additional functions are described in detail.
Application manual
The application manual supplements the documentation for purposeful installation and
commissioning of the frequency inverter. Information on various subjects connected
with the use of the frequency inverter is described specific to the application.
Installation Instructions
Complementing the Brief Instructions and the OperatingInstructions, the Installation
Instructions provide information on how to install and use the additional/optional
components.
The documentation and additional information can be requested via your local repre-
sentation of the company of BONFIGLIOLI.
The following pictograms and signal words are used for the purposes of the present
documentation:
Danger!
means a directly threatening danger. Death, serious damage to persons and consider-
able damage to property will occur if the precautionary measure is not taken.
Warning!
marks a possible threat. Death, serious damage to persons and considerable damage
to property can be the consequence if attention is not paid to the text.
Caution!
refers to an indirect threat. Damage to people or property can be the result.
Attention!
refers to a possible operational behavior or an undesired condition, which can occur in
accordance with the reference text.
Note
marks information, which facilitates handling for you and supplements the corre-
sponding part of the documentation.
Warning! In installation and commissioning, comply with the information in the
documentation. You as a qualified person must have read the documenta-
tion carefully and understood it. Comply with the safety instructions. For
the purposes of the instructions, "qualified person" designates a person
acquainted with the erection, assembly, commissioning and operation of
the frequency inverters and possessing the qualification correspondingto
the activity.

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TABLE OF CONTENTS
General points on the documentation.................................................................................. 1
1General safety and application information .................................................................. 5
1.1 General information................................................................................................. 5
1.2 Proper use................................................................................................................ 5
1.3 Transport and storage ............................................................................................. 6
1.4 Handling and positioning......................................................................................... 6
1.5 Electrical connection................................................................................................ 6
1.6 Operation information ............................................................................................. 6
1.7 Maintenance and service ......................................................................................... 6
2Introduction ................................................................................................................... 7
3Installation of the EM-IO-03 expansion module ........................................................... 8
3.1 General .................................................................................................................... 8
3.2 Mechanical installation ............................................................................................ 8
3.3 Electrical installation ............................................................................................. 10
3.3.1 Circuit diagram ...................................................................................................... 10
3.3.2 Control terminals ................................................................................................... 11
4System bus interface.................................................................................................... 12
4.1 Bus termination ..................................................................................................... 12
4.2 Cables .................................................................................................................... 13
4.3 Socket X410B......................................................................................................... 13
4.4 Baud rate setting/line length ................................................................................ 14
4.5 Setting node address ............................................................................................. 14
4.6 Functional overview .............................................................................................. 15
4.7 Network management ........................................................................................... 15
4.7.1 SDO channels (parameter data) .............................................................................. 16
4.7.2 PDO channels (process data) .................................................................................. 17
4.8 Master functionality............................................................................................... 18
4.8.1 Control boot-up sequence, network management..................................................... 18
4.8.2 SYNC telegram, generation..................................................................................... 20
4.8.3 Emergency message, reaction................................................................................. 21
4.8.4 Client SDO (system bus master).............................................................................. 22
4.9 Slave functionality ................................................................................................. 23
4.9.1 Implement boot-up sequence, network management................................................ 23
4.9.1.1 Boot-up message ............................................................................................ 23
4.9.1.2 Status control ................................................................................................. 23
4.9.2 Process SYNC telegram .......................................................................................... 24
4.9.3 Emergency message, fault switch-off....................................................................... 25
4.9.4 Server SDO1/SDO2 ................................................................................................ 26

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TABLE OF CONTENTS
4.10 Communication channels, SDO1/SDO2.............................................................. 28
4.10.1 SDO telegrams (SDO1/SDO2) ................................................................................. 28
4.10.2 Communication via field bus connection (SDO1)....................................................... 30
4.10.2.1 Profibus-DP .................................................................................................... 30
4.10.2.2 RS232/RS485 with VECTRON bus protocol ........................................................ 30
4.11 Process data channels, PDO ............................................................................... 32
4.11.1 Identifier assignment process data channel.............................................................. 32
4.11.2 Operation modes process data channel.................................................................... 33
4.11.3 Timeout monitoring process data channel................................................................ 34
4.11.4 Communication relationships of the process data channel ......................................... 35
4.11.5 Virtual links ........................................................................................................... 36
4.11.5.1 Input parameters of the TxPDO’s for data to be transmitted ............................... 39
4.11.5.2 Source numbers of the RxPDO’s for received data.............................................. 41
4.11.5.3 Examples of virtual links .................................................................................. 42
4.12 Control parameters............................................................................................. 43
4.13 Handling of the parameters of the system bus .................................................. 44
4.14 Utilities ............................................................................................................... 46
4.14.1 Definition of the communication relationships........................................................... 47
4.14.2 Production of the virtual links.................................................................................. 48
4.14.3 Capacity planning of the system bus........................................................................ 49
5Control inputs and outputs .......................................................................................... 51
5.1 Analog input EM-S1INA ........................................................................................ 51
5.1.1 General................................................................................................................. 51
5.1.2 Configuration voltage/current input ......................................................................... 51
5.1.3 Characteristic ........................................................................................................ 52
5.1.4 Operation modes ................................................................................................... 52
5.1.4.1 Examples........................................................................................................ 53
5.1.5 Scaling..................................................................................................................55
5.1.6 Tolerance band and hysteresis................................................................................ 56
5.1.7 Error and warning behavior .................................................................................... 57
5.1.8 Adjustment ........................................................................................................... 58
5.1.9 Filter time constant................................................................................................ 58
5.2 Analog output EM- S1OUTA (voltage output)....................................................... 59
5.2.1 General................................................................................................................. 59
5.2.2 Operation modes ................................................................................................... 59
5.2.3 Adjustment ........................................................................................................... 59
5.2.4 Zero adjustment and amplification .......................................................................... 60
5.2.4.1 Examples........................................................................................................ 60
5.3 Analog output EM- S2OUTA (current output)........................................................ 61
5.3.1 General................................................................................................................. 61
5.3.2 Operation modes ................................................................................................... 61
5.3.3 Adjustment ........................................................................................................... 61
5.3.4 Zero adjustment and amplification .......................................................................... 62
5.3.4.1 Examples........................................................................................................ 62
5.4 Digital output EM-S1OUTD .................................................................................... 63
5.4.1 General................................................................................................................. 63
5.4.2 Operation modes ................................................................................................... 63

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TABLE OF CONTENTS
5.5 Digital inputs EMS2IND and EMS3IND.................................................................. 63
5.5.1 Fixed reference values and fixed value switch-over................................................... 63
5.6 Digital inputs for speed sensor 2........................................................................... 64
5.6.1 Division marks speed sensor 2 ................................................................................ 64
5.6.2 Actual speed source............................................................................................... 65
5.6.3 Actual value comparison......................................................................................... 65
5.7 Frequency and percentage reference channel ...................................................... 66
5.8 Actual value display............................................................................................... 66
5.9 Status of the digital signals................................................................................... 67
5.10 Motor temperature ............................................................................................. 68
6Parameter list............................................................................................................... 70
6.1 Actual value menu (VAL) ....................................................................................... 70
6.2 Parameter menu (PARA) ....................................................................................... 70
7Annex ...........................................................................................................................73
7.1 Error messages ...................................................................................................... 73

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1General safety and application information
This documentation has been created with greatest care and has been extensively and
repeatedly checked. For reasons of clarity, we have not been able to take all detailed
information on all the types of the products and also not every imaginable case of
positionin
g
, operation or maintenance into account. If you require further information
or if particular problems not treated extensively enough in the operatinginstructions
occur, you can obtain the necessary information via the local representation of the
company BONFIGLIOLI.
In addition, we would point out that the contents of these operatinginstructions are
not part of an earlier or existingagreement, assurance or legal relationship, nor are
they intended to amend them. All the manufacturer's obligations result from the pur-
chase contract in question, which also contains the completely and solely valid war-
ranty regulation. These contractual warranty provisions are neither extended nor lim-
ited by the implementation of these operating instructions.
The manufacturer reserves the right to correct or amend the contents and product
information as well as omissions without specific announcement and assumes no kind
of liability for damage, injuries or expenditure to be put down to the aforementioned
reasons.
1.1 General information
Warning! BONFIGLIOLI VECTRON frequency inverters have high voltage levels dur-
ing operating, dependingon their protection class, drive movingparts and
have hot surfaces.
In the event of inadmissible removal of the necessary covers, improper
use, wronginstallation or operation, there is the risk of serious damage to
persons or property.
To avoid the damage, only qualified staff may carry out the transport,
installation, setup or maintenance work required. Comply with the stan-
dards EN 50178, IEC 60364 (Cenelec HD 384 or DIN VDE 0100),
IEC 60664-1 (Cenelec HD 625 or VDE 0110-1), BGV A2 (VBG 4) and na-
tional provisions. Qualified persons within the meaning of this principal
safety information are people acquainted with the erection, fitting, com-
missioningand operatingof frequency inverters and the possible hazards
and in possession of qualifications matching their activities.
1.2 Proper use
Warning! The frequency inverters are electrical drive components intended for in-
stallation in industrial plant or machines. Commissioning and start of in-
tended operation are not allowed until it has been established that the
machine corresponds to the provisions of the EC machine directive
98/37/EEC and EN 60204. According to the CE sign, the frequency invert-
ers additionally fulfill the requirements of the low-voltage directive
73/23/EEC and the standards EN 50178 / DIN VDE 0160 and EN 61800-2.
Responsibility for compliance with the EMC directive 89/336/EEC is with
the user. Frequency inverters are available in a limited way and as com-
ponents exclusively intended for professional use within the meaningof
the standard EN 61000-3-2.
With the issue of the UL certificate accordingto UL508c, the requirements
of the CSA Standard C22.2-No. 14-95 have also been fulfilled.
The technical data and the information on connection and ambient condi-
tions stated on the ratingplate and the documentation must be complied
with. The instructions must have been read and understood before start-
ing work at the device.

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1.3 Transport and storage
Transport and storage are to be done appropriate in the original packing. Store the
units only in dry rooms, which are protected against dust and moisture and are sub-
jected to little temperature deviations only. Observe the climatic conditions according
to standard EN 50178 and to the information on the label of the original packing. The
duration of storage without connection to the admissible reference voltage may not
exceed one year.
1.4 Handling and positioning
Warning! Damaged or destroyed components may not be put into operation be-
cause they may be a health hazard.
The frequency inverters are to be used accordingto the documentation, the directives
and the standards. Handle carefully and avoid mechanical overload. Do not bend the
components or change the isolation distances. Do not touch electronic components or
contacts. The devices contain construction elements with a risk of electrostatic, which
can easily be damaged by improper handling. Any use of damaged or destroyed com-
ponents shall be considered as a non-compliance with the applicable standards. Do
not remove any warning signs from the device.
1.5 Electrical connection
Warning! Before any assembly or connection work, de-energize the frequency in-
verter.
Do not touch the sockets, because the capacitors may still be charged.
Make sure that the frequency inverter is de-energized.
Comply with the information given in the operatinginstructions and on
the frequency inverter label.
While workingon the frequency inverters, obey the applicable standards BGV A2 (VBG
4), VDE 0100 and other national directives. Comply with the information in the docu-
mentation on electrical installation and the relevant directives. Responsibility for com-
pliance with and examination of the limit values of the EMC product standard EN
61800-3 for variable-speed electrical drive mechanisms is with the manufacturer of
the industrial plant or machine.
The documentation contains information on installation correct for EMC. The cables
connected to the frequency inverters may not be subjected to an isolation test with a
high test voltage without previous circuit measures.
1.6 Operation information
Warning! Before commissioningand the start of the intended operation, attach all
the covers and check the sockets. Check additional monitoring and pro-
tective devices pursuant to EN 60204 and the safety directives applicable
in each case (e.g. WorkingMachines Act, Accident Prevention Directives
etc.).
No connection work may be performed, while the system is in operation.
1.7 Maintenance and service
Warning! Unauthorized openingand improper interventions can lead to physical
injury or damage to property. Repairs on the frequency inverters may
only be done by the manufacturer or persons authorized by the latter.

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2 Introduction
This document describes the possibilities and the properties of the EM-IO-03 expan-
sion module for the frequency inverters of the ACT and ACU series of devices.
Note: This document exclusively describes the EM-IO-03 expansion module. It
does not provide basic information on the operation of the ACT and
ACU series frequency inverters.
The EM-IO-03 expansion module is an optional hardware component to extend the
functionality of the frequency inverter. It enables the data exchange within the net-
work and between the components which have been directly connected, for example
control elements.
The EM-IO-03 expansion module is supported from device series ACU and as from
software version 4.1.0 of device series ACT.
The module extends the functionality of the frequency inverters of the ACT and ACU
series of devices by the following additional functions:
−CAN system bus
(CAN interface ISO-DIS 11898; CAN High Speed; max. 1 MBaud)
−analog input, adjustable voltage/current input
(second bipolar analog input)
−two analog outputs: one voltage output and one current output
(second and third bipolar analog output)
−two digital inputs
(can be used as second incremental speed sensor input, for example)
−one relay output
(make contacts)
−one motor PTC connection
The EM-IO-03 expansion module has been enclosed with the frequency inverter as a
separate component and must be fitted by the user. This is described in detail in the
"Mechanical Installation" chapter.
The expansion module is assembled simply by pluggingon without tools beingneeded
thanks to the modular set-up of the frequency inverters of the ACT and ACU series.
Warning! The assembly is done before the frequency inverter is put into operation,
and only in a voltage-free state.
The terminals of the expansion module, which are also to be plugged, enable eco-
nomical overall fitting with a safe function.

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3Installation of the EM-IO-03 expansion module
3.1 General
The mechanical and electrical installation of the EM-IO-03 expansion module is to be
carried out by qualified personnel accordingto the general and regional safety and
installation directives. Safe operation of the frequency inverter presupposes that the
documentation and the device specification are complied with in installation and start
of operation. If specific areas of application exist, further provisions and guidelines
must possibly be complied with.
The frequency inverters are designed accordingto the requirements and limit values
of product standard EN 61800-3 with an interference immunity factor (EMI) for opera-
tion in industrial applications. The electromagnetic interference is to be avoided by
expert installation and observation of the specific product information.
For further information, refer to the chapter "Electrical Installation" of the frequency
inverter operating instructions.
Warning! All connection terminals where dangerous voltage levels may be present
(e.g. motor connection terminals, mains terminals, fuse connection termi-
nals, etc.), must be protected against direct contact.
3.2 Mechanical installation
Danger! If the followinginstructions are not complied with, there is direct danger
with the possible consequences of death or severe injury by electrical
current. Further, failure to comply can cause the destruction of the fre-
quency inverter and/or of the expansion module.
•Before assembly or disassembly of the EM-IO-03 expansion module, the fre-
quency inverter must be de-energized. Take appropriate measures to make sure it
is not energized unintentionally.
•Make sure that the frequency inverter is de-energized.
Danger! The mains, direct voltage and motor terminals can be live with dangerous
voltage after disconnection of the frequency inverter. Work may only be
done on the device after a waitingperiod of some minutes until the DC
link capacitors have discharged.

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The EM-IO-03 expansion module is supplied in a housingfor assembly on the lower
slot of the frequency inverter.
•Remove the lower cover (1) of the frequency inverter.
The slot for the EM-IO-03 expansion module becomes accessible.
1
Caution! The EM-IO-03 expansion module (2) is pre-fitted in a housing. Do NOT
touch the PCB visible on the back, as modules may be damaged.
•Plug the EM-IO-03 expansion module (2) onto the slot (3).
•Re-install the lower cover (1).
This completes the assembly procedure.
When the supply voltage of the frequency inverter is switched on, the EM-IO-03 ex-
pansion module is ready for operation.
1
2
3

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3.3 Electrical installation
Danger! If the followinginstructions are not complied with, there is direct danger
with the possible consequences of death or severe injury by electrical
current. Further, failure to comply can lead to destruction of the fre-
quency inverter and/or of the expansion module.
•Before electrical installation of the EM-IO-03 expansion module, the frequency
inverter must be de-energized. Take appropriate measures to make sure it is not
energized unintentionally.
•Make sure that the frequency inverter is de-energized.
Danger! The mains, direct voltage and motor sockets can have dangerous voltages
even after disconnection of the frequency inverter. Work may only be
done on the device after a waitingperiod of some minutes until the DC
link capacitors have been discharged.
3.3.1 Circuit diagram
EM-S1INA
6
X410A
+20 V / 180 mA
EM-S1OUTD
X410B
5
6
7
A
D
A
D
5EM-S3IND
4EM-S2IND
EM-S2OUTA
7
3
1
GND 20 V
2
4
3
B
C
D
E
G
F
1EM-MPTC
2
EM-S1OUTA A
D
GND
CAN-High
CAN-Low
SYS
A
A
Analog current output EM-S2OUTA
Analog signal, Iout= 0(4)...20 mA, Umax = 10 V, overload and short-circuit proof
B
Digital inputs EM-S2IND ... EM-S3IND
Digital signal, response time approx. 16 ms, Umax= 30 V, 10 mA at 24 V, PLC com-
patible, frequency signal, 0...30 V, 10 mA at 24 V, fmax = 150 kHz
C
Relay connection EM-S1OUTD
Make contact, response time approx. 40 ms, 24 V AC / 1 A , 24 V DC / 1 A (ohmic)
D
Motor PTC Resistor Connection EM-MPTC
Rated response resistance 2.85 kΩ(PTC) according to DIN 44081,
PTC or bimetal temperature sensor (break contact)
E
Analog input EM-S1INA
Analog signal, resolution 12 Bit, Umax
= ±10 V (Ri = 100 kΩ), Imax = ±20 mA (R i= 250 Ω)
F
Analog voltage output EM- S1OUTA
Analog signal, Umax=±10 V, Imax = 2 mA, overload and short-circuit proof
G
Communication interface system bus
CAN actuation of the system bus according to ISO-DIS 11898 (CAN High Speed)

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3.3.2 Control terminals
The control and software functionality can be freely configured for economical opera-
tion with a safe function.
Expansion module EM-IO-03
0.14 … 1.5 mm
AWG 30 … 16
2
Wieland DST85 / RM3,5
0.14 … 1.5 mm
AWG 30 … 16
2
0.25 … 1.0 mm
AWG 22 … 18
2
0.25 … 0.75 mm
AWG 22 … 20
2
0.2 … 0.3 Nm
1.8 … 2.7 lb-in
Caution! The control inputs and outputs must be connected and disconnected free
of electrical power. Otherwise components may be damaged.
•The unit may only be connected with the power supply switched off.
•Make sure that the frequency inverter is de-energized.
Socket X410A
Ter. Description
1 Voltage output 20 V, Imax = 180 mA 1)
2 Earth / GND 20 V
3 Analog current output EM-S2OUTA,
Iout= 0(4)...20 mA, Umax = 10 V, overload and short-circuit proof
4 Digital input EM-S2IND, Umax = 30 V, 10 mA at 24 V, PLC compatible,
response time approx. 16 ms
5 Digital input EM-S3IND, Umax = 30 V, 10 mA at 24 V, PLC compatible,
response time approx. 16 ms
6-7 Digital output EM-S1OUTD, make contact, Umax = 24 V AC/DC, 1 A (ohmic)
Socket X410B
Ter. Description
1-2
Motor PTC connection EM-MPTC, rated response resistance > 2.85 kΩ(PTC)
according DIN 44081
3 Analog input EM-S1INA, resolution 12 bit,
Umax=±10 V (Ri = 100 kΩ),
Imax = ±20 mA (Ri = 250 Ω)
4 Analog voltage output EM-S1OUTA,
Umax=±10 V, Imax = 2 mA, overload and short circuit proof
5 System bus, CAN low
6 System bus, CAN high
7 Earth / GND
1) The power supply at terminal X210A.1 may be loaded with a maximum current of
Imax = 180 mA. Relative to the application, the maximum current available will be
reduced by the further control outputs in the basic device and the expansion mod-
ule.

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4System bus interface
The CAN connection of the system bus is physically designed according to ISO-DIS
11898 (CAN High Speed). The bus topology is the line structure.
In the default version, the frequency inverter support a CAN protocol controller, which
may exist in either the CM-CAN communication module with CANopen interface OR in
an expansion module for the system bus, such as the EM-IO-03 expansion module.
Attention! Installation of two optional components with CAN-Protocol controller re-
sults in a deactivation of the system bus interface in the EM-IO-03 expan-
sion module!
4.1 Bus termination
The necessary bus terminator at the physically first and last node can alternatively be
activated via the two DIP switches S1 and S2 on the EM-IO-03 expansion module.
•Either set S1 to ON and S2 to OFF for a regular passive termination.
•or set S1 and S2 to ON for an active termination. This results in an improved edge
shape of the CAN signals, which causes an improvement of the signal shapes, in
particular in extended systems.
Note: Switch S3 is used to configure the analoginput (see chapter "Analog
input EM-S1INA“).
S3
X410A
S2
X
410B
S1
ON
ON
ON
Attention! The factory setting for the bus termination is OFF.
The active termination via the DIP switches S1 and S2 may only be acti-
vated in one expansion module. The other bus termination must be pas-
sive.
CAN high (X410B.6)
120
Ω
CAN low (X410B.5)
Data line
Data line
CAN high (X410B.6)
332
Ω
CAN low (X410B.5)
Data line
Data line
passive active
332 Ω

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4.2 Cables
For the bus line, use twisted a cable with harness shield (no foil shield).
Attention! The control and communication lines are to be laid physically separate
from the power lines. The harness screen of the data lines is to be con-
nected to ground (PE) on both sides on a large area and with good con-
ductivity.
4.3 Socket X410B
The system bus is connected via the terminals 5,6and 7of the socket X410B on the
EM-IO-03 expansion module.
Socket X410B
Terminals Input/Output Description
(5): X410B.5 CAN-Low CAN-Low (System bus)
(6): X410B.6 CAN-High CAN-High (System bus)
(7): X410B.7 GND CAN-GND (System bus)
X410A
X
410B
567 567
X
410B

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4.4 Baud rate setting/line length
The settingof the baud rate must be identical in all nodes on the system bus. The
maximum possible baud rate is based on the necessary overall line length of the sys-
tem bus. The baud rate is set via the parameter Baud-Rate 903 and thus defines the
possible line length.
Operation mode Function max. line length
3 - 50 kBaud Transmission rate 50 kBaud 1000 meters
4 - 100 kBaud Transmission rate 100 kBaud 800 meters
5 - 125 kBaud Transmission rate 125 kBaud 500 meters
6 - 250 kBaud Transmission rate 250 kBaud 250 meters
7 - 500 kBaud Transmission rate 500 kBaud 100 meters
8 - 1000 kBaud Transmission rate 1000 kBaud 25 meters
A baud rate under 50 kBaud, as defined according to CANopen, is not sensible for the
system bus as the data throughput is too low.
The maximum line lengths stated are guidelines. If they are made complete use of,
the admissible len
g
th is to be calculated on the basis of the line parameters and the
bus driver (PCA82C250T)
4.5 Setting node address
A maximum of 63 slaves or frequency inverters with system bus can be operated on
the system bus. Each frequency inverter is given a node ID, which may only exist
once in the system, for its unambiguous identification. The settingof the system bus
node ID is done via the parameter Node-ID 900.
Parameter Setting
No. Description Min. Max. Factory setting
900 Node-ID -1 63 -1
Thus, the system bus possesses a maximum number of 63 nodes (Network nodes),
plus one frequency inverter as a master.
Note: With the factory setting of parameter Node-ID 900 = -1, the system bus
is deactivated for this frequency inverter.
If the Node-ID 900 = 0 is set, the frequency inverter is defined as a mas-
ter. Only one frequency inverter on the system bus may be defined as a
master.

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4.6 Functional overview
The system bus produces the physical connection between the frequency inverters.
Logical communication channels are produced via this physical medium. These chan-
nels are defined via the identifiers. As CAN does not possess a node-oriented, but a
message-oriented addressingvia the identifiers, the logical channels can be displayed
via it.
In the basic state (factory setting) the identifiers are set according to the Predefined
Connection Set of CANopen. These settings are aimed at one master servingall the
channels. In order to be able to build up process data movement via the PDO channels
between individual or a number of inverters (transverse movement), the setting of the
identifiers in the nodes has to be adapted.
Note: The exchange of data is done message-oriented. An frequency inverter
can transmit and receive a number of messages, identified via various
identifiers.
As a special feature, the properties of the CAN bus mean that the messages transmit-
ted by one node can be received by a number of nodes simultaneously. The error
monitoring methods of the CAN bus result in the message being rejected by all recipi-
ents and automatically transmitted again if there is a faulty reception in one receiver.
4.7 Network management
The network management controls the start of all the nodes on the system bus. Nodes
can be started or stopped individually or together. For node recognition in a CAL or
CAN open system, the slaves on the system bus generate a starting telegram (boot-
up report).
In the event of a fault. the slaves automatically transmit a fault report (emergency
message).
For the functions of the network management, the methods and NMT telegrams (net-
work management telegrams) defined according to CAN open (CiA DS 301) are used.
PLC
Controller / PC
Field bus
System bus Master
Parameter Function
SDO 2 SDO 1 PDO
System bus
System bus Slave
Parameter Function
SDO 2 SDO 1 PDO
System bus
System bus

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4.7.1 SDO channels (parameter data)
Each frequency inverter possesses two SDO channels for the exchange of parameter
data. In a slave device, these are two server SDO's, in a device defined as a master a
client SDO and a server SDO. Attention must be paid to the fact that only one master
for each SDO channel may exist in a system.
Note: Only one master can initiate by the system bus an exchange of data via
its client SDO.
The identifier assignment for the SDO channels (Rx/Tx) is done according to the Pre-
defined Connection Set.
This assignment can be amended by parameterization, in order to solve identifier con-
flicts in a larger system in which further devices are on the CAN bus alongside the
frequency inverters.
Attention! If a system in which an frequency inverter works as a master is pro-
duced, the identifier allocations for the SDO channel may not be altered.
In this way, an addressingof individual nodes via the field bus/system
bus path of the master frequency inverter is possible.
Parameters are read/written via the SDO channels. With the limitation to the SDO
Segment Protocol Expedited, which minimizes the requirements of the parameter ex-
change, the transmittable data are limited to the uint / int / longtypes. This permits
complete parameterization of the frequency inverters via the system bus, as all the
settings and practically all the actual values are displayed via these data types.

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4.7.2 PDO channels (process data)
Each frequency inverter possesses three PDO channels (Rx/Tx) for the exchange of
process data.
The identifier assignment for the PDO channel (Rx/Tx) is done by default accordingto
the Predefined Connection Set. This assignment corresponds to an alignment to a
central master control.
In order to produce the logical channels between the devices (transverse movement)
on the system bus, the amendment of the PDO identifiers for Rx/Tx is necessary.
Each PDO channel can be operated with time or SYNC control. In this way, the opera-
tion behavior can be set for each PDO channel:
The setting of the operation mode is done via the following parameters:
TxPDO1 Function 930,TxPDO2 Function 932 und TxPDO3 Function 934
RxPDO1 Function 936,RxPDO2 Function 937 und RxPDO3 Function 938
Operation mode Function
0 -deactivated no exchange of data via the PDO channel (Rx and/or Tx)
1 -time-controlled Tx-PDO’s cyclically transmit according to the time specifica-
tion
Rx-PDO‘s are read in with Ta = 1 ms and forward the data
received to the application
2 -SYNC controlled Tx-PDO’s transmit the data from the application that are
then current after the arrival of the SYNC telegram.
Rx-PDO’s forward the last data received to the application
after the arrival of the SYNC telegram.
For synchronous PDO’s, the master (PC, PLC or frequency inverter) generates the
SYNC telegram. The identifier assignment for the SYNC telegram is done by default
according to the Predefined Connection Set. This assignment can be altered by
parameterization.

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4.8 Master functionality
An external control or an frequency inverter defined as a master (node ID = 0) can be
used as a master. The fundamental tasks of the master are controllingthe start of the
network (boot-up sequence), generating the SYNC telegram and evaluating the emer-
gency messages of the slaves.
Further, there can be access to the parameterization of all the frequency inverters on
the system bus by means of a field bus connection via the client SDO of the master
frequency inverter.
4.8.1 Control boot-up sequence, network management
The Minimum Capability Boot-Up method defined according to CANopen is used for
the state control of the nodes (nodes).
This method knows the pre-operational, operational and stopped states.
After the initialization phase, all the nodes are in the pre-operational state. The system
bus master transmits the NMT command Start-Remote-Node. With this command,
individual nodes or all the nodes can be started together. An frequency inverter de-
fined as a master starts all the nodes with one command. After receipt of the Start
Remote Node command, the nodes change into the Operational state. From this time
on, process data exchange via the PDO channels is activated.
A master in the form of a PLC/PC can start the nodes on the system bus individually
and also stop them again.
As the slaves on the system bus need different lengths of time to conclude their ini-
tialization phases (especially if external components exist alongside the frequency
inverters), an adjustable delay for the change to Operational is necessary. The setting
is done in an frequency inverter defined as a system bus master via Boot-Up Delay
904.
Parameter Setting
No. Description Min. Max. Factory setting
904 Boot-Up Delay 3500 ms 50000 ms 3500 ms
Properties of the states:
State Properties
Pre-Operational Parameterization via SDO channel possible
Exchange of process data via PDO channel not possible
Operational Parameterization via SDO channel possible
Exchange of process data via PDO channel possible
Stopped Parameterization via SDO channel not possible
Exchange of process data via PDO channel not possible
Note: Start-Remote-Node is cyclically transmitted with the set delay time by an
frequency inverter defined as a system bus master, in order to put slaves
added with a delay or temporarily separated from the network back into
the Operational state.