Bonfiglioli EM-ENC-02 Expansion Module

Bonfiglioli EM-ENC-02 Expansion Module

Product Overview

Module Function List

CAN HighSpeed (ISO-DIS 11898) system bus, up to 1M baud;

EM-S1INA: 12 bit bipolar analog input (switchable ± 10V/± 20mA);

EM-S1OUTA: Analog current output 0-20mA;

EM-ENC incremental encoder input (RS-422/HTL, maximum 300kHz);

EM-S1IOD digital input/output port;

EM-MPTC: Motor PTC thermistor temperature detection (DIN44081).

Hardware installation method: Remove the lower cover plate of the frequency converter, insert it directly into the bottom slot, and restore the cover plate; Do not touch the bare PCB of the circuit board.

Conflict reminder: If both CM-CAN communication modules are installed, the CAN bus interface on EM-ENC-02 will be automatically disabled, and the two CAN controllers cannot coexist.

Hardware terminals, dip switches

1. Connector

X410A: Encoder, Digital IO, PTC;

X410B: CAN system bus, analog input/output;

5V output with a maximum of 200mA, providing power to the encoder.

2. Onboard dialing codes S1-S4

Dialing function

S1/S2 CAN bus terminal resistance; S1=ON, S2=OFF Passive terminal; S1+S2 simultaneous ON is an active terminal; Terminal resistors must be connected at the beginning and end of the bus, and only one active terminal is allowed in the entire network

S3 Analog Input Mode: OFF=Voltage ± 10V; ON=Current ± 20mA

S4 encoder interface 150 Ω terminal resistor, turn on as needed

3. Hardware specifications for CAN system bus

Cable: with braided shielded twisted pair, with large areas of PE protective grounding at both ends of the shielding layer; Power cables and communication cables are physically separated for wiring.

Comparison Table of Baud Rate and Maximum Bus Length

Maximum cable length for baud rate

50 kBaud 1000 m

100 kBaud 800 m

125 kBaud 500 m

250 kBaud 250 m

500 kBaud 100 m

1000 kBaud 25 m

It is not recommended to use less than 50kBaud as the throughput is too low.

Node address parameter 900 Node ID

-1: CAN bus is turned off (factory default);

0: This frequency converter serves as the bus master station;

1-63: Slave station;

Up to one bus: 1 master station+up to 63 slave stations.

CANopen system bus software protocol

Compatible with the CiA DS301 CANopen standard, supports NMT network management, SYNC synchronization messages, Emergency fault messages, SDO parameter reading and writing, PDO process data, supports virtual links, and enables high-speed data exchange between multiple frequency converters (electronic gears, multi axis synchronization).

1. NMT Network Management

Boot up power on message; The master station controls all slave stations to enter operation/pre operation/stop states.

Emergency message: automatically sent due to station failure, identifier=128+Node ID; Main station configurable parameter 989 Emergency Reaction:

0=Received fault message, the main station directly shuts down due to a fault;

1=Alarm only, the main station continues to operate.

2. SYNC synchronization message

The master station periodically sends SYNC to synchronize all PDO sampling times of the slave stations, achieving multi axis synchronization;

Parameter 918 SYNC Identifier: 0 uses standard CANopen pre-defined ID=128; Customizable ID;

Parameter 919 SYNC Time sets the SYNC cycle; 0 means no SYNC message will be generated.

3. SDO service (parameter read-write, Client Server model)

SDO1: Used for PLC/main station frequency converter to access the parameters of all network slave stations; Support accessing all nodes on the CAN bus through Profibus DP and RS232/485 transparent transmission.

SDO2: specifically reserved for the upper level visualization tool VPlus; SDO2 can be parameterized to avoid compatibility conflicts with standard CANopen.

Only supports int/uunt/long numeric types, does not support string parameters; Support Expedited acceleration of SDO.

Complete definition of SDO read-write message format and error termination code.

4. PDO process data (real-time control data)

Each PDO has a maximum of 8 bytes of data; Up to 3 sets of RxPDO reception and 3 sets of TxPDO transmission.

trigger mode

Time triggered: spontaneously send according to the set cycle;

SYNC synchronization trigger: Data is only sent and received after receiving SYNC messages, used for strict multi axis synchronization.

Timeout monitoring: RxPDOx Timeout parameter, non-zero enable timeout detection, timeout reports fault F2200~F2203.

Virtual Links (the core feature of this module): Bonfly does not use the standard CANopen PDO mapping object dictionary, but instead uses the Source Number mechanism.

Assign a unique source number to the internal signals of the frequency converter (control word, set frequency, actual speed, digital IO status);

TxPDO: Assign the local source number to the internal register of TxPDO and send it out through the CAN bus;

RxPDO: The data received on the bus is mapped to the source number of the receiving end and assigned to the local control parameters;

Supports boolean, 16 bit word, and 32-bit long types; It can achieve: one frequency converter sends control words and speed settings to multiple slave machines to achieve electronic gear synchronization.

The manual provides a large number of virtual link configuration example diagrams; Provide planning tool documents kbl.doc (communication relationship table), vvk.doc (virtual link table), and Load_Systembus.xls bus load calculation table.

Bus load calculation: It is necessary to ensure that the total load is ≤ 80%; 80-90% critical; >90% unavailable. Calculate the percentage of each message occupying the bus based on the baud rate and each TxPDO transmission cycle, and sum up to obtain the total load.

Detailed specifications of IO interface

1. EM-S1INA analog input (12 bits)

Switch ± 10V voltage/± 20mA current through S3 dialing;

Supports 4 working modes: bipolar, unipolar, 4-20mA (2-10V), absolute value mode;

Customize input-output characteristic curves through two-point coordinates (X1/Y1, X2/Y2);

Configurable filtering time constant 0-5000ms to suppress noise;

Signal disconnection fault detection: warning, deceleration shutdown, and free shutdown behaviors;

Supports 0-point and full-scale hardware calibration.

Usage: As a frequency source, percentage source, and limit source.

2. EM-S1OUTA analog output

Current output 0-20mA; supports offset and gain amplification scaling; It can map internal variables such as analog input absolute value, speed, frequency, etc.

3. EM-ENC encoder speed sensor input

Supports 5V push-pull RS422 or 24V HTL incremental encoders, up to 300kHz; S4 dial code to activate the 150 Ω terminal;

Support four fold counting; Can choose to reverse the phase;

Encoder can serve as a closed-loop speed feedback source; The parameters can read the actual encoder frequency and speed.

4. EM-S1IOD digital port

Can be configured as digital input or digital output; Input response is about 16ms; output 24V, maximum 40mA, can bind internal logic events of the frequency converter.

5. EM-MPTC motor PTC temperature input

PTC thermistor motor overheat protection, DIN44081 standard.

Parameter List and Faults

The parameters are divided into VAL actual value menu (read-only monitoring) and PARA parameter setting menu; The manual lists all newly added parameter numbers, ranges, factory defaults, and corresponding chapters for this module.

CAN bus related fault codes: F21xx (slave node fault), F2200-F2203 (SYNC/PDO receive timeout).