BONFIGLIOLI Vectron Active Cube User manual

ACTIVE CUBE
CANopen
Communication module CM-CAN
Frequency inverter 230 V / 400 V

Contents
1General Information about the Documentation .......................................................... 8
1.1 This document ......................................................................................................... 9
1.2 Warranty and liability.............................................................................................. 9
1.3 Obligation .............................................................................................................. 10
1.4 Copyright ............................................................................................................... 10
1.5 Storage .................................................................................................................. 10
2General safety instructions and information on use.................................................... 11
2.1 Terminology........................................................................................................... 11
2.2 Designated use ...................................................................................................... 12
2.3 Misuse.................................................................................................................... 12
2.3.1 Explosion protection............................................................................................... 12
2.4 Residual risks......................................................................................................... 13
2.5 Safety and warning signs at frequency inverter ................................................... 13
2.6 Warning information and symbols used in the user manual................................. 14
2.6.1 Hazard classes.......................................................................................................14
2.6.2 Hazard symbols.....................................................................................................14
2.6.3 Prohibition signs....................................................................................................14
2.6.4 Personal safety equipment......................................................................................14
2.6.5 Recycling ..............................................................................................................14
2.6.6 Grounding symbol..................................................................................................15
2.6.7 ESD symbol...........................................................................................................15
2.6.8 Information signs .................................................................................................. 15
2.7 Directives and guidelines to be adhered to by the operator................................. 16
2.8 Operator's general plant documentation .............................................................. 16
2.9 Operator's/operating staff's responsibilities ........................................................ 16
2.9.1 Selection and qualification of staff...........................................................................16
2.9.2 General work safety...............................................................................................16
2.10 Organizational measures.................................................................................... 17
2.10.1 General................................................................................................................. 17
2.10.2 Use in combination with third-party products ...........................................................17
2.10.3 Transport and Storage ...........................................................................................17
2.10.4 Handling and installation........................................................................................17
2.10.5 Electrical connections.............................................................................................17
2.10.5.1 The five safety rules........................................................................................18
2.10.6 Safe operation.......................................................................................................18
2.10.7 Maintenance and service/troubleshooting................................................................. 19
2.10.8 Final decommissioning ........................................................................................... 19
3Introduction................................................................................................................. 20
3.1 Supported Configurations...................................................................................... 22
4First Commissioning..................................................................................................... 23
5Installation/Disassembly of the communication module............................................ 24
5.1 Installation ............................................................................................................ 24
5.2 Disassembly........................................................................................................... 25
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6Connector pin assignment/bus termination/line ........................................................ 26
7Baud rate setting/line lengths..................................................................................... 27
8Setting the node number ............................................................................................. 27
9Assigning the CANopen interface................................................................................. 28
10 Operational behavior on bus failure ............................................................................ 29
11 CANopen Overview ...................................................................................................... 30
11.1 Communication Objects ..................................................................................... 30
11.2 Application Objects ............................................................................................ 30
11.3 SDO Function...................................................................................................... 31
11.3.1Read Access..........................................................................................................32
11.3.2 Write Access .........................................................................................................32
11.3.3 Error code table.....................................................................................................33
11.3.4 Segmented Transfer .............................................................................................. 34
11.3.4.1 Reading „Segmented Transfer“......................................................................... 34
11.3.4.2 Writing Segmented Transfer............................................................................. 35
11.4 PDO Function...................................................................................................... 37
11.5 Emergency Function........................................................................................... 37
11.6 SYNC................................................................................................................... 38
11.7 NMT Functions.................................................................................................... 39
11.7.1 NMT state machine................................................................................................39
11.7.2 Boot-Up message ..................................................................................................40
11.7.3 NMT commands.....................................................................................................40
11.8 Guarding............................................................................................................. 41
11.9 Heartbeat............................................................................................................ 42
11.10 OS Synchronization ............................................................................................ 42
11.11 Fault Reset.......................................................................................................... 44
12 Objects ......................................................................................................................... 45
12.1 Objects tabular overview ................................................................................... 45
12.1.1 Communication objects..........................................................................................45
12.1.2 Manufacturer objects .............................................................................................48
12.1.3 Device profile objects.............................................................................................50
12.2 Communication Objects (0x1nnn) ..................................................................... 55
12.2.1 0x1000/0 Device Type............................................................................................55
12.2.2 0x1001/0 Error Register ......................................................................................... 56
12.2.3 0x1005/0 COB-ID SYNC Message............................................................................ 57
12.2.4 0x1006/0 Communication Cycle Period.................................................................... 57
12.2.5 0x1007/0 Synchronous window length..................................................................... 59
12.2.6 0x1008/0 Manufacturer Device Name...................................................................... 59
12.2.7 0x1009/0 Manufacturer Hardware Version ...............................................................59
12.2.8 0x100A/0 Manufacturer Software Version ................................................................60
12.2.9 0x100C/0 Guard Time............................................................................................60
12.2.10 0x100D/0 Lifetime Factor....................................................................................60
12.2.11 0x1010/n Store Parameters................................................................................. 61
12.2.12 0x1011/n Restore default Parameters................................................................... 62
12.2.13 0x1014/0 COB-ID Emergency Message.................................................................63
12.2.14 0x1016/n Consumer Heartbeat Time....................................................................64
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12.2.15 0x1017/0 Producer Heartbeat Time...................................................................... 64
12.2.16 0x1018/n Identity Object ....................................................................................65
12.2.17 0x1029/n Error Behavior..................................................................................... 65
12.2.18 0x1200/n SDO Server Parameter .........................................................................66
12.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameters........................ 66
12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters..................................... 68
12.2.21 0x1800/n, 0x1801/n, 0x1802/n TxPDO Communication Parameters........................ 70
12.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n TxPDO Mapping Parameters.................................. 73
12.3 Manufacturer objects (0x2nnn) – Parameter access......................................... 75
12.3.1 Handling of data sets/cyclic writing of the parameters...............................................75
12.3.1.1 SDO examples (expedited transfer only)............................................................76
12.3.1.2 Examples of writing parameters........................................................................77
12.3.1.3 Examples of reading parameters.......................................................................78
12.3.1.4 Example to Write parameters via Segmented Transfer........................................ 79
12.3.1.5 Examples to Read parameters via Segmented Transfer....................................... 81
12.3.2 Handling of index parameters/cyclic writing .............................................................83
12.3.2.1 Example Writing an index parameter ................................................................84
12.3.2.2 Example Reading an index parameter ...............................................................84
12.4 Manufacturer objects (0x3000 … 0x5FFF)......................................................... 85
12.4.1 0x3000/0 SYNC Jitter............................................................................................. 85
12.4.2 0x3001/0 Digital In actual value.............................................................................. 86
12.4.3 0x3002/0 Digital Out actual value............................................................................ 86
12.4.4 0x3003/0 Digital Out set values .............................................................................. 87
12.4.5 0x3004/0 Boolean Mux...........................................................................................88
12.4.6 0x3005/0 Boolean DeMux....................................................................................... 89
12.4.7 0x3006/0 Percentage set value............................................................................... 90
12.4.8 0x3007/0 Percentage actual value 1........................................................................ 91
12.4.9 0x3008/0 Percentage actual value 2........................................................................ 92
12.4.10 0x3011/0 Actual value Word 1............................................................................. 93
12.4.11 0x3012/0 Actual value Word 2............................................................................. 94
12.4.12 0x3021/0 Actual value Long 1..............................................................................95
12.4.13 0x3022/0 Actual value Long 2..............................................................................96
12.4.14 0x3111/0 Ref. Value word 1................................................................................97
12.4.15 0x3112/0 Ref. Value word 2................................................................................98
12.4.16 0x3121/0 Ref. Value long 1................................................................................. 99
12.4.17 0x3122/0 Ref. Value long 2............................................................................... 100
12.4.18 0x5F10/0 Gear factor........................................................................................ 101
12.4.19 0x5F11/n…0x5F14/n Phasing 1…4 ..................................................................... 102
12.4.20 0x5F15/0 In Gear Threshold.............................................................................. 105
12.4.21 0x5F16/0 In Gear Time..................................................................................... 106
12.4.22 0x5F17/n Position Controller.............................................................................. 106
12.4.23 0x5FF0/0 Active motion block............................................................................ 108
12.4.24 0x5FF1/0 Motion block to resume ...................................................................... 110
12.5 Device Profile Objects (0x6nnn) ...................................................................... 111
12.5.1 0x6007/0 Abort Connection option code ................................................................ 111
12.5.2 0x603F/0 Error code ............................................................................................ 114
12.5.3 0x6040/0 Control word......................................................................................... 115
12.5.4 0x6041/0 Status word.......................................................................................... 116
12.5.5 0x6042/0 Target velocity [rpm]............................................................................. 117
12.5.6 0x6043/0 Target velocity demand ......................................................................... 118
12.5.7 0x6044/0 Control effort........................................................................................ 118
12.5.8 0x6046/n Velocity min max amount....................................................................... 119
12.5.9 0x6048/n Velocity acceleration.............................................................................. 121
12.5.10 0x6049/n Velocity deceleration.......................................................................... 122
12.5.11 0x604A/n Velocity quick stop............................................................................. 123
12.5.12 0x6060/0 Modes of operation............................................................................ 124
12.5.13 0x6061/0 Modes of operation display................................................................. 125
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12.5.14 0x6064/0 Position actual value .......................................................................... 125
12.5.15 0x6065/0 Following error window ...................................................................... 126
12.5.16 0x6066/0 Following error time out ..................................................................... 127
12.5.17 0x6067/0 Position window................................................................................. 128
12.5.18 0x6068/0 Position window time ......................................................................... 129
12.5.19 0x606C/0 Velocity actual value [u/s] .................................................................. 129
12.5.20 0x606D/0 Velocity Window................................................................................ 130
12.5.21 0x606E/0 Velocity Window Time........................................................................ 131
12.5.22 0x606F/0 Velocity Threshold.............................................................................. 132
12.5.23 0x6070/0 Velocity Threshold Time ..................................................................... 133
12.5.24 0x6071/0 Target Torque ................................................................................... 134
12.5.25 0x6077/0 Torque actual value ........................................................................... 134
12.5.26 0x6078/0 Current actual value........................................................................... 135
12.5.27 0x6079/0 DClink circuit voltage.......................................................................... 135
12.5.28 0x607A/0 Target position.................................................................................. 136
12.5.29 0x607C/0 Home offset...................................................................................... 137
12.5.30 0x6081/0 Profile velocity [u/s]........................................................................... 138
12.5.31 0x6083/0 Profile acceleration............................................................................. 139
12.5.32 0x6084/0 Profile deceleration ............................................................................ 140
12.5.33 0x6085/0 Quick stop deceleration...................................................................... 141
12.5.34 0x6086/0 Motion profile type............................................................................. 142
12.5.35 0x6091/n Gear ratio.......................................................................................... 143
12.5.36 0x6092/n Feed constant.................................................................................... 145
12.5.37 0x6098/0 Homing method................................................................................. 146
12.5.38 0x6099/n Homing speeds.................................................................................. 148
12.5.39 0x609A/0 Homing acceleration .......................................................................... 149
12.5.40 0x60C1/1 Interpolation data record.................................................................... 150
12.5.41 0x60F4/0 Following error actual value................................................................ 151
12.5.42 0x60F8/0 Max Slippage [u/s]............................................................................. 152
12.5.43 0x60FF/0 Target Velocity .................................................................................. 153
13 Motion Control Interface (MCI)................................................................................. 154
13.1 Object and parameter dependencies ............................................................... 155
13.2 Reference system............................................................................................. 159
13.3 Homing ............................................................................................................. 160
13.3.1 Start position after homing................................................................................... 160
13.3.2 Flying homing...................................................................................................... 160
13.4 Position Controller............................................................................................ 160
13.5 Move away from Hardware limit switches....................................................... 161
13.6 Motion Control Interface for Experts ............................................................... 162
13.7 Motion Control Override................................................................................... 163
14 Inverter Control ......................................................................................................... 164
14.1 Control via digital inputs/remote digital inputs............................................... 165
14.1.1 Device State machine........................................................................................... 167
14.2 Control via state machine................................................................................. 168
14.2.1 Statemachine diagram ......................................................................................... 170
14.3 Non motion control configurations .................................................................. 173
14.3.1 Behavior in quick stop.......................................................................................... 173
14.3.2 Behavior in transition 5 (Disable operation)............................................................ 174
14.3.3 Reference value / actual value.............................................................................. 175
14.3.4 Example Sequence............................................................................................... 176
14.4 Motion control configurations.......................................................................... 177
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14.4.1 Velocity mode [rpm] ............................................................................................ 178
14.4.1.1 Example Sequence........................................................................................ 181
14.4.2 Profile Velocity mode [u/s] ................................................................................... 183
14.4.2.1 Example Sequence........................................................................................ 186
14.4.3 Profile position mode ........................................................................................... 187
14.4.3.1 Example Sequence........................................................................................ 193
14.4.4 Interpolated position mode................................................................................... 195
14.4.4.1 Example Sequence........................................................................................ 199
14.4.5 Homing mode...................................................................................................... 200
14.4.5.1 Example Sequence........................................................................................ 202
14.4.6 Table travel record............................................................................................... 203
14.4.6.1 Example Sequence........................................................................................ 210
14.4.7 Move away from Limit switches............................................................................. 211
14.4.7.1 Example Sequence........................................................................................ 214
14.4.8 Electronic Gear: Slave .......................................................................................... 215
14.4.8.1 Example Sequence........................................................................................ 222
15 Parameter list............................................................................................................. 224
15.1 Actual values .................................................................................................... 224
15.2 Parameters ....................................................................................................... 224
16 Annex ......................................................................................................................... 227
16.1 Control Word overview..................................................................................... 227
16.2 Status Word overview ...................................................................................... 228
16.3 Warning messages ........................................................................................... 229
16.4 Warning Messages Application......................................................................... 230
16.5 Fault messages................................................................................................. 231
16.6 Conversions...................................................................................................... 232
16.6.1 Speed [rpm] to Frequency [Hz]............................................................................. 232
16.6.2 Frequency [Hz] to Speed [rpm]............................................................................. 232
16.6.3 Speed in user units [u/s] to Frequency [Hz]........................................................... 232
16.6.4 Frequency [Hz] to Speed in user units [u/s]........................................................... 232
16.6.5 Speed in user units [u/s] to Speed [rpm]............................................................... 232
16.6.6 Speed [rpm] to Speed in user units [u/s]............................................................... 232
16.7 Object support in the Software versions and EDS files.................................... 233
17 Motion-control-interface for Profibus connection ..................................................... 236
Index................................................................................................................................ 237
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1General Information about the Documentation
For better clarity, the documentation of the frequency inverter is structured according to the custom-
er-specific requirements.
This documentation was written in German language. The German documentation is the original one.
Other language versions are translated.
Quick Start Guide
The “Quick Start Guide” describes the basic steps required for mechanical and electrical installation of
the frequency inverter. The guided commissioning supports you in the selection of necessary parame-
ters and the configuration of the 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 are 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.
8 CM-CAN ACU 04/13

1.1 This document
The present user manual of the CM-CAN communication module complements the user manual and
the “Quick Start Guide” for the frequency inverters of the ACU 201 and ACU 401 device series.
The user manual contains important information on the installation and use of the CANopen®commu-
nication module CM-CAN in its specified application range. Compliance with this user manual contrib-
utes to avoiding risks, minimizing repair cost and downtimes and increasing the reliability and service
live of the frequency inverter.
For this reason, make sure you read the user manual carefully.
WARNING
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.
In case any problems occur which are not covered by the documentation sufficiently,
please contact the manufacturer.
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 by the aforementioned reasons.
In addition to that, BONFIGLIOLI VECTRON GmbH excludes any warranty/liability claims for any per-
sonal and/or material damage if such damage is due to one or more of the following causes:
•inappropriate use of the frequency inverter,
•non-compliance with the instructions, warnings and prohibitions contained in the documentation,
•unauthorized modifications of the solar inverter,
•insufficient monitoring of parts of the machine/plant which are subject to wear,
•repair work at the machine/plant not carried out properly or in time,
•catastrophes by external impact and Force Majeure.
04/13 CM-CAN ACU 9

1.3 Obligation
This user manual must be read before commissioning and complied with. Anybody entrusted with
tasks in connection with the
•transport,
•assembly,
•installation of the frequency inverter and
•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
These 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-compliance 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. In case the frequency inverter is sold to other users, this user
manual must also be handed over.
10 CM-CAN ACU 04/13

2General 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 Operator of the frequency inverter and
assigned the task of operating the frequency inverter.
Qualified staff
The term Qualified Staff covers staff who is assigned special tasks by the Operator of the frequency
inverter, e.g. installation, maintenance and service/repair and troubleshooting. Based on their qualifi-
cation and/or know-how, qualified staff must be capable of identifying defects and assessing func-
tions.
Qualified electrician
The term Qualified Electrician covers qualified and trained staff who has 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 who was 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 verified their
qualification.
Expert
The term Expert covers qualified and trained staff who has special technical know-how and experience
relating to frequency inverter. Experts must be familiar with the applicable government work safety
directives, accident prevention regulations, guidelines and generally accepted rules of technology in
order to assess the operationally safe condition of the frequency inverter.
04/13 CM-CAN ACU 11

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 in any case.
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
•by uninstructed staff,
•while it is not in perfect condition,
•without protection enclosure (e.g. covers),
•without safety equipment or with safety equipment deactivated.
The manufacturer shall not be held liable for any damage resulting from such misuse. The sole risk
shall be borne by the operator.
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.
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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. Residual risks are not obviously identifiable
and can be a potential source of injury or health hazard.
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 inside of the frequency inverter if no external discon-
nection device 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, e.g. during transport
Center of gravity is not the middle of the electric cabinet modules.
2.5 Safety and warning signs at frequency inverter
•Comply with all safety instructions and danger information provided on the frequency inverter.
•Safety information and warnings on the frequency inverter must not be removed.
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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:
DANGER
Identification of immediate threat holding a high
risk of death or serious injury if not
avoided.
WARNING
Identification of immediate threat holding a medium
risk of death or serious injury if
not avoided.
CAUTION
Identification of immediate threat holding a low risk of minor or moderate physical inju-
ry if not avoided.
NOTE
Identification of a threat holding a risk of material damage if not avoided.
2.6.2 Hazard symbols
Symbol
Meaning
Symbol
Meaning
General hazard Suspended load
Electrical voltage Hot surfaces
2.6.3 Prohibition signs
Symbol
Meaning
No switching; it is forbidden to switch
the machine/plant, assembly on
2.6.4 Personal safety equipment
Symbol
Meaning
Wear body protection
2.6.5 Recycling
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Symbol
Meaning
Recycling, to avoid waste, collect all
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.
04/13 CM-CAN ACU 15

2.7 Directives and guidelines to be adhered to by the operator
The operator must follow the following directives and regulations:
•Ensure that the applicable workplace-related accident prevention regulations as well as other ap-
plicable national regulation are accessible to the staff.
•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.
•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 operator of the machine/plant considering the operating environment.
2.8 Operator's general plant documentation
•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 staff's responsibilities
2.9.1 Selection and qualification of staff
•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.
•Work on the electrical components may only be performed by a qualified electrician according to
the applicable rules of electrical engineering.
•The operating staff must be trained for the relevant work to be performed.
2.9.2 General work safety
•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.
•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.
•Unless approved of expressly by the manufacturer, do not modify the frequency inverter in any
way, including addition of attachments or retrofits.
•Only use the frequency inverter if the rated connection and setup values specified by the manu-
facturer are met.
•Provide appropriate tools as may be required for performing all work on the frequency inverter
properly.
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2.10 Organizational measures
2.10.1 General
•Train your staff in the handling and use of the frequency inverter and the machine/plant as well
as the risks involved.
•Use of any individual parts or components of the frequency inverter in other parts of the opera-
tor's machine/plant is prohibited.
•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
•Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility
with third-party products (e.g. motors, cables or filters).
•In order to enable optimum system compatibility, BONFIGLIOLI VECTRON GmbH office compo-
nents facilitating commissioning and providing optimum synchronization of the machine/plant
parts in operation.
•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
•The frequency inverters must be transported and stored in an appropriate way. During transport
and storage the devices must remain in their original packaging.
•The units may only be stored in dry rooms which are protected against dust and moisture and are
exposed to little temperature deviations only. 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.
•The duration of storage without connection to the permissible nominal voltage may not exceed
one year.
2.10.4 Handling and installation
•Do not commission any damaged or destroyed components.
•Prevent any mechanical overloading of the frequency inverter. Do not bend any components and
never change the isolation distances.
•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.
•Only install the frequency inverter in a suitable operating environment. The frequency inverter is
exclusively designed for installation in industrial environments.
•If seals are removed from the case, this can result in the warranty becoming null and void.
2.10.5 Electrical connections
•The five safety rules must be complied with.
•Never touch live terminals. The DC link may have dangerous voltage levels even up to three
minutes after shutdown.
•When performing any work on/with the frequency inverter, always comply with the applicable
national and international regulations/laws on work on electrical equipment/plants of the country
when the frequency inverter is used.
•The cables connected to the frequency inverters may not be subjected to high-voltage insulation
tests unless appropriate circuitry measures are taken before.
•Only connect the frequency inverter to suitable supply mains.
04/13 CM-CAN ACU 17

2.10.5.1 The five safety rules
When working on/in electrical plants, always follow the five safety rules:
1. Isolate
2. Secure to prevent restarting
3. Check isolation
4. Earth and short-circuit,
5. Cover or shield neighboring live parts.
2.10.6 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 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 is endangered, a restart of the motor must be prevented by means of external circuitry.
•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 EN 60204 and ap-
plicable the safety directives (e.g. Working Machines Act or Accident Prevention Directives).
18 CM-CAN ACU 04/13

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 materials
Electric scrap, electronic components, lubricants and other utility materials must be
treated as special waste and may only be disposed of by specialized companies.
In any case, comply with any applicable national disposal regulations as regards envi-
ronmentally compatible disposal of the frequency inverter. For more details, contact
the competent local authorities.
04/13 CM-CAN ACU 19

3Introduction
This document describes the features of the CANopen®communication for frequency
inverters of the ACU series.
The CANopen®communication (like described in this manual) requires software ve
r-
sion 5.1.2 or higher.
“Profile velocity” mode is supported with software version 5.2.0 or higher.
“Move away from Limit Switch” mode and “Electronic Gear: Slave” mode is supported
with software version 5.3.0 or higher.
CANopen®communication is available with modules:
−
Communication module CM-CAN
−
Expansion module EM-SYS
−
Expansion module EM with CAN terminals on board like EM-IO-01
The expansion modules can be used with either System bus or CANopen®
, depending
of the selection of the CANopen
®
interface.
Please refer to chapter 16.7 “Object support in the Software versions and EDS files”
for detailed information about the supported objects and required EDS files.
Possible combinations
The frequency inverter must be extended by either the CANopen®communication
module CM-CAN or a fitting EM module 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 "Asse
m-
bly" chapter. For the assembly of the EM modules and System bus protocol descri
p-
tion refer to the corresponding manual.
NOTE
CM-CAN offers decoupled drivers, while EM modules have coupled drivers.
BONFIGLIOLI VECTRON recommends using the CM-CAN module, especially in envi-
ronments with critical EMC behavior.
For reasons of better readability, in the following chapters CM-
CAN module is used
representative for all modules able to establish CANopen®communication.
These instructions are not to be understood as fundamental information on CANo-
pen®
. They presuppose underlying knowledge of the methods and mode of effect of
CAN open on the part of the user.
In some chapters, as an alternative to the KP500 control unit, the setting and display-
ing of values is described with the help of the VPlus control software. Operation of a
PC with the VPlus control software requires an optional KP232 interface adapter.
In this document, connecting the hardware, relevant parameters and the available
objects are shown.
CANopen
System bus
ACU
EM
CM
System bus
ACU
EM
CANopen
ACU
CM
CANopen
ACU
EM
12 3 4
20 CM-CAN ACU 04/13