BONFIGLIOLI 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 227 R1
ACTIVE
CANopen Communication module CM-CAN
Frequency Inverter 230 V / 400 V
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 of
the device series ACT. The information necessary for the assembly and application
of the CANopen communication module CM-CAN 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
inverter. The parameters necessary for specific applications for adaptation to the
application and the extensive additional functions are described in detail.
Application manual
The application manual supplements the documentation for purposeful installation and
commissioning of the frequency inverter. Information on various subjects connected
with the use of the frequency inverter are described specific to the application.
Installation instructions
As a complement of the brief instructions and the operating instructions, the
installation instructions describe the installation and use of devices.
The documentation and additional information can be requested via your local
representation of the firm of BONFIGLIOLI. The followingpictograms and signal words
are used for the purposes of the present documentation:
Danger!
means a directly threateningdanger. Death, serious damage to persons and
considerable damage to property will occur if the precautionary measure is not taken.
Warning!
marks a possible threat. Death, serious damage to persons and considerable damage
to property can be the consequence if attention is not paid to the text.
Caution!
refers to an indirect threat. Damage to people or property can be the result.
Attention!
refers to a possible operational behavior or an undesired condition that can occur in
accordance with the reference text.
Note
marks information that facilitates handling for you and supplements the corresponding
part of the documentation.
Warning! In installation and commissioning, comply with the information in the
documentation. You as a qualified person must read the documentation
carefully before the start of the activity and obey the safety instructions.
For the purposes of the instructions, "qualified person" designates a
person acquainted with the erection, assembly, commissioningand
operation of the frequency inverters and possessingthe qualification
corresponding to the activity.

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Table of Content
1General safety and application information .................................................................. 4
1.1 General information................................................................................................. 4
1.2 Proper use................................................................................................................ 4
1.3 Transport and storage ............................................................................................. 5
1.4 Handling and positioning......................................................................................... 5
1.5 Electrical connection................................................................................................ 5
1.6 Operation information ............................................................................................. 5
1.7 Maintenance and service ......................................................................................... 5
2Introduction ................................................................................................................... 6
3 Assembly of the CANopen communication module CM-CAN ......................................... 8
4 Plug occupancy/bus connection/line ............................................................................ 9
5Baud rate setting/line lengths..................................................................................... 10
6Setting node address ................................................................................................... 10
7 Operational behaviour if the bus connection fails ....................................................... 11
8Objects .........................................................................................................................12
8.1 Communication Objects (0x1nnn)......................................................................... 12
8.1.1 0x1000/0 Device Type (unsigned 32) ..................................................................... 12
8.1.2 0x1001/0 Error Register (unsigned 8)..................................................................... 12
8.1.3 0x1008/0 Manufacturer Device Name (visible string)................................................. 13
8.1.4 0x1009/0 Manufacturer Hardware Version (visible string).......................................... 13
8.1.5 0x100A/0 Manufacturer Software Version (visible string)........................................... 13
8.1.6 0x100C/0 Guard Time (unsigned 16) ...................................................................... 13
8.1.7 0x100D/0 Lifetime Factor (unsigned 8)................................................................... 13
8.1.8 0x1014/0 Emergency ID (unsigned 32)................................................................... 13
8.1.9 0x1016/n Consumer Heartbeat Time (unsigned 32) ................................................. 14
8.1.10 0x1017/0 Producer Heartbeat Time (unsigned 16)................................................... 14
8.1.11 0x1018/n Identity Object (unsigned 32) ................................................................. 14
8.1.12 Emergency Message .............................................................................................. 14
8.2 Process data / service data objects....................................................................... 15
8.2.1 Process data objects (PDO) .................................................................................... 15
8.2.1.1 First Receive PDO............................................................................................ 15
8.2.1.2 Second receive PDO ........................................................................................ 15
8.2.1.3 First Transmit PDO .......................................................................................... 16
8.2.1.4 Second Transmit PDO...................................................................................... 16
8.2.2 Service data object SDO......................................................................................... 17
8.3 Common objects (0x6nnn) .................................................................................... 18
8.3.1 0x6007/0 abort connection option code (unsigned 8)............................................... 18
8.3.2 0x603F/0 error code (integer 16) ........................................................................... 19

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Table of Content
8.4 Device control objects (6nnn) .............................................................................. 20
8.4.1 0x6060/0 modes of operation (integer 8)................................................................ 20
8.4.2 0x6061/0 modes of operation display (integer 8)..................................................... 20
8.4.3 0x6040/0 control word (unsigned 16)..................................................................... 20
8.4.4 0x6041/0 status word (unsigned 16) ...................................................................... 21
8.5 Velocity mode objects (0x6nnn)........................................................................... 22
8.5.1 0x604D/0 pole number (integer 8) ......................................................................... 22
8.5.2 0x6042/0 Target velocity (integer 16)..................................................................... 22
8.5.3 0x6043/0 Target velocity demand (integer16) ......................................................... 22
8.5.4 0x6044/0 Control effort (integer16)........................................................................ 22
8.5.5 0x6046/n Velocity min max amount......................................................................... 23
8.5.6 0x6048/n Velocity acceleration................................................................................ 24
8.5.7 0x6049/n Velocity deceleration ............................................................................... 25
8.6 Manufacturer object (0x2000/n) .......................................................................... 26
8.6.1 Reading/writing of parameters/values ..................................................................... 26
8.6.2 Error code list........................................................................................................ 27
8.6.3 Handling of the data sets / cyclic writing.................................................................. 28
8.6.4 Subindex 01, int/uint parameters ............................................................................ 28
8.6.5 Subindex 02, long parameters ................................................................................ 29
8.6.6 Subindex 03, string parameters............................................................................... 29
8.7 Manufacturer objects (0x2nnn) ............................................................................ 29
9Control / reference value............................................................................................. 34
9.1 Control via contacts............................................................................................... 35
9.2 Control via state machine...................................................................................... 36
9.2.1 Behavior in quick stop............................................................................................ 39
9.2.2 Behavior in transition 5 .......................................................................................... 39
9.3 Control via remote contacts .................................................................................. 41
9.4 Reference value / actual value.............................................................................. 43
10 Parameter list............................................................................................................... 45
10.1 Actual value ........................................................................................................ 45
10.2 Parameter........................................................................................................... 45
11 Annex ...........................................................................................................................46
11.1 Warning messages ............................................................................................. 46
11.2 Fault messages ................................................................................................... 46

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1General safety and application information
This documentation has been produced with the greatest of care and extensively and
repeatedly checked. For reasons of clarity, not all the detailed information on all types
of the product and also not every imaginable case of erection, operation or
maintenance have been taken into account. If you require further information or if
specific problems which are not dealt with extensively enough in the documentation
exist, you can request the necessary information via the local representation of the
company BONFIGLIOLI.
We would also point out that the contents of this documentation are not part of a
previous or existingagreement, assurance or legal relationship and are not intended
to amend the same. All obligations of the manufacturer result from the underlying
purchase contract, which also contains the complete and solely valid warranty
regulation. These contractual warranty provisions are neither extended nor limited by
the production of this documentation.
The manufacturer reserves the right to correct or amend the contents and the product
information as well as omissions without prior notification 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
during 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 s EN
50178, IEC 60364 (Cenelec HD 384 or DIN VDE 0100), IEC 60664-1
(Cenelec HD 625 or VDE 0110-1), BGV A2 (VBG 4) and national
provisions. Qualified persons within the meaningof this principal safety
information are people acquainted with the erection, fitting,
commissioning and 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
installation in industrial plant or machines. Commissioningand start of
intended operation are not allowed until it has been established that the
machine corresponds to the provisions of the EC machine directive
98/37/EEC and EN 60204. Accordingto the CE sign, the frequency
inverters additionally fulfill the requirements of the low-voltage directive
73/23/EEC and the s EN 50178 / DIN VDE 0160 and EN 61800-2.
Responsibility for compliance with the EMC directive 89/336/EEC is with
the user. Frequency inverters are available in a limited way and as
components exclusively intended for professional use within the meaning
of the EN 61000-3-2.
With the issue of the UL 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
conditions the ratingplate and the documentation be complied with. The
instructions must have been read and understood before startingwork at
the device.

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1.3 Transport and storage
T
ransport and stora
g
e are to be done in an adequate way in the ori
g
inal packa
g
in
g
.
Stora
g
e shall be in dry rooms protected a
g
ainst dust and moisture with sli
g
h
t
temperature fluctuations. Please observe the climatic conditions according to EN
50178 and the marking on the packaging.
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
because they may be a health hazard.
The frequency inverters are to be used according to 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
components 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
inverter. Make sure that the frequency inverter is de-energized.
Do not touch the sockets, because the capacitors may still be charged.
Comply with the information given in the operatinginstructions and on
the frequency inverter label.
While working on the frequency inverters, obey the applicable standards BGV A2
(VBG 4), VDE 0100 and other national directives. Comply with the information in the
documentation on electrical installation and the relevant directives. Responsibility for
compliance with and examination of the limit values of the EMC product standard EN
61800-3 for variable-speed electrical drive mechanisms is with the manufacturer of
the industrial plant or machine.
T
he documentation contains information on installation correct for EMC. The cables
connected to the frequency inverters may not be subjected to an isolation test with a
high test voltage without previous circuit measures.
1.6 Operation information
Warning! Before commissionin
g
and the start of the intended operation, attach all
the covers and check the sockets. Check additional monitorin
g
and
protective devices pursuant to EN 60204 and the safety directives
applicable in each case (e.
g
. Workin
g
Machines Act, Accident Prevention
Directives etc.).
No connection work may be performed, while the system is in operation.
1.7 Maintenance and service
Warning! Unauthorized 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 CANopen
communication module CM-CAN for the frequency inverters of the ACT series.
The frequency inverter must be extended by the CANopen communication module
CM-CAN for the CAN connection.
The CM-CAN CANopen module is enclosed with the frequency inverter as a separate
component and must be fitted by the user. This is described in detail in the
"Assembly" chapter.
Note: These instructions are not to be understood as basic information on
CANopen. They presuppose fundamental knowledge of the methods and
mode of effect of CANopen on the part of the user.
In some chapters, possibilities of setting and display are described as
alternatives to the KP500 control unit with the help of the VPlus control
software. Operation of a PC with the VPlus control software on the
frequency inverter in the use of the CM-CAN CANopen module is only
possible as an alternative to the control unit via an optional KP232
interface adapter.
In this document, connectingthe hardware, relevant parameters and the available
objects are shown.
The available objects are sub-divided according to:
Communication objects (0x1nnn) to DS301
Manufacturer objects (0x2nnn) to DS301
Common objects (0x6nnn) to DS402
Device control objects (0x6nnn) to DS402
Velocity mode objects (0x6nnn) to DS402
The functions and objects are described as far as necessary in these instructions. For
further information, reference is made here to the Draft Standards of the CiA..
The standards to which reference is made are DS102, DS301 and DS402, which are
available from:
CiA, CAN in AUTOMATION
Am Weichselgarten 26
D-91058 Erlangen
Tel.: [phone]
Fax: [phone]
Attention! With the help of the CM-CAN CANopen communication module, it is
possible to access ALL the parameters of the frequency inverter from a
control unit. Control of the access via the operation level as in the KP500
manual control unit of the VPlus PC control software does not exist here.
A change of parameters with a meaningunknown to the user can lead to
the frequency inverter becoming incapable of functioning.

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The implementation of CANopen is based on Version 4.01 of DS301. The differences
to older implementations based on Version 2.0 are shown in the following table.
Object Version 2.0 Version 4.01
Boot-up message
Emergency object without
data
Identifier 128 + NodeID
Heartbeat object with data
byte (content = 0)
Identifier = 1792 + NodeID
0x1004
Number of supported PDO‘s available not available
0x100E
Guarding identifier available not available Identifier = 1792 + NodeID
Communication parameter
second RxPDO 0x1405 (*) now object 0x1401
Communication parameter
second TxPDO 0x1805 (*) now object 0x1801
Mapping parameter
second RxPDO 0x1605 (*) now object 0x1601
Mapping parameter
second TxPDO 0x1A05 (*) now object 0x1A01
0x1016
Consumer heartbeat not available available three subscribers to monitor
0x1017
Producer heartbeat not available available
0x1018
Identity object not available available Vendor ID = 0x000000D5
(*) These chan
g
es are not chan
g
es to the standard, but an adaptation of the
implementation compared with older versions.
Caution! CANopen to Version 4.01 alternatively supports the guarding OR
heartbeat monitorin
g
mechanisms. Only one of these two methods ma
y
be used.

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3Assembly of the CANopen communication module CM-CAN
The CANopen communication module CM-CAN is supplied in a housingfor assembly in
a card slot of the frequency inverter. The scope of delivery additionally includes a PE
spring for a PE connection (shielding) of the communication module.
Caution! Before assembly of the CM-CAN CANopen communication module, the
frequency inverter must be switched free of voltage.
Assembly under voltage is not admissible and leads to the destruction of
the frequency inverter and / or the CANopen module.
In a first step, please remove the covers of the frequency inverter. The card slot for
the CANopen communication module CM-CAN becomes accessible.
The PE springsupplied is assembled with the help of the M4 screw in the device. The
spring must be aligned central.
The CM-CAN communication module can now be positioned and screw connected to
the PE spring with the M screw in the device.
M4
M2
After completion of the assembly, replace the covers. The pre-stamped breakthrough
in the upper cover for the X310 plug is to be broken out.

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4Plug occupancy/bus connection/line
The CAN connection is physically designed accordingto the ISO 11898 standards
(CAN High-Speed).
The X310 (9-pole Sub-D) bus plughas been
designed accordingto DS102 Version 2.0 (Bus
node, option A).
Details can be seen from the followingtable on
the occupancy of the bus plug.
S1
X
310
T
he bus connection necessary on a phase in the
physically first and last subscriber can be
activated via DIP switch S1 on the
communication module.
The factory setting for the bus connection is OFF.
As an alternative, this also possible via correspondin
g
switchin
g
in the bus connection
plugs.
CAN high (Pin 7)
120
Ω
CAN low (Pin 2)
data line
data line
Attention: Make absolutely sure that only one of the two possibilities for the bus
connection is used and the bus connection is only switched on with the
first and last subscriber. Otherwise, operation of the CANopen
communication is not possible.
Bus plug X310
Pin Name Function
Housing Shield connected with PE
1 CAN_L CAN Low bus interface,
short-circuit resistant and function-insulated,
max. current 60 mA
2 CAN_L CAN Low bus interface,
short-circuit resistant and function-insulated,
max. current 60 mA
3 CAN_GND Earth / GND
4 n.c. not used
5 n.c. not used
6 CAN_GND Earth / GND
7 CAN_H CAN High bus interface,
short-circuit resistant and function-insulated,
max. current 60 mA
8 CAN_H CAN-High Bus-interface,
short-circuit resistant and function-insulated,
max. current 60 mA
9 +5V out Supply voltage
The drilled and shielded line is to be used for the bus line. The shield is to be
implemented as a harness shield (not a film shield).
Attention! The line screen is to be connected with PE on the surface at both ends.

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5Baud rate setting/line lengths
The transmission speed of the CANopen communication module CM-CAN can be set
via the parameter CAN Baud rate 385.
Parameter Setting
No. Description Min. Max. Fact. sett.
385 CAN Baud rate 1 8 6
The transmission rate is a function of a variety of application-specific parameters. The
line length of the communication network limits the transmission speed due to the
signal running time of the CANopen protocols.
CANopen interface
Operation mode Function max. Line length
1 - 10 kBaud Transmission rate 10 kBaud 5000 meter
2 - 20 kBaud Transmission rate 20 kBaud 2500 meter
3 - 50 kBaud Transmission rate 50 kBaud 1000 meter
4 - 100 kBaud Transmission rate 100 kBaud 500 meter
5 - 125 kBaud Transmission rate 125 kBaud 500 meter
6 - 250 kBaud Transmission rate 250 kBaud 250 meter
7 - 500 kBaud Transmission rate 500 kBaud 100 meter
8 - 1000 kBaud Transmission rate 1000 kBaud 25 meter
6Setting node address
The CANopen protocol supports a maximum of 127 nodes in a communication
network. Each frequency inverter is given a node ID, which may only exist once in the
system, for its unambiguous identification. The settingof the station address is done
via the parameter CAN Node Number 387.
Parameter Setting
No. Description Min. Max. Fact. sett.
387 CAN Node Number 0 127 0
Note: The factory setting CAN Node Number 387 = 0 means that the
CANopen interface has been deactivated.
After the node address has been set via parameter CAN Node Number
387, a reset is automatically triggered on the frequency inverter, by
which the setting for the station address is taken on.

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7Operational behaviour if the bus connection fails
T
he operational behaviour if the bus connection fails due to bus OFF,
g
uardin
g
or
heartbeat error can be parameterised. The required behaviour is set with the
parameter CAN Error Behaviour 388.
Operation mode Function
0 -No reaction Operating point is maintained
1 -Error Switch-off and display of the error report
2 -Switch-off Status change - "Switched on" to "Operation released",
Drive mechanism is stopped with stopping behaviour
3 -Quick stop Status change - "Switched on" to "Operation released",
Drive mechanism is stopped with emergency stop ramp
Attention! The parameter settings CAN Error Behaviour 388 = "2 – Switch-off"
and "3 – Quick stop" are only relevant if the further paramete
r
Local/Remote 412 = "1 - Control via state machine" has been set as a
supplement.
The error and warning behaviour of the frequency inverter can be parameterised in
various ways. If a failure of the bus system occurs in the setting CAN Erro
r
Behaviour 388 = "1 – Error", the frequency inverter reports one of the following
errors:
Communication error
Code Meaning
21 Bus OFF
22 Guarding failure
23 Error state
F20
nn Heartbeat failure – nn = node address of the failed subscriber

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8 Objects
T
he available ob
j
ects are marked via Index/Subindex and are to be addressed via this
identification.
8.1 Communication Objects (0x1nnn)
8.1.1 0x1000/0 Device Type (unsigned 32)
The device identification is done at the start of the network. The information on the
device type and the functionality (type) are prescribed by the CANopen protocol in a
mandatory way. The object variable 0x1000/0 in the data type "unsigned32" is stored
in a readable way.
Object 0x1000/0
Additional Information
Mode Bits Type Device Profile Number
31 2423 1615 0
T
he "Drives and Motion Control" standard device profile used by the frequenc
y
inverter is portrayed as device profile number 402. The further information specifies
the device functionality of the frequency inverter.
Device Profile Number = 402 drives and motion control
Type = 1 frequency converter
Mode bits = 0 manufacturer specific
8.1.2 0x1001/0 Error Register (unsigned 8)
Object 0x1001/0 is the error register for internal errors of the frequency inverter. The
date is of the unsigned8 and bit-coded type. The status error-free (0x1001/0 = 0) or
error exists (0x1001/0 ≠0) is displayed.
Object 0x1001/0
Bit Meaning
0 General error
1 Current
2
V
olta
g
e
3 Temperature
4 Communication error
5 Device profile-dependent error
6 Reserved
7 Manufacturer-dependent error

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8.1.3 0x1008/0 Manufacturer Device Name (visible string)
The device name is stated as a number of ASCII characters (visible string). This object
enables device identification within the network.
Example : "ACT 10"
8.1.4 0x1009/0 Manufacturer Hardware Version (visible
string)
The device version is stated as a number of ASCII characters (visible string). The
device version can be read via ob
j
ect 0x1009/0. The strin
g
available in the frequenc
y
inverter under the parameter Device type name 14 is read.
Example : "ACT 10-1 ........................."
8.1.5 0x100A/0 Manufacturer Software Version (visible
string)
The software version is displayed via the object 0x100A/0 as a number of ASCII
characters (visible string). The string available in the frequency inverter under the
parameter Inverter software version 12 is read.
Example : "V4.0.1 ...."
8.1.6 0x100C/0 Guard Time (unsigned 16)
T
he response monitorin
g
time is calculated by the multiplication of the ob
j
ect "Guard
Time" and "Lifetime Factor".
T
he ob
j
ect 0x100C/0 defines the "Guard Time" in steps
of a millisecond. The statement "Guard Time" = 0 deactivates the
g
uardin
g
monitorin
g
function.
8.1.7 0x100D/0 Lifetime Factor (unsigned 8)
The object "Lifetime Factor" extends the Guard Time by the set number of cycles. The
setting of "Lifetime Factor" = 0 deactivates the guarding monitoring function.
8.1.8 0x1014/0 Emergency ID (unsigned 32)
The setting of the identifier and thus the definition of the priority for the emer
g
ency
message is done with object 0x1014/0.
The default figure of the identifier is 128 + Node ID.
Object 0x1014/0
Bit 31 Bit 30 to Bit 11 Bits 10 to Bit 0
valid / not valid not used 11-bit identifier
Bit 31 : 0 = EMCY existent / valid
1 = EMCY non-existent / not valid

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8.1.9 0x1016/n Consumer Heartbeat Time (unsigned 32)
Up to three heartbeat producers can be monitored with the object 0x1016/n
(controlled via the subindices n = 1 ... 3). Settingof the object "Consumer Heartbeat
Time" = 0 means no monitoring.
Node ID identifies the subscriber to be monitored. The heartbeat time states the
maximum time in milliseconds between two heartbeat telegrams of the heartbeat
producer to be monitored. If this time is exceeded, the monitorin
g
node
g
enerates a
corresponding error report.
Object 0x1016/n
Index Subindex Meaning Value
1016 0 Number of entries 3
1 Consumer Heartbeat Time see Table
2 Consumer Heartbeat Time see Table
3 Consumer Heartbeat Time see Table
Value of the consumer heartbeat time
Bit 31 to Bit 24 Bit 23 to Bit 16 Bits 15 to Bit 0
not used Node ID Heartbeat Time
8.1.10 0x1017/0 Producer Heartbeat Time (unsigned 16)
The time for the transmission of a heartbeat object is set with the object 0x1017/0.
The setting "Producer Heartbeat Time" = 0 means that no heartbeat object is
transmitted.
8.1.11 0x1018/n Identity Object (unsigned 32)
The identity object gives information about the device manufacturer. The vendor ID
"0xD5" identifies the manufacturer "VECTRON Elektronik GmbH". This vendor ID
has been assigned by the CANopen users' organisation CiA in Erlangen.
Object 0x1018/0
Index Subindex Meaning Value
1018 0 Number of entries 1
1 Vendor ID 0x000000D5
8.1.12 Emergency Message
The emergency message is transmitted with the identifier 128 + Node ID and
comprises ei
g
ht bytes. This ob
j
ect is
g
enerated in individual cases and the faul
t
acknowledgement signalised by an emergency message with the data content equal
zero. The contents are coded according to the following table:
Emergency Message
Byte Contents
0 Low-byte error code
1 High-byte error code
2 Error register (= 0x1001)
3 0
4 0
5 0
6 Low-byte, internal error code
7 High-byte, internal error code
Bytes 0, 1 and 2 have been firmly defined within the emergency object. Bytes 6 and 7
are used product-specifically on the basis of the specification. Codingof the error
codes corresponds to the object error code 0x603F/0 (integer 16).

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8.2 Process data / service data objects
8.2.1 Process data objects (PDO)
8.2.1.1 First Receive PDO
The first receive PDO is defined according to receive PDO No. 1 (DS402).
Receive-PDO No. 1
Index Subindex Meaning Value
1400 0 Number of entries 1
1 COB ID 512 + Node ID
2 Transmission type 255
Mapping Parameter
Index Subindex Meaning Value
1600 0 Number of mapped objects 1
1 Control word 6040 0010 (hex)
The object control word 0x6040 is mapped onto the control word inside the product.
8.2.1.2 Second receive PDO
The second receive PDO is defined according to receive PDO No. 6 (DS402).
Receive-PDO No. 6
Index Subindex Meaning Value
1401 0 Number of entries 1
1 COB ID 768 + Node ID
2 Transmission type 255
Mapping Parameter
Index Subindex Meaning Value
1601 0 Number of mapped objects 1
1 Control word 6040 0010 (hex)
2 Target velocity 6042 0010 (hex)
The object control word 0x6040 is mapped onto the control word inside the product.
The object target velocity is mapped onto the reference line value inside the product.
In this, please ensure that the object target velocity is stated in the unit RPM and is
rescaled to the unit Hz for the reference line value. The number of pole pairs set
(Parameter No. of Pole Pairs 373, data set 1) is to be taken into account.
In the default setting, the TxPDO1 is transmitted when a change in the contents of
the status word takes place.

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8.2.1.3 First Transmit PDO
The first Transmit PDO is defined according to Transmit PDO No. 1 (DS402).
Transmit-PDO No. 1
Index Subindex Meaning Value
1800 0 Number of entries 1
1 COB ID 384 + Node ID
2 Transmission type 255
3 Inhibit time 0
4 Reserved -
5 Event time 0
Mapping Parameter
Index Subindex Meaning Value
1A00 0 Number of mapped objects 1
1 Status word 6041 0010 (hex)
In the default settin
g
, the TxPDO1 is transmitted when a chan
g
e in the contents o
f
the status word takes place. The object status word corresponds to the product-
internal status word.
The TxPDO1 can be deactivated by setting bit 31 (MSB) of the COB-ID in 1800/1.
There is then no transmission of the TxPDO1 (see DS301).
The transmission type cannot be altered.
Note: Event time and inhibit time (TxPDO1 and TxPDO2)
The event time is set in the unit milliseconds.
-If event time = 0, the TxPDO is transmitted when the contents of the
objects change.
-If event time ≠0, the TxPDO is transmitted at the interval of the se
t
event time AND when the contents of the objects change.
The inhibit time is set in integral multiples of 100 μs.
-The inhibit time is the minimum interval between the transmission o
f
the TxPDO.
The inhibit time must be set <event time!
8.2.1.4 Second Transmit PDO
The second transmit PDO is defined according to transmit PDO No. 6 (DS402).
Transmit-PDO No. 6
Index Subindex Meaning Value
1801 0 Number of entries 1
1 COB ID 640 + Node ID
2 Transmission type 255
3 Inhibit time 500 (=50 ms)
4 Reserved --
5 Event time 1000 (=1000 ms
Mapping Parameter
Index Subindex Meaning Value
1A01 0 Number of mapped objects 2
1 Status word 6040 0010 (hex)
2 Control effort 6044 0010 (hex)

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In the default setting, TxPDO2 is transmitted when a change in the contents of the
status word takes place or the value of control effort changes. An inhibit time of 50
ms is effective. Without a change in the value, the TxPDO2 is transmitted at an
interval of 1000 ms (event time). The object status word corresponds to the product-
internal status word.
The TxPDO2 can be deactivated by setting bit 31 (MSB) of the COB-ID in 1801/1.
There is then no transmission of the TxPDO2 (see DS301).
The transmission type cannot be altered.
With a setting of the inhibit time of ≤20 ms, a minimum transmission interval of 20
ms is always complied with. This prevents the frequency inverter from continuousl
y
transmitting and thus blockingthe bus if the actual value fluctuates (caused by control
functions).
T
he control effort mappin
g
parameter corresponds to the actual speed. Please
remember that control effort is stated in the unit RPM and is rescaled into the unit Hz
from the product-internal actual value. The set number of pole pairs (parameter
N
o.
of Pole Pairs 373, data set 1) is relevant.
8.2.2 Service data object SDO
Transmission and receipt of service data objects demands the exchange of at least
two data telegrams. Service data objects are messages of an arbitrary scope which
demand a confirmation by the recipient. This type of data is used, for example, for the
parameterization of the frequency inverter, as access to the object directory is made
possible. The reply entails the data segment and object control information. A
defective transmission is notified by an error telegram.
A server SDO has been implemented (Index 0x1200). The server SDO supports
Subindex 01 and 02.
Service data object
Index Subindex Meaning Value
1200 0 Number of entries (unsigned 8) 2
1 Server-Rx-SDO-ID (unsigned 32) 1536 + Node-Id
2 Server-Tx-SDO-ID (unsigned 32) 1408 + Node-Id

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8.3 Common objects (0x6nnn)
8.3.1 0x6007/0 abort connection option code (unsigned 8)
The object abort connection option code specifies the operational behaviour of the
frequency inverter if the bus connection fails. This is recognised via the CAN controller
(bus OFF), guarding or heartbeat.
Object 0x6007/0
Operation mode Function
0 -no reaction Operating point is maintained
1 -Error Switch-off and display of the error report
2 -Switch-off Status change - "Switched on" to "Operation released",
Drive mechanism is stopped with stopping behaviour
3 -Quick stop Status change - "Switched on" to "Operation released",
Drive mechanism is stopped with emergency stop ramp
This object corresponds with the parameter CAN Error behaviour 388.
Note: The object 0x605A/quick_stop_option_code has not been implemented.
The operational behaviour for the quick stop is set as if this object has
been set to the value 2.
For the quick stop, this means: decelerate on the quick stop ramp and
switch over when zero has been reached.