NORD BU0060 User Manual

GB

BU 0060

CANopen

Supplementary manual options for NORD - Frequency Inverters

CANopen – Supplementary manual options for NORD - Frequency Inverters

protection class, have live, bare, moving or rotating parts or hot

must be carried out by qualified personnel (comply with IEC 364,
CENELEC HD 384, DIN VDE 0100, IEC 664 and DIN VDE 0110, and

are persons who are familiar with the assembly, installation,

Drive power converters are components intended for installation in

When installed in machines, the drive power converter cannot be

d that the machine meets the provisions of the EC Directive

2006/42/EEC (machine directive); EN 60204 must also be complied

The installation and cooling of the equipment must be implemented

The drive power converter must be protected against
impermissible loads. Especially during transport and handling,
components must not be deformed and/or insulation dis tances
must not be changed. Touching of electronic components and

Drive power converters have electrostatically sensitive
components, which can be easily damaged by incorrect
handling. Electrical components must not be mechanically

When working on live drive power converters, the applicable

section, fuses, ground

lead connections). Further instructions can be found in the

such as

shielding, earthing, location of filters and installation of cables

e drive power converter documentation.

drive power converters. Compliance with the limiting values
specified in the EMC regulations is the responsibility of the

Where necessary, systems where drive power converters are
installed must be equipped with additional monitoring and
protective equipment according to the applicable safety
requirements, e.g. legislation concerning technical equipment,

The parameterisation and configuration of the drive power

supply, live equipment components and power connections
should not be touched immediately, because of possible
charged capacitors. Observe the relevant information signs

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NORD frequency inverters

Safety and operating instructions for drive power converters

(as per: Low Voltage Directive 2006/95/EEC )

1. General

During operation, drive power converters may, depending on their
surfaces.

Unauthorised removal of covers, im proper use, incorrect installation or
operation causes a risk of serious personal injury or material damage.

Further information can be found in this documentation.
All transportation, installation and initialisation and maintenance work

national accident prevention regulations).
For the purposes of these basic safety inst ructions, qualified personnel

commissioning and operation of this product and who have the relevant
qualifications for their work.

2. Proper use in Europe

electrical systems or machines.

commissioned (i.e. commencement of the proper use) until it has been
ensure

with.
Commissioning (i.e. implementation of the proper use) is only permitted

when the EMC directive (2004/108/EEC) is complied with.
Drive power converters with the CE mark meet the requirements of the

Low Voltage Directive 2006/95/EEC. The harmoni zed standards stated
in the Declaration of Conformity are used for the drive power converters.

Technical data and information for connec tion conditions can be found
on the rating plate and in the documentation, and must be complied
with.

The drive power converters may only be used for the safety f unctions
which are described and for which they have been explicitly approved.

3. Transport, storage

Information regarding transport, storage and correct handling must be
complied with.

4. Installation

according to the regulations in the corresponding documentation.

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These safety instructions must be kept in a safe place!

contacts must be avoided.

damaged or destroyed (this may cause a health hazard!).

5. Electrical connections

national accident prevention regulations must be compli ed with
(e.g. VBG A3, formerly VBG 4).

The electrical installation must be implemented according t o the
applicable regulations (e.g. cable cross-

documentation.
Information about EMC-compliant installation –

can be found in th
These instructions must be compl ied with even with CE m arked

manufacturer of the system or machine.

6. Operation

accident prevention regulations, etc.

converter must be selected so that no hazards can occur.
All covers must be kept closed during operation.

7. Maintenance and repairs

After the drive power converter is di sconnected from the power

located on the drive power converter.
Further information can be found in this documentation.

2 BU 0060 GB-4112

Documentation

Modification of SK 500/520/530E parameters, correction of
recommended M8/M12 connector and IW2/3 modification,

Combination of BU 0030 + BU 0060 = BU 0060. This now

specific CAN bus) and

Supplementation of parameters for inverter variants: SK 54xE.
Removal details of the vector mc series. Modification of the

and correction of small errors,
revision of examples, supplementation of example for SDO
communication, tables, control word and status word:

respective frequency inverter. This is an essential prerequisite for the availability of all the relevant information

Documentation

Name:
Part No.: 607 06 01
Device series:

CANnord /CANopen for
SK 300E, SK 5xxE, SK 700E, SK 750E

Version list

Name of previous issues Software

Version

BU 0060 EN, May 2005
Part No. 607 06 02 / 1005

BU 0060 DE, November 2006
Part No. 607 06 02 / 4606

BU 0060 EN, May 2007
Part No. 607 06 02 / 1807

BU 0060 EN, May 2010
Part No. 607 06 02 / 2010

BU 0060 DE, October 2012
Part No. 607 06 02 / 4112

V. 1.1 R0 First issue

V. 1.2 R1

V. 1.2 R1

V. 1.2 R1 Correction of errors (e.g. (P748): „CANopen NMT State“),

V. 1.2 R1

Remarks

inclusion of CANnord data

only contains CANnord (Nord­CANopen.

RJ45 connection module supplemented

structure in the document

Designations revised.

Table 1: Version list

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Publisher

Getriebebau NORD GmbH & Co. KG

Rudolf-Diesel-Str. 1 • D-22941 Bargteheide • http://www.nord.com/
Tel.: [phone] / 289-0 • Fax [phone]

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NOTICE Supplementary operating manual

This supplementary operating manual is only valid in conjunction with the operating manual supplied for the
required for the safe commissioning of the frequency inverter.

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BU 0060 GB-4112 3

CANopen – Supplementary manual options for NORD - Frequency Inverters

Intended use of the frequency inverter

Compliance with the operating instructions is necessar y for fault-free operation
and the acceptance of any warranty claims. These operating instructions must
be read before working with the device!

These operating instructions contain important information about servicing.
They must therefore be kept close to the device.

The described optional modules can only be used for the specifically defined
frequency inverter ser ies, use across s eries is only possible with the SK CU1-…
module for SK 700E and SK 75 0E, or the SK TU2-... module with SK 300E and SK
750E. The use of th ese modules with oth er devices is not per mitted and can le ad
to their destruction.

The described optional modules and the corresponding frequency inverters are,
according to their type, devices for stationary installation in control cabinets or
decentralised structures. All details regarding technical data and permissible
conditions at the installation site must be complied with.

Commissioning (com mencement of the intended use) is not perm itted until it has
been ensured that the machine complies with the EMC Directive 2004/108/EEC
and that the conformity of the end product meets the Machinery Directive
2006/42/EEC (observe EN 60204) .

=== Ende der Liste für Textmarke Copyri ght ===

 Getriebebau NORD GmbH & Co. KG, 2012

4 BU 0060 GB-4112

Intended use of the frequency inverter

BU 0060 GB-4112 5

CANopen – Supplementary manual options for NORD - Frequency Inverters

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Table of Contents

=== Ende der Liste für T extmarke I nhaltsverzei chnis ===

1. Introduction ............................................................................................................................................... 11

1.1 General ............................................................................................................................................ 11

1.2 The bus system ................................................................................................................................ 11

1.2.1 CAN Bus ............................................................................................................................. 11

1.2.2 CANopen ............................................................................................................................ 11

1.2.3 CANnord ............................................................................................................................. 12

1.3 CAN for NORD frequency inverters ................................................................................................. 12

1.3.1 CAN Bus features, physics ................................................................................................. 12

1.3.2 CANopen features .............................................................................................................. 12

1.3.3 CANnord features ............................................................................................................... 12

1.4 Delivery ............................................................................................................................................ 12

1.5 Scope of delivery.............................................................................................................................. 13

1.6 Certifications .................................................................................................................................... 13

1.6.1 European EMC Directive .................................................................................................... 13

1.6.2 RoHS compliant .................................................................................................................. 13

1.7 Type code ........................................................................................................................................ 14

2. Modules ...................................................................................................................................................... 15

2.1 Modular assemblies SK 5xxE .......................................................................................................... 15

2.1.1 SK 5xxE CANnord / CANopen, overview ........................................................................... 16

2.1.2 CANnord / CANopen, internal RJ45 connection (SK 511E and above) .............................. 17

2.1.3 RJ45 WAGO- Connection module ...................................................................................... 19

2.1.4 CANopen module, SK TU3-CAO ........................................................................................ 20

2.1.5 Installing ............................................................................................................................. 21

2.2 Modular units SK 700E (SK 750E) ................................................................................................... 22

2.2.1 SK TU1- CANnord / CANopen module, overview ............................................................... 23

2.2.2 CANnord module, SK TU1-CAN ......................................................................................... 23

2.2.3 CANopen module, SK TU1-CAO ........................................................................................ 24

2.2.4 Installation of the SK TU1 technology unit .......................................................................... 25

2.2.5 CANnord module, SK CU1-CAN ........................................................................................ 26

2.2.6 CANnord module, SK CU1-CAN-RJ ................................................................................... 27

2.2.7 Installation of the SK CU1-xxx customer unit...................................................................... 28

2.3 Modular units trio SK 300E and SK 750E ........................................................................................ 31

2.3.1 SK TU2- CANopen module, overview ................................................................................ 31

2.3.2 CANopen module, SK TU2-CAO ........................................................................................ 32

2.3.3 Installation of the SK TU2 technology unit .......................................................................... 33

2.3.4 Recommended connector and accessory components ...................................................... 34

3. Bus Configuration ..................................................................................................................................... 37

3.1 Laying the bus cables ...................................................................................................................... 37

3.2 Cable material .................................................................................................................................. 37

3.3 Cable layout and shielding (EMC measures) ................................................................................... 38

4. Communication and Protocol .................................................................................................................. 39

4.1 Processing of Process Data in the Frequency Inverter .................................................................... 39

4.1.1 Process data - General (PZD) ............................................................................................ 39

4.1.2 Control word (STW) ............................................................................................................ 40

4.1.3 Status word (ZSW) ............................................................................................................. 41

4.1.4 Frequency inverter status machine ..................................................................................... 42

4.1.5 Setpoint (SW) ..................................................................................................................... 44

4.1.6 Actual value (IW) ................................................................................................................ 46

4.1.7 Standardisation of setpoint / target values .......................................................................... 48

4.2 The CANnord protocol ..................................................................................................................... 49

4.2.1 Message objects ................................................................................................................. 49

4.2.2 Identifier .............................................................................................................................. 49

4.2.3 Identifier example ............................................................................................................... 50

4.2.4 Sequence of data transfer .................................................................................................. 50

4.2.5 Broadcast telegrams ........................................................................................................... 51

4.2.6 Parametrerisation in CAN mode ......................................................................................... 52

4.3 The CANopen protocol ..................................................................................................................... 56

6 BU 0060 GB-4112

Table of Contents

4.3.1 Network Management (NMT) ............................................................................................. 57

4.3.2 Drive profile DS 402 ........................................................................................................... 57

4.3.3 Process data transfer in CANopen mode (PDO commu nicat i on) ....................................... 57

4.3.4 Parameterisation in CANopen mode (SDO communication) .............................................. 60

4.3.5 Object Index ....................................................................................................................... 64

5. Parameters ................................................................................................................................................. 68

5.1 BUS parameter data for SK 300E/700E/750E ................................................................................. 69

5.1.1 Control terminals ................................................................................................................ 69

5.1.2 Additional parameters ......................................................................................................... 70

5.1.3 Information.......................................................................................................................... 75

5.2 SK 5xxE BUS Parameters ............................................................................................................... 78

5.2.1 Control terminals ................................................................................................................ 78

5.2.2 Additional parameters ......................................................................................................... 80

5.2.3 Information.......................................................................................................................... 86

6. Operating status messages ..................................................................................................................... 90

6.1 Error monitoring ............................................................................................................................... 90

6.1.1 Status via parameter display .............................................................................................. 91

6.1.2 LED display with the technology unit: ................................................................................. 92

6.1.3 Emergency Object telegram for inverter error messages ................................................... 93

6.1.4 Error lists, ........................................................................................................................... 93

7. Examples ................................................................................................................................................... 95

7.1 Mains switch-on ............................................................................................................................... 95

7.2 Operational settting of the bus participant ........................................................................................ 95

7.3 Process data (PDO) ......................................................................................................................... 95

7.4 Reading and writing parameter data (SDO) ..................................................................................... 98

8. Additional information .............................................................................................................................. 99

8.1 Electronic data sheet (eds file) ......................................................................................................... 99

8.2 Further documents ........................................................................................................................... 99

8.3 Repair information ............................................................................................................................ 99

8.3.1 Repairs ............................................................................................................................... 99

8.3.2 Internet information ........................................................................................................... 100

8.4 Keyword Index ............................................................................................................................... 100

8.5 Abbreviations ................................................................................................................................. 101

BU 0060 GB-4112 7

CANopen – Supplementary manual options for NORD - Frequency Inverters

8 BU 0060 GB-4112

List of illustrations

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List of illustrations

=== Ende der Liste für T extmarke A bbildungsver zeichnis == =

Fig. 1: Mod ular assemblies SK 5xxE ..................................................................................................................... 15

Figure 2: SK 5xxE -configuration CANnord / CANopen ......................................................................................... 16

Fig. 3: Frequency inverter SK 700E and technology units ..................................................................................... 22

Figure 4: SK CU1-CAN terminal assignment ......................................................................................................... 26

Figure 5: SK CU1-CAN-RJ terminal assignment ................................................................................................... 27

Fig. 6: Frequency inverters SK 300E and SK 750E ............................................................................................... 31

Fig. 7: Installation and cable laying informa tio n ..................................................................................................... 38

Fig. 8: Status Machine of the Frequency Inverter .................................................................................................. 43

Figure 9: Sequence of data transfer ...................................................................................................................... 51

Figure 10: Velocity Mode CiA DSP 402 V1.1 page 178 ......................................................................................... 57

BU 0060 GB-4112 9

CANopen – Supplementary manual options for NORD - Frequency Inverters

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List of tables

=== Ende der Liste für T extmarke Ta bellenverz eichnis ===

Table 1: Version list ................................................................................................................................................. 3

Table 2: Details of SK 5xxE – BUS -configuration via RJ45 .................................................................................. 17

Table 3: RJ45 WAGO connection module ............................................................................................................. 19

Table 4: SK TU1-CAN / -CAO, overview of technology units ................................................................................ 23

Table 5: SK TU3-CAO, Overview of Technology Units .......................................................................................... 31

Table 6: Transfer speeds versus cable length ....................................................................................................... 37

Table 7: Control word (STW) ................................................................................................................................. 40

Table 8: Status word (ZSW) .................................................................................................................................. 41

Table 9: Scaling of setpoints and actual values (Selection) ................................................................................... 48

Table 10: CANnord - Determination of message object identifiers ........................................................................ 49

Table 11: Identifier example .................................................................................................................................. 50

Table 12: Assignment of CAN address (P515) to the broadcast identifier ............................................................. 51

Table 13: Network Management (NMT) ................................................................................................................ 57

Table 14: PDO types ............................................................................................................................................. 57

Table 15: PDO modes ........................................................................................................................................... 58

Table 16: Transmitting parameter data via SDO ................................................................................................... 61

Table 17: Loading parameter data via SDO .......................................................................................................... 62

Table 18: Error message (0x06010002 = attempted writing access to a read-only object) ................................... 62

Table 19: Error codes – P ara meter co mmuni cati on .............................................................................................. 62

Table 20: Index table for transmit and receive PDOs of the inverter ..................................................................... 63

Table 21: Description of PDO COB-ID entry.......................................................................................................... 63

Table 22: Communication objects (DS 301) .......................................................................................................... 64

Table 23: PDO objects (DS 301) .......................................................................................................................... 65

Table 24: Object drive profile DS 402 .................................................................................................................... 66

Table 25: Frequency inverter object s .................................................................................................................... 67

Table 26: CANnord/CANopen status, parameter P748 ......................................................................................... 91

Table 27: LED display, CANnord communication status ....................................................................................... 92

Table 28: LED display, CANopen communication status ...................................................................................... 92

Table 29: LED display, CANopen module status ................................................................................................... 92

Table 30: Structure of error message (Time-out through P513) ............................................................................ 93

Table 31: Assignment of CAN open errors to inverter errors ................................................................................. 94

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10 BU 0060 GB-4112

1 Introduction

1. Introduction

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1.1 General

This CANnord/ CANopen documentation is valid for the NORD series trio SK 300E, SK 500E,
SK 700E, SK 750E. F or discontinued device series ( e.g. vector m c) which are no longer supplied, the
technical documentation is available on request (older version of BU0060).

The respective basic devices are delivered with a blank cover for the tec hnology unit slot. The bas ic
models do not have any components for parameterisation and control.

In order to set up communication w ith CANnord/ CANopen, either a CANnord/ CANopen customer
unit or a Technologiebaugruppe CANnord/ CANopen technology module (according to the device
series) must be installed and connected.

The only exceptions to this from the SK 5xxE series are the types above SK 511E, in which the
CANnord/CANopen function is integrated as standard and can be used via an RJ45 plug connector.

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1.2 The bus system

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1.2.1 CAN Bus

The CANbus enables powerful automation systems to be realised with distributed intelligence. The
reason for the broad application of the CANb us protocol is mainl y the availability of ver y reasonably
priced protocol components.

CANbus is based on linear topol ogy. Using repeaters, branch-like topo logies are possible. Solutions
based on fibre optic condu ctors as well as double wire lines can be us ed. T he conflict recognition a nd
resolution, as well as err or r ec ognit ion, integr a ted i n th e CAN bus pr ot oc ol, ena ble s high bus ut ilis at ion
and data security.

Bus access rights are not issued by a higher-level control unit. Instead, each subscriber can start
transmitting a mes sage as soon as t he b us is f ree (m ulti-m aster capabili ty). W ith s im ultaneous ac cess
of several participants, th e participant with the highes t priority receives th e access rights. The priorit y
is assigned according to the identifier of the messenger in CANbus.

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1.2.2 CANopen

CANopen is an open c omm unications profile for various i ndustrial autom ation system s. It is bas ed on
the CANbus system (Controller Area Network), developed by Bosch, and describes the layers 1
(physical layer) and 2 (data transmission) of the OSI reference model (ISO 11898). CANopen was
specified by the international CAN-in-Automation (CiA) organisation and defines the communication
mechanisms (process data, parameterisation, monitoring etc.) via the CANopen bus.

CANopen can be used for data exchange between devices from different manufacturers.
Alongside the comm unication pr ofile, C ANopen def ines device pr ofiles for the mos t important t ypes of

device used in industrial automation technology, e.g. digital and analog I/Os, drives, etc.
The CiA CANopen sp ecification DS-301 and DS-402 is supported (does not apply for the integr ated

RJ45 interface of the SK 5xxE series (SK 511E and above)).

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BU 0060 GB-4112 11

CANopen – Supplementary manual options for NORD - Frequency Inverters

1.2.3 CANnord

CANnord is a specif ic bus system from Getriebebau NORD. Further d etails can be found i n Section

4.2.

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1.3 CAN for NORD frequency inverters

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1.3.1 CAN Bus features, physics

• Electrically isolated bus interface

• Transfer rate from 10 kBit/s to 500 kBit/s (optionally up to 1 Mbit/s)

• Connection to frequency inverter via Sub-D9 connector, M12 system connector, RJ45 connector or
screw/plug-in terminals (depending on option/device)

• CAN interface as per specifications 2.0A and 2.0B

• Up to 110 nodes (e.g. frequency inverters) on one bus

• Additional termination resistor (depending on option/device)

• Status display with 2 or 4 LEDs (not with SK 500E/520E/530E)

• External 24V supply required (~70mA for SK 300E/ SK 5xxE/ 700E/ 750E with technology unit
CANopen, ~30mA for SK 5xxE (SK 511E and above) via internal RJ45 connection CANnord/
CANopen)

• TO supports 29 Bit + 11 Bit Identifier

• Internal interface (RJ45) for SK 5xxE (SK 511E and above) only 11 Bit Identifier

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1.3.2 C ANopen features

• Programming of all frequency inverter parameters using SDO

• Supports DS-301 communications profile and DS-402 drive profile (with technology units)

• Dynamic mapping (4 TPDOs und 4 RPDOs) with technology units

• Heartbeat/ Node Guarding

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1.3.3 C ANnord features

• Programming of all frequency inverter parameters using SDO

• Setpoint/actual values read/write

• Error messages

• Time out function

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1.4 Delivery

Check the equipm ent immediately after d el ivery/unpacking for trans p or t damage such as deformation
or loose parts.

If there is any damage, contact the carrier immediately and carry out a thorough assessment.

Important! This also applies even if the packaging is undamaged.

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12 BU 0060 GB-4112

1 Introduction

SK TU1-CAN

for SK 700E

IP20

or

SK TU2-CAO

for SK 300E / SK 750E

IP55

or

SK TU2-CAO-C

for SK 300E / SK 750E

IP66

or

SK CU1-CAN

for SK 700E / SK 750E

IP00

or SK CU1-CAN-RJ

for SK 700E / SK 750E

IP00

1.5 Scope of delivery

Technology unit

Customer interface

The operating instr uctions for the above bus m odules or the relevant freque ncy inverters as well as
the NORDCON parameterisation software are available for download free of charge under

www.nord.com

. In addition, a documentation CD is provided with every frequency inverter

(designation: EPD), on which the above data is also provided.

SK TU1-CAO for SK 700E IP20 or

SK TU3-CAO for SK 5xxE IP20 or

Information

Flat connecting sleeve for PE connection

The technology units SK TU1 and SK TU3 are also supplied with a flat connecting sleeve. This sleeve must be
used to produce a correct PE connection of the technology unit via an appropriate cable (cross-section 1.5mm ²).

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1.6 Certifications

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1.6.1 European EMC Directive

If the frequency inverter is installed according to the recommendations in this manual, it meets all
EMC directive requirements, as per the EMC product standard for motor-operated systems EN
61800-3.

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1.6.2 RoHS compliant

The frequency inverters and optional modules are designed to be RoHS
compliant according to Directive 2002/95/EU.

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BU 0060 GB-4112 13

CANopen – Supplementary manual options for NORD - Frequency Inverters

SK TU2-PBR(-24V-KL-ATEX-C)

Higher IP protection class (IP66)
ATEX version
Special version e.g.: KL= version with conn ect ion term ina ls
Version with external 24V supply
Device type: AS1 = AS-Interface, CAO = CANopen, DEV =

DeviceNet, IBS = InterBus, ECT = EtherCAT, PBR = Profibus,
PNT = ProfiNET

Device series: SK TU1 / SK TU2 / SK TU3 / SK CU1

1.7 Type code

Pos: 30 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/!Kapitel Baugruppen @ 1\mod_1333614552265_388.docx @ 21333 @ 1 @ 1

14 BU 0060 GB-4112

2 Modules

red / green

2. Modules

Pos: 31 /Anleit u ng e n/3. Anzeige un d Bedienung [S K 50 0E]/SK 5xxE/ 3. 1 M o dulare Baugru p pen [SK 5xxE] @ 0\ mod_1327492754652_388.docx @ 6283 @ 2 @ 1

2.1 Modular assemblies SK 5xxE

By the use of various m odules for display, control an d parameterisation, the SK 5xx E can be easily
adapted to a wide range of requirements.

Alphanumerical display and operating modules can be used for simple commissioning. For more
complex tasks, various connections to a PC or an automation system can be selected.

The Technology Unit (Technology Unit, SK TU1-...) is connected externally to the front of the
frequency inverter and is therefore easy to access and replace at any time.

LED

Fig. 1: Modular assemblies SK 5xxE

Pos: 32 /Anl eitungen/El ektronik/Bus systeme/2 . Baugruppe n/CANopen [BU0060]/SK 5xxE CANnor d / CANope n, Überblick @ 1\mod_1341392266116_388.docx @ 28997 @ 3 @ 1

BU 0060 GB-4112 15

CANopen – Supplementary manual options for NORD - Frequency Inverters

CANopen

CANnord or CANopen

SK 5xxE (entire series)

SK 511E and above

SUB D9 connector

Input/output via RJ45 sockets

Additional termination resistor

Additional termination resistor

External 24V +/- 25% voltage supply, approx. 80mA

External 24V +/- 25% voltage supply, approx. 30mA

Rotary coding switch for baud rate and address

Parameter P514 / P515 for baud rate and address

Drive profile DS 301 and DS 402

Drive profile DS 301

By means of appropriate measures, ensure that no vibrations or tensile forces act on the cabling. In particular, the

2.1.1 SK 5xxE C ANnord / CANopen, overview

SK TU3-CAO internal RJ45 connection

Figure 2: SK 5xxE -configuration CANnord / CANopen

Information

RJ45 connector cabling must be free of any tension.

Pos: 33 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ C ANnord / CANop e n, Interner RJ4 5 A n sc hl uss @ 1\mod_1341396988811_388.docx @ 29198 @ 3 @ 1

Strain relief

16 BU 0060 GB-4112

2 Modules

ve, a CANnord/CANopen interface is

Information

The baud rate is set in the frequency inverter parameter P514. Transfer
rates of up to 500 kbit/s can be used. (Optionally up to 1 Mbit/s)

30mA) and is connected via the RJ45 connector.

for the last bus participant is located

next to the BUS connection. Switch No. 2 = ON.

The BUS address is set in the frequency inverter parameter P515.

0…255

0…127

2x RJ45 sockets are connected in parallel internally.

2.1.2 C ANnord / CANopen, internal RJ45 connection (SK 511E and above)

With SK 511E and abo
integrated and can be accessed via RJ45 connections.

To use the CANnord /CANo pen, the b us m ust be pr ovided wit h an
external 24V voltage supply. The CAN participant can therefore
be identified by the mast er system even without a voltage sup ply
to the frequency inverter.

There is no internal coupli ng between the control voltage level of the frequency inverter and the bus system.

Control voltage

Baud rate (P514)

Supply voltage

Termination resistor

BUS address (P515)

BUS connection

Table 2: Details of SK 5xxE – BUS -configuration via RJ45

CANnord (P509 = 3) CANopen (P509 = 6)

The supply voltage is 24V DC ±25% (pin 8 = 24V, pin 7 = GND, approx.

The termination resistor R=120Ω

Pos: 34 /Anl eitungen/El ektronik/FU und Starter /2. Montag e und Install ation/2.10. 5 Elektris cher Anschlu s s St euerteil- St ec kerblock X9 un d X1 0 – C AN / CANope n [SK 500.. .535E] @ 1\ mod_1341402404239_388.docx @ 29385 @ 5 @ 1

BU 0060 GB-4112 17

CANopen – Supplementary manual options for NORD - Frequency Inverters

CAN _H

CAN _L

CAN _GN D

nc

CAN _SH LD

CAN _GN DncCAN_24V

CAN _H

CAN _L

CAN _GN D

nc

CAN _SH LD

CAN _GN DncCAN_24V

be used for the evaluation of an absolute

External 24VDC

RS485_A

RS485_B

GND

TXD

RXD

+ 5V

1 2

ON

CAN _H

CAN _L

CAN _G N DncCAN _SHLD

CAN _G N DncCAN_24V

CAN _H

CAN _L

CAN _G N DncCAN _SHLD

CAN _G N DncCAN_24V

Control block X9 and X10 – CAN / CANopen

Relevance

Terminals
X9: / X10:

Name

SK 500E SK 505E SK 510E

1 2 3 4 5 6 7 8

CAN_H CAN_L CAN_GND nc nc CAN_SHD CAN_GND CAN_24V

SK 511E SK 515E SK 520E SK 530E SK 535E

Contact Function

[factory setting]

1
2

CAN/CANopen
signal

3 CAN GND
4

No function

5
6 Cable shield
7 GND/0V
8

voltage supply

DIP-1 Termination resistor for RS485 interface

(RJ12); ON = switched in
[Default = "OFF"]
For RS232 communication DIP1 to "OFF"

Data Description / wiring suggestion Parameter

Baud rate …500kBaud
RJ45 sockets are connected

in parallel internally.
Terminal resistance

R=120Ω DIP 2 (see below)
NOTE: To operate

CANbus/CANopen the
interface must be externally
supplied with 24V (capacity
at least 30 mA).

DIP switch 1/2 (top side of frequency inverter)

√ √ √ √ √

X10 X9

2x RJ45: Pin No. 1 … 8

NOTE: For frequency inverters SK 530E
and above, this CANopen interface can

encoder. Further details can be found in
manual BU 0510.

Recommendation: Provide strain relief
(e.g. with EMC Kit)

X11 X10 X9

P503
P509

DIP 2

Terminal resistor for CAN/CANopen interface
(RJ12); ON = switched in
[Default = "OFF"]

Pos: 35 /Anl eitungen/El ektronik/FU und Starter /2. Montag e und Install ation/2.12 R J45 WAGO- Anschlussmod ul [Allg.] @ 0\mod_1325866182423_388.docx @ 6170 @ 3 @ 1

18 BU 0060 GB-4112

RS232/485 DIP CAN/CANopen

2 Modules

Contact

1 2 3 4 5 6 7 8 S

Meaning

CAN_H CAN_L CAN_GND nc. nc. CAN_SHD CAN_GND CAN_24V

Shield

Ethernet connection module with CAGE CLAMP
Getriebebau NORD GmbH &

2.1.3 RJ45 W AGO- Connection module

This adapter module can be used for the simple wiring of
functions of the RJ45 conn ec tion (2 4V s up ply voltage, CANopen
absolute encoder, CANbus) with normal cables.

Pre-assembled RJ45 p atch cables are connect ed to the spring­loaded terminals (1-8 + S) with this adapter.

The shield clamp should be used in order to ens ure the correct
connection and relief of tension on the shield.

Supplier Name Article number

WAGO Kontakttechnik GmbH

connection
RJ45 transfer module

WAGO Kontakttechnik GmbH Accessories: WAGO shield clamp 790-108

Alternative, complete connection module and shield clamp Part No.

289-175

Adapter module RJ45/terminal

Co.KG

Table 3: RJ45 WAGO connection module

Pos: 36 /Anl eitungen/El ektronik/Bus systeme/2 . Baugruppen/CANopen [BU0060]/CANopen Modul, SK TU3-CAO @ 1\mod_1341821626734_388.docx @ 30351 @ 3 @ 1

278910300

BU 0060 GB-4112 19

CANopen – Supplementary manual options for NORD - Frequency Inverters

This CANopen module can be

occupies the technology slot

Alternatively, the SimpleBox SK

must be

V external

master system even without a

purpose are set using a rotary

CR

(green)

CANopen RUN

CE

(red)

CANopen ERROR

GB

(red)

Module error

(ON)

Connected

Connection to PE of the
interference in the Bus lines

GND

CAN_L

6

1

5

9

GND

CAN_H

24V in

rotary coding switch are not transferred to the frequency inverter or saved. Changed

2.1.4 C ANopen module, SK TU3-CAO

used for all SK 500E devices. It

which can then no longer b e used
for control and display modules.

CSX-0 can be plugged in to the
CANopen module and connected
to the frequency inverter via the
RS232/485 interface.

The CANopen module

provided with a 24
power supply (via SUB – D9

connection). This C AN participant
can therefore be identified by the

voltage supply to the frequency
inverter. The data requir ed for this

coding switch. This Bus data is
read in when the 24V is applied
from the frequency inverter.

1 CANopen Status LEDs

DR (green) Module status

2 Termination resistor

(OFF) Not connect ed

3 Shielding terminal

frequency inverter to suppress

4 SUB – D9

Baud rate (BAUD)

Transfer rates of up to 500 kbit/s can be used (optionally up to 1Mbit/s).
If BAUD is set to PGM the value from parameter P514 is used as the baud rate.

Supply voltage

The supply voltage is 24 V DC ±25% (Pin 9 = 24 V, Pin 3 = GND, approx. 80 m A). The connection is
made via the SUB-D9 connector.

Termination resistor

The termination resistor for the last Bus participant is located on the CANopen Bus module.

CAN address, setting the ID (IDx1 and ID10)

The rotary switches IDx1 and IDx10 can be used to set the node identifier in decimal code in the
range from 01...99

Example: Node ID = 64

If BAUD is set to PGM the value from param eter P515 of the frequenc y inverter is used as the node
identifier.

Information

The settings made using the
settings are only adopted when the 24V supply is applied ("Power ON").

Pos: 37 /Anleit u ng e n/3. Anzeige un d Bedienung [S K 50 0E]/SK 5xxE/ 3. 2 Ü b ersicht der Tec hn ologiebox en -2- M ontage @ 1 \mod_1340712929975_388.docx @ 28340 @ 3 @ 1

dez

.

à

IDx10 = 6, IDx1 = 4

Rotary coding switches

20 BU 0060 GB-4112

2 Modules

Push the control terminals cover down

with an upward turning movement. If

2.1.5 Installing

note

Modules should not be inserted or removed unless the device is free of voltage. The slots may only be used for
the intended modules.

Installation of a technology unit separate from the frequency inverter is not possible. It must be connected directly
to the frequency inverter.

Installing the technology unit

The technology units must be installed as follows:

1. Switch off the mains voltage, observe the
waiting period.

2.
slightly or remove.

3. Remove the blank cover, by loosening the
release on the lower edge and pulling off

necessary, the attachm ent screw next to the
release must be removed.

4. Hook the technology unit onto the upper edge slots and press in lightly until it engages.
Ensure full contact with t he connector strip and fasten with the screws if necessary (separat e
packet).

5. Close the control terminal cover again.

Pos: 38 /Anleitungen/Elekt r oni k/Bussysteme/2. Baugruppen/Modulare Baugruppen SK 700E (SK 750E) @ 1\mod_1335270209732_388.docx @ 21746 @ 2 @ 1

BU 0060 GB-4112 21

CANopen – Supplementary manual options for NORD - Frequency Inverters

2.2 Modular units SK 700E (SK 750E)

By the use of various modules for display, control and parameterisation, the S K 700E can be easily
adapted to various requirements.

Alphanumerical display and operating modules can be used for simple commissioning. For more
complex tasks, various connections to a PC or an automation system can be selected.

The Technology Unit (Technology Unit, SK TU1-...) is connected externally to the front of the
frequency inverter and is therefore easy to access and replace at any time.

In addition, further modules (customer interfaces and special extensions) can be used in the frequency
inverter for the processing of digital and analogue signals and for speed control or positioning.

Fig. 3: Frequency inverter SK 700E and technology units

Pos: 39 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/CANopen [BU0060]/SK TU1- CANnord / CANo pen Modul, Üb erblick @ 1\ mod_1341922786333_388.docx @ 31133 @ 3 @ 1

22 BU 0060 GB-4112

2 Modules

Part No. 278200070

CANopen module

This option enables control of the SK 700E via the

1 CANopen interface

Part No. 278200075

frequency inverters enables
parameterisation and control of
devices as per the CAN

on a single Bus. Termination
resistors are integrated and can

ansfer rate can be set to

integrated in the CANnord
protocol enables maximum Bus

Transmitting CAN

RxD

(green)

Receiving CAN data

(ON)

Connected

(OFF)

Not connected

GND

CAN_L

6

1

5

9

GND

CAN_H

2.2.1 SK TU1- CANnord / CANopen module, overview

The communication modules SK TU1-CAN bor S K TU1-CAO are used to connect drive units of the SK
700E series to higher level automation systems via CANnord or CANopen.

Module Description Data

CANnord module

SK TU1-CAN

This option enables control of the SK 700E via the CAN
serial port.

1 CANnord interface
Connector: Sub-D9

SK TU1-CAO

Table 4: SK TU1-CAN / -CAO, overview of technology units

Pos: 40 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ C ANnord Modul , S K TU1- CAN @ 1\mod_1341830232485_388.docx @ 30405 @ 3 @ 1

2.2.2 C ANnord module, SK TU1-CAN

The CANnord interface on NORD

CANopen serial port.

1 CANnord Status LEDs

TxD (green)

specifications 2.0A and 2.0B. Up
to 110 nodes can be addressed

2 Termination resistor

be switched in.
The tr

between 10 kBit and 500 Kbit/s.
The conflict and error recognition

usage and data security.

Connector: Sub-D9

data

3 SUB – D9

Pos: 41 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/CANopen [BU0060]/CANopen Modul, SK T U1-CAO @ 1\mod_1341836350786_388.docx @ 30480 @ 3 @ 1

BU 0060 GB-4112 23

CANopen – Supplementary manual options for NORD - Frequency Inverters

This CANopen module can be

occupies the technology slot

must be

V external

master system even without a
voltage supply to the frequency

purpose are set using a rotary
coding switch. This Bus data is

CE

(red)

CANopen ERROR

DR

(green)

Module status

(ON)

Connected

(OFF)

not connected

Connection to PE of the
interference in the Bus lines

GND

CAN_L

6

1

5

9

GND

CAN_H

24V in

The settings made using the rotary coding switch are not transferred to the frequency inverter or saved. Changed

2.2.3 C ANopen module, SK TU1-CAO

used for all SK 700E devices. It

which can then no long er be used
for control and display modules.
The CANopen module

provided with a 24
power supply (via SUB – D9

connection). This CAN par ticipant
can therefore be i dentified by the

inverter. The data re quired f or this

read in when the 24 V is applied
from the frequency inverter.

1 CANopen Status LEDs

CR (green) CANopen RUN

GB (red) Module error

2 Termination resistor

3 Shielding terminal

frequency inverter to suppress

4 SUB – D9

Baud rate (BAUD)

Transfer rates of up to 500 kbit/s can be used (optionally up to 1Mbit/s).
If BAUD is set to PGM the value from parameter P514 is used as the baud rate.

Supply voltage

The supply voltage is 24 V DC ±25% (Pin 9 = 24 V, Pin 3 = GND, approx. 80 m A). The connection is
made via the SUB-D9 connector.

Termination resistor

The termination resistor for the last Bus participant is located on the CANopen Bus module.

CAN address, setting the ID (IDx1 and ID10)

The rotary switches IDx1 and IDx10 can be used to set the node identifier in decimal code in the
range from 01...99

Example: Node ID = 64

dez

If BAUD is set to PGM the value from param eter P515 of the frequenc y inverter is used as the node
identifier.

Information

.

à

IDx10 = 6, IDx1 = 4

Rotary coding switches

settings are only adopted when the 24V supply is applied ("Power ON").

Pos: 42 /Anleitungen/Elekt r oni k/Bussysteme/2. Baugruppen/Montage der SK TU1-Technologiebox @ 1\mod_1335275468416_388.docx @ 21922 @ 3 @ 1

24 BU 0060 GB-4112

2 Modules

the intended modules. Installation remote from the frequency inverter is not possible. It must be connected

2.2.4 Installation of the SK TU1 technology unit

WARNING Electric shock

Modules must not be inserted or removed unless the device is free of voltage. The slots may only be used for
directly to the frequency inverter.

Failure to comply with this may result in an electric shock, which my cause serious injury and the destruction of
the frequency inverter and the module.

Installation of the technology units must be carried out as follows:

1. Switch off the mains voltage, observe the waiting period.

2. Remove the dummy cover by actuating the unlocking device on the top and bottom edge.

3. Press the technology unit onto the mounting surface, until it audibly engages.

Pos: 43 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ C ANnord Modul , S K CU1- CAN @ 1\mod_1341839331541_388.do cx @ 30530 @ 3 @ 1

BU 0060 GB-4112 25

CANopen – Supplementary manual options for NORD - Frequency Inverters

units also have

conventional digital inputs and

control can be actuated or
warnings can be sent to another

X5.2

DigIN

P421

X5.3

CAN

P514 / P515

(ON)

Connected

(OFF)

not connected

Cabling can be implemented using Western connectors and

1, 2, 7, 8

n. c.

3, 6

GND

5

CAN_H (+)

Housing

PE (shield)

NOTE: All control voltages are based on a common re ference potential 0V / GND.

X5.1

X5.2

X5.3

01 REL1.1
02 REL1.2

41 VO +5V
40 GND /0V
75 CAN1 H
76 CAN1 L

21 DIG IN 1

42 VO +15V

Data leads for the
Bus system used:

Output of PLC: 7.5 ... 33V

Output relay:
Max. 2.0A
28V DC /230 V AC

Digital input 1 (P420)

Voltage supply:
5V, max. 300 mA

Voltage supply:
15V, max. 300mA

Plug connector MC 1.5/4-G-3.81

RJ 45 plug connector

2.2.5 C ANnord module, SK CU1-CAN

In addition to data connec tions, all
Bus customer

1 Connection terminals*

X5.1 Relay P434

outputs.
By means of a rela y contact, brake

system.

* max. 1.5mm²

2 Termination resistor

The digital input has a 2.5V s witching threshold for the evaluation of
the temperature sensor. T he input can, however, also be used f or an
emergency stop function.

commercial network cables (twisted pair, modular connector 8P8C,
RJ45), networking of several devices is possible with T-connectors.

3 RJ45 contact

assignment

4 CAN_L (-)

Pos: 44 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ Klemmenbel eg ung SK CU1-CAN @ 1\mod_1341842861016_388.docx @ 30581 @ 5 @ 1

SK CU1-CAN terminal assignment

Figure 4: SK CU1-CAN terminal assignment

Pos: 45 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ C ANnord Modul , S K CU1- CAN-RJ @ 1\mod_1341843668047_388.docx @ 30631 @ 3 @ 1

26 BU 0060 GB-4112

2 Modules

offers high functionality of digital
signal processing and 2 parallel

control can be actuated or
warnings can be sent to another

X7.2

DigIN

P420 … P424

X7.3

CAN

P509 … P515

* X7.3: 2 x RJ45 sockets

(ON)

Connected

(OFF)

not connected

Western connectors and

1, 2, 7, 8

n. c.

3, 6

GND

5

CAN_H (+)

Housing

PE (shield)

CANnord
Digital inputs:

DIG IN 1

DIG IN 2

DIG IN 3

DIG IN 4

DIG IN 5

Voltage supply: 15V, max. 300mA

39 TS

-

X7.1

X7.2

X7.3

21 DIG IN 1

22 DIG IN 2

23 DIG IN 3

24 DIG IN 4

42 VO +15V

40 GND /0V

38 TS +

01 REL1.1

02 REL1.2

25 DIG IN 5

- n.c.

- n.c.

- CAN - GND

- CAN - L

- CAN - H

- CAN - GND

- n.c.

- n.c.

- n.c.

- n.c.

- CAN - GND

- CAN - L

- CAN - H

- CAN - GND

- n.c.

- n.c.

Output relay:
max. 2,0A 28V DC /230V AC

Floating contact

or

PLC output:

7.5...33V

Data leads for the Bus
system used:

Plug connector MC 1.5/4-G-3.81

RJ 45 plug connector

Plug connector MC 1.5/4-G-3.81

RJ 45 plug connector

DIP switch for termination resistor for
CAN Bus system!

2.2.6 C ANnord module, SK CU1-CAN-RJ

The customer interface (customer
unit) CANnord with RJ4 5 c onnect or

1 Connection terminals*

X7.1 Relay P434 … P436

switched data connect ions. 5 digital
inputs are available to control the
frequency inverter.

By means of a rela y contact, brake

* X7.1: max. 1.5 mm²
* X7.2: max. 1.0 mm²

2 Termination resistor

system.

The digital inputs of the CANnord module cannot process analog
setpoints!

Cabling can be implemented using
commercial network cables (twisted pair, modular connector 8P8C,
RJ45), networking of several devices is possible with T-connectors.

3 RJ45 contact

assignment

4 CAN_L (-)

Pos: 46 /Anleit u ng e n/Elektroni k/Bussyste m e/ 2 . Ba ugruppen/CA N open [BU006 0]/ Klemmenbel eg ung SK CU1-CAN -RJ @ 1\mod_1341903432432_388.docx @ 30691 @ 5 @ 1

SK CU1-CAN-RJ terminal assignment

Figure 5: SK CU1-CAN-RJ terminal assignment

Pos: 47 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/Montage der SK CU1-PBR Kundensc hnittstelle @ 1\mod_1335343413917_388.docx @ 22255 @ 3555 @ 1

BU 0060 GB-4112 27

CANopen – Supplementary manual options for NORD - Frequency Inverters

WARNING

from the frequency inverter is not possible. It must be connected

Following the insertion, replacement or removal of modules, and once the equipment has been switched on

Remove the cover grille from the
screws and levering out the device

Using light pressure push the

releases then make the necessary
connections. Then insert the

Kundenschnittstelle

Sondererweiterung

Technologiebox

Verrieglungsstift

CLOSED

OPEN

Verriegelung geschlossen
Verriegelung geöffnet

interface

extension

Lock closed

2.2.7 Installation of the SK CU1-xxx customer unit

Modules must not be inserted or removed unless the device is free of voltage. The slots may only be used for
the intended modules. Installation remote
directly to the frequency inverter.

Failure to comply wi th this may result in an electric shock, which my cause serious injury and the destruction of
the frequency inverter and the module.

Note

again, this procedure is indicated with the mes s age E017 Customer unit changed.
This message can be directly reset by the usual measures.

Installing the customer unit

1. Switch off the m ains voltage, observe
the waiting period.

2.
connection area by loosening the 2

cover (slot) or simply pull it out.

3. Locking lever in the "„open“ position.

4.
customer unit into the upper guide rai l
until it engages.

5. Locking lever in the „closed“ position.

6. Remove the conn ec tor by pressing the

7. Replace all covers.

connectors until they engage.

electric shock

Error message E017

Technology unit Locking lever

Customer

Special

28 BU 0060 GB-4112

2 Modules

Remove the cover grille from the
connection area by loosening the 2

and levering out the device

the customer unit out of its engaged

Removing the customer unit

1. Switch off the mains voltage, observe
the waiting period.

2.
screws

cover (slot) or simply pull it out.

3. Locking lever in the "„open“ position.

4. Using a screwdriver (as shown), lever
position and then remove it by hand.

5. Locking lever in the „closed“ position.

6. Replace all covers.

BU 0060 GB-4112 29

CANopen – Supplementary manual options for NORD - Frequency Inverters

The procedure is as described above;

Getriebebau NORD

GmbH & Co. KG
D-22941 Bargteheide / Germany

Typ/Part-No: SK_XU1_POS 7820055/10C195890

Input: 6 x digital 15V / 24V
Output: 2 x relay 5A 250V~/AC1
Interface: 1 x encoder A,B,N RS422
1 x SSI DAT/CLK RS422

X10.1

X10.2

X10.3

5 DIG IN 1

6 DIG IN 2

7 DIG IN 3

8 DIG IN 4

11 +15V

1 REL1.1

2 REL1.2

3 REL2.1

4 REL2.2

9 DIG IN 3

10 DIG IN 4

12 0V / GND

13 SSI CLK+

14 SSI CLK-

15 SSI DAT+

16 SSI DAT-

17 +5V

18 0V / GND

19 SPUR A+

20 SPUR A-

23 SPUR N+

21 SPUR B+

22 SPUR B-

24 SPUR N-

X10.3

Getriebebau NORD

GmbH & Co. KG
D-22941 Bargteheide / Germany

Typ/Part-No/ID: SK_CU1_MLT 7820051/10C195890

Input: 2 x analog -10...10V / 0...20mA
6 x digital 15V / 24V
Output: 2 x analog 0...10V
2 x relay 5A 250V~/AC1

X2.1

X2.2

X2.3

11 VREF 10V

12 AGND/0V

14 AIN 1 +

16 AIN 2 +

17 AOUT1

21 DIG IN 1

22 DIG IN 2

23 DIG IN 3

24 DIG IN 4

42 VO +15V

1 REL1.1

2 REL1.2

3 REL2.1

4 REL2.2

25 DIG IN 5

26 DIG IN 6

18 AOUT2

41 VO +5V

40 GND/0V

0/4...20mA (ON)

AIN 1

-10/0...10V (OFF)

0/4...20mA (ON)

AIN 2

-10/0...10V (OFF)

Customer

interface

Special

extension

Getriebebau NORD

GmbH & Co. KG
D-22941 Bargteheide / Germany

Typ/Part-No: SK_XU1_POS 7820055/10C195890

Input: 6 x digital 15V / 24V
Output: 2 x relay 5A 250V~/AC1
Interface: 1 x encoder A,B,N RS422
1 x SSI DAT/CLK RS422

X10.1

X10.2

X10.3

5 DIG IN 1

6 DIG IN 2

7 DIG IN 3

8 DIG IN 4

11 +15V

1 REL1.1

2 REL1.2

3 REL2.1

4 REL2.2

9 DIG IN 3

10 DIG IN 4

12 0V / GND

13 SSI CLK+

14 SSI CLK-

15 SSI DAT+

16 SSI DAT-

17 +5V

18 0V / GND

19 SPUR A+

20 SPUR A-

23 SPUR N+

21 SPUR B+

22 SPUR B-

24 SPUR N-

X10.3

Getriebebau NORD

GmbH & Co. KG
D-22941 Bargteheide / Germany

Typ/Part-No/ID: SK_CU1_MLT 7820051/10C195890

Input: 2 x analog -10...10V / 0...20mA
6 x digital 15V / 24V
Output: 2 x analog 0...10V
2 x relay 5A 250V~/AC1

X2.1

X2.2

X2.3

11 VREF 10V

12 AGND/0V

14 AIN 1 +

16 AIN 2 +

17 AOUT1

21 DIG IN 1

22 DIG IN 2

23 DIG IN 3

24 DIG IN 4

42 VO +15V

1 REL1.1

2 REL1.2

3 REL2.1

4 REL2.2

25 DIG IN 5

26 DIG IN 6

18 AOUT2

41 VO +5V

40 GND/0V

0/4...20mA (ON)

AIN 1

-10/0...10V (OFF)

0/4...20mA (ON)

AIN 2

-10/0...10V (OFF)

Customer-

interface

Special-

extension

Deviating position of the customer unit for SK 700E above 30 kW and all SK 750E devices
Installation

however no locking lever is present. The
modules engage on the front edge when
they are inserted.

Dismantling

As shown, simply le ver out from the upper
edge. If this is diff icult, simply unfasten the
locking hook on the f ront e dge.

Pos: 48 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/Modulare Baugruppen trio SK 300E und SK 750E @ 1\mod_1335348745477_388. doc x @ 22556 @ 2 @ 1

30 BU 0060 GB-4112

2 Modules

CANopen module

IP55

This option enables control

1 CANopen interface

CANopen module

IP66

Information

it is fully compatible with the

2.3 Modular units trio SK 300E and SK 750E

Technology units are optiona l modules with which a dditional functions in the f requency inverter can

be added depending on requirem ents. The high level of protection of the frequency inverter remains
with all technology units.

Fig. 6: Frequency inverters SK 300E and SK 750E

Pos: 49 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/CANopen [BU0060]/SK TU2- CANopen Modul, Ü berblick @ 1\mod_1341907894144_388.docx @ 30720 @ 3 @ 1

2.3.1 SK TU2- CANopen module, overview

The communication m odule SK TU2-CAO, is us ed to connect drives f rom the trio SK 300E and 750E
device series to h igher leve l autom ation s ystem s via CANop en. B oth the SK 300E fr equency i nverter s
and the external technology units are available in the protection classes IP55 (standard) and IP66
(optional). The type design ation of the SK 300E and t he modules in the pro tection clas s IP66 is given
an additional code "-C" (coated → coated board) to differentiate the IP55 and IP66 protection classes.
For SK 750E frequency inver ters, the protection c lass is specified b y the type of cooling. IP54 for air­cooled devices and IP65 for water-cooled SK 750E frequency inverters.

Module Protectio

n class

SK TU2-CAO

of the SK 300E/750E via the
serial CANopen port.

SK TU2-CAO-C

Table 5: SK TU3-CAO, Overview of Technology Units

Description Data

2 x 5-pin M12 system plug connector
Part No. 275130100 (IP55)
Part No. 275170100 (IP66)

Information

Modules of the IP66 version have an additional "C" in the type code and are modified with several special
measures (see Manual SK 300E or SK 750E).

The SK 300E must have at least software version 1.6 R1 (see P707) so that
CANopen protocol.

Pos: 50 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/CANopen [BU0060]/CANopen Modul, SK TU2-CAO @ 1\mod_1341927267491_388.docx @ 31318 @ 3 @ 1

BU 0060 GB-4112 31

IP66 version

Firmware version

CANopen – Supplementary manual options for NORD - Frequency Inverters

connection). This CAN
participant can therefore be

ing switch.

V is applied from the

CR

(green)

CANopen RUN

CE

(red)

CANopen ERROR

DR

(green)

Module status

GB

(red)

Module error

Error

(red)

Inverter error*

* The flashing frequency corresponds to
the error number (see BU0300)

ID-L

Addressing ( ID x 1 )

Baud

Baud rate

1

PE (shield) *

3

GND 4 CAN-H

* Pin 1 and housing

Information

The settings made using the rotary coding switch are not transferred to the frequency inverter or saved. Changed

Stift

(Bus-In)

Buchse

(Bus-Out)

(aus Bauteilesicht, A-kodiert)

2

1

4

3

5

1

2

3

5

4

2.3.2 C ANopen module, SK TU2-CAO

The CANopen module must be
provided with a 24 V external
power supply (via SUB - D9

identified by the master system
even without a voltage sup ply to
the frequency invert er. The data
required for this purpose a re set
using a rotary cod
This Bus data is read in when
the 24
frequency inverter.

3 Rotary coding switches

ID-H Addressing ( ID x 10 )

1 CANopen Status LEDs

2 SK 300E status LEDs

On (green) Mains voltage applied

4 M12 BUS-In / BUS-Out

4 Plug connector

2 +24V

5 CAN-L

assignment:

Baud rate (BAUD)

Transfer rates of up to 500 kbit/s can be used (optionally up to 1Mbit/s).
If BAUD is set to PGM the value from parameter P514 is used as the baud rate.

Supply voltage

The supply voltage is 24 V DC ±25% (Pin 9 = 24 V, Pin 3 = GND, approx. 80 m A). The connection is
made via the SUB-D9 connector.

Termination resistor

The termination resist or for the last bus participant can be s witched to the output (BUS-Out) of the
final frequency inverter as the termination connector.

CAN address, setting the ID (ID-L and ID-H)

The rotary switches ID-L and ID-H c an be us ed to set the node identifier in decim al code in t he range
from 01...99

Example: Node ID = 64

dez

.

à

ID-H = 6, ID-L = 4

If BAUD is set to PGM the value from param eter P515 of the frequenc y inverter is used as the node
identifier.

Rotary coding switches

settings are only adopted when the 24V supply is applied ("Power ON").

Pos: 51 /Anleitungen/Elekt r oni k/Bussysteme/2. Baugruppen/Montage der SK TU2-Technologiebox @ 1\mod_1335440910321_388.docx @ 22864 @ 35 @ 1

32 BU 0060 GB-4112

2 Modules

the intended modules. Installation remote from the frequency inverter is not possible. It must be connected

is being

technology unit to ensure it is fully earthed. Operation is not permi tted if

2.3.3 Installation of the SK TU2 technology unit

WARNING

Modules must not be inserted or removed unless the device is free of voltage. The slots may only be used for
directly to the frequency inverter.

Failure to comply with this may result in an electric shock, which my cause serious injury and the destruction of
the frequency inverter and the module.

Electric shock

Installing the technology unit

1. Switch off the mains voltage, observe
the waiting period.

2. Unscrew the 6 fastening screws of the
blind plate land remove the blind plate
(Fig.1).

3. Attach the PE connec tion on the inside
of the technology unit which
installed (Fig. 2). Fit the seal together

Screw 4

Screw 2 Scre w 1

Screw 6 Scre w 5

Screw 3

with the technology unit on the surface
of the frequency inverter. Ensure that
the connector strip makes full contact.

4. Lightly tighten all 6 fastening screws.

5. Now tighten the 6 fastening screws in
the specified sequence fr om 1 to 6 (see

Fig. 1

Fig. 1) and with the torque s tated in the
table.

Frequency inverter size Screw size Tightening torque

Size 1
Size 2

M4 x 8 1.5Nm ± 20%

NOTICE

Note the earthing cable!
Make sure the earthing line is plugged into the plate of the standard device and each technology unit. This cable

must be connected when installing the
there is no secure PE connection to the frequency inverter and to the technology unit, beacause frequency
inverter and technology unit could be destroyed!

Earthing / Grounding

BU 0060 GB-4112 33

Fig. 2

CANopen – Supplementary manual options for NORD - Frequency Inverters

With IP66 versions, care must also be taken that the cables and cable glands at least comply with protection

The components listed below or in this section should only be regarded as recommendations. For further

Please observe the manufacturer's information regarding installation and the corresponding installation

MURR Elektronik

M12 plug, 6...8mm, 5-pin,
screwed, IP67, shielded

7000-13321-0000000

7000-13361-0000000

Franz Binder GmbH

M12 plug, 6...8mm, 5-pin,
screwed, IP67,

99 1437 812 05

99 1437 822 05

NOTICE

During installation, attention must be paid to proper sealing (do not forget the rubber seal!), to prevent the entry
of moisture.

class IP66, so that compliance with protection class IP66 is ens ured on the frequency inverter.

Entry of moisture

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2.3.4 Recommended connector and accessory components

Note

information please refer to the particular manufacturer's information and data sheets.

guidelines.

Pos: 53 /Anleitungen/Elektronik/Bussysteme/2. Baugruppen/Stecker- und Zubehör- Ko mponenten/M 12 Rundstec kverbinder C AN [CAN] @ 1\mod_1342001545219_388.docx @ 31482 @ 56666 @ 1

M12 round plug CAN connector

Information

For preference, pre-assembled CAN bus cables and connection components should be used.
For certain applications, vibration-proof round plug connectors should be used.

Recommendations of products

Connection components

M12 connector

A coded

Supplier Name Part no.:

straight angled

34 BU 0060 GB-4112

M12 socket

MURR Elektronik

M12 socket, 6..8mm, 5-pin,
screwed, IP67, shielded

Franz Binder GmbH

M12 socket, 6…8mm, 5-pin,
screwed, IP67,

MURR Elektronik

Termination resistor, plug

pin, straight,

Lumberg

Bus terminating resistor, M12

MURR Elektronik

Phoenix Contact GmbH

pin, parallel

A coded

2 Modules

Supplier Name Part no.:

straight angled

7000-13401-0000000 7000-13441-0000000

99 1436 812 05 99 1436 822 05

M12 termination resistor

A coded

Supplier Name Part no.:

M12- T connectors

A coded

Supplier Name Part no.:

& Co. KG

connector M12, 5­IP67

plug connector

M12 plug to 2x M12 socket, 5­pin, parallel distributor, IP67

M12 socket to M12 plug and
socket, 5­distributor, IP67

7000-13461-0000000

RST ST

7000-41141-0000000

1541186

BU 0060 GB-4112 35

CANopen – Supplementary manual options for NORD - Frequency Inverters

MURR Elektronik

M12 wrench set for M12 round connectors with

M12 torque wrench for M12 round connectors with

proof connection, connecting components with hexagonal

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Installation tools for M12 round plug connectors

Torque wrench for assembly of M12 plug connectors
The M12 torque wre nch set is used to c heck the optim um tightening t orque of M12 r ound connec tors.

The torque wrench is calibrated to the optimum tightening torque is 0.6Nm.

Supplier Name Article No. / Part No.

7000-99102-0000000

calibrated torque of 0.6Nm

Franz Binder GmbH

07-0079-000

calibrated torque of 0.6Nm

Note

In order to ensure a secure, sealed and vibration­fittings should be used.

By means of the corresponding installation tools, after completion of installation work, all M12 round connectors
should be tightened to a torque of 0.6Nm with an M12 wrench.

Mounting connecting components

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36 BU 0060 GB-4112

3 Bus Configuration

Up to 25m

70 mΩ/m

≥ 0.25 mm2, AWG23

1 Mbit/s

25 - 50m

70 mΩ/m

≥ 0.25 mm2, AWG23

800 kBits/s

50 - 80m

< 60 mΩ/m

≥ 0.34 mm2, AWG22

500 kBits/s

80m - 230m

< 40 mΩ/m

≥ 0.5 mm2, AWG21

250 kBits/s

230m – 480m

< 26 mΩ/m

≥ 0.75 mm2, AWG18

125 kBits/s

480m – 1km

< 20 mΩ/m

≥ 1 mm2, AWG…

50 kBits/s

3. Bus Configuration

A CAN network consists of a maximum of 128 part icipants (nodes) and is based on a linear to pology.
The number of subscribers is dependent on the driver modules (standard approx. 100 nodes).
Repeaters must be used for a high number of nodes.

With NORD frequency inverters, a twisted two-wire line is used for data transfer.

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3.1 Laying the bus cables

In an industrial environm ent the corr ect install ation of the bus system is par ticularly im portant in order
to reduce potential i nterference. The following points ar e designed to help prevent interferenc e and
problems right from the start. The installation guidelines are not com plete and applicable safety and
accident prevention guidelines must be complied with.

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3.2 Cable material

The frequency inverter is usually connected to the CANnord system by a twisted, shielded two-wire
cable. The guaranteed tran sf er speeds or trans fer dis t ances c an on ly be ac hiev ed without err ors if the
specific cable parameters are complied with.

Bus cable length Resistance Cable cross-section Possible transfer rates

Table 6: Transfer speeds versus cable length

The interface complies with I SO 11898. T he m axim um perm issible voltag e on the CAN_L and C AN _H
cables is -8V … +8V.

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BU 0060 GB-4112 37

CANopen – Supplementary manual options for NORD - Frequency Inverters

Minimum radius

Minimum radius

Correct

Incorrect

NOTICE

If earthing potential values are different, transient current may flow through shielding whi ch is connected on both

3.3 Cable layout and shielding (EMC measures)

If EMC measures are not in place, high-frequenc y interference which is m ainly caused by switching
processes or lightning often causes electronic components in the bus subscribers to be faulty and
error-free operation can no longer be ensured.

Appropriate shielding of the bus cable reduces electri cal interference which can aris e in an industrial
environment.

The best shielding qualities can be achieved with the following measures:

• Do not make cable connections shorter than 1 m between bus participants

• Avoid long connections between bus participants

• Shield the bus cable at both ends with large-area connection to the plug housing

• Avoid spur lines

• Avoid extensions to bus cables via plug connectors

Bus lines should be laid with a minim um spacing of 20 cm to other lines which c arry a voltage higher
than 60 V. This applies to lines laid inside and outside of control cabinets.

Special attention should be paid to bending radii:

Fixed cable Freely laid cable Bending radius of cable

5 x cable diameter

Fig. 7: Installation and cable laying information

10 x cable diameter

Potential equalisation

sides. This may be a danger to electronic components. Differences in potential must be reduced by means of
adequate potential equalisatio n.

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38 BU 0060 GB-4112

4 Communication and Protocol

Information

STW

Control Word; length 16 bit, order telegram        
error acknowledgement)

ZSW

Status Word; length 16 bit, response telegram

cont      

SW 1 … 3

Setpoints; 3 x 16 bit or 1 x 32 bit and 1 x 16 bit, order telegram, e.g. frequency setpoint,

IW 1 … 3

Actual values; 3 x 16 bit or 1 x 32 bit and 1 x 16 bit, response telegram, e.g. actual frequency,
If CANnord / CANopen is implemented via the internal RJ45 sockets, the setpoints and actual values 4 and 5 can

4. Communication and Protoc ol

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Data transfer is performed in Little Endian format. This means that in the data word, the High byte follows after
the Low byte. Example: "047E" à 7E 04.

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4.1 Processing of Process Data in the Frequency Inverter

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The following CAN profile specifications apply to process data transfer with all CANnord/CANopen
interfaces in NORD frequency inverters. This protocol is used when P551 = 0 is set.

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4.1.1 Process dat a - General (PZD)

In the process data area (PZD) , control words and setpoints are transferred fr om the master to the
frequency inverter and in return, status words and actual values are sent from the inverter to the
master. The structure of the PZD area is always the same in terms of the sequence of its elements
(words), however, depe ndent upon d irection of data Mas ter à Slave / Slave à Master, it is described
differently.

Little Endian data format

The process data area of the reference data has the following structure:

position setpoint, torque setpoint.

actual position, actual torque.

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Information

SK 54xE – CAN via RJ45

also be communicated (SK 54xE and above).

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

BU 0060 GB-4112 39

CANopen – Supplementary manual options for NORD - Frequency Inverters

Valu
e

0 0 Not ready for operation

Reverse with the brake ramp, with disconnection from supply at f=0Hz (OFF1)

1

Ready for operation

Frequency inverter ready for operation

Disable voltage

where switching on is disabled. (OFF2)

1 Do not disable voltage

Operating condition OFF 2 is cancelled

Emergency Stop

f=0Hz; the FI switches to starting disabled condition (OFF3).

1 Emergency Stop not
active

Operating condition OFF 3 is cancelled

3 0 Disable operation

Cut off voltage; the inverter output voltage is switched off; the FI enters a state
1

Enable operation

The output voltage is enabled; ramp to the exis ting setpoint

4 0 Pulse not enabled

Ramp generator is set to zero; no disconnection from supply at f=0Hz; FI remains
in the operation enabled state.

1

Enable pulses

Enable ramp generator

5 0 Ramp not enabled

The setpoint currently provided by the ramp generator is "frozen" (frequency is
maintained).

1

Enable ramp

Enable setpoint on ramp generator

6 0 Setpoint not enabled

Selected setpoint value is set to zero on the ram p generator.

1

Enable setpoint

Selected ramp generator setpoint is activated.

7 0 No acknowledgement

With the switch from 0 to 1, errors which are no longer active are ack nowledged.

1

Acknowledge error

Note: If a digital input has been programmed for the "ack.fault" function, this bit
be prevented).

8 0

1

Start function 480, 11

Bus bit 8 from the control word is set. Only for SK 2xxE and SK 5xxE. For further
details of the function please refer to parameter P480.

9 0

1

Start function 480, 12

Bus bit 9 from the control word is set. Only for SK 2xxE and SK 5xxE. For further
details of the function please refer to parameter P480.

10 0 Control data invalid

The transmitted process data is invalid.

1

Control data valid

Valid process data is trans ferred from the master.
(setting: interface), even if only setpoint values are transmitted via the bus.

11 0

1

Rotation right is on

Rotational direction right (priority) ON*

12 0

1

Rotation left is on

Rotational direction left ON*

13

0/1

Reserved

Reserved

14

0/1

Parameter set Bit 0 ON

15

0/1

Parameter set Bit 1 ON

4.1.2 Control word (STW)

The control word (STW ) is the firs t word transf erred to the f requenc y inverter in th e process data ar ea
in an order telegram . For example, a control word "Ready for switch-on " corresponds to 047E
general the command "Standby" should be the first command which is transferred to the inverter.

(hex)

. In

Bit

1 0

2 0

Meaning Remarks

Cut off voltage; the inverter output voltage is switched off; the FI enters a state

active

Quick stop with programmed quick stop time; with disconnection from supply at

where switching on is enabled.

(0à1)

must not permanently be set to 1 via the bus (otherwise, flank evaluation would

Note: In order for the transmitted setpoint to be valid, this bit must also be set

00 = Parameter set 1
01 = Parameter set 2

* If Bit 12=0, then "Direction of rotation right ON" applies

Table 7: Control word (STW)

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10 = Parameter set 3
11 = Parameter set 4

40 BU 0060 GB-4112

4 Communication and Protocol

Valu
e

0 0 Not ready to start

1

Ready to start

Initialisation completed, charging relay ON, output voltage disabled

1 0 Not ready for operation

Causes: No command has been activated, fault is signal ed, O FF 2 or OFF3
activated, starting disabled sta te activ ated

1

Ready for operation

ON command activated, no faults present. The inverter can be started with the
command ENABLE OPERATION

2 0 Operation not enabled

1

Operation enabled

The output voltage is enabled; ramp to the existing setpoint

3 0 No error

1

Fault

Drive fault resulting in stoppage; this state is changed to starting disabled after
the fault has been successfully acknowledged

4 0 Voltage not enabled

OFF2 command applied

1

Voltage enabled

5 0

Emergency stop

OFF3 command applied

1 No emergency stop

6 0

Starting not disabled

1

Starting disabled

Switches first to OFF1, then to ready-to-start status

7 0 No warning

1

Warning active

Drive operation continues, no acknowledgement necessary

8 0 Setpoint not reached

Actual value does not match the setpoint (with posicon: failure to reach setpoint
position)

1

Setpoint reached

Actual value matches required setpoint (setpoint has been reached)
(with posicon: setpoint has been reached)

9 0 Bus control not active

Guidance on local device has been activated

1

Bus controller active

The master has been requested to assume guidance.

10 0

1

Start function 481.9

Bus bit 10 from the status word is set. For further details of function, please refer
11 0

1

Rotation right is on

Inverter output voltage is turning right

12 0

1

Rotation left is on

Inverter output voltage is turning left

13 0

Start function 481.10
to parameter P481.

15

0/1

Parameter set Bit 1 ON

4.1.3 Status word (ZSW)

In the inverter res po ns e t el egram, in the area of th e pr oc ess data th e s ta tus w ord ( ZSW) is transferred
as the first word. The meaning of the individual bits deviate for some types of devices.

Bit

Meaning Remarks

1

14 0/1

Table 8: Status word (ZSW)

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Parameter set Bit 0 ON

to parameter P481.

Bus bit 1 3 from the status word is set. For further details of function, please refer

00 = Parameter set 1
01 = Parameter set 2

10 = Parameter set 3
11 = Parameter set 4

BU 0060 GB-4112 41

CANopen – Supplementary manual options for NORD - Frequency Inverters

Switch-on

disable

Emergency

stop

Disable
voltage

Fault

Operation

enabled

Standby

Ready for

switch-on

Not ready to start

0 X X 0 0 0 0

Starting disabled

1 X X 0 0 0 0

Ready to start

0 1 1 0 0 0 1

Activated

0 1 1 0 0 1 1

Operation enabled

0 1 1 0 1 1 1

Fault

0 X X 1 0 0 0

Error active

0 X X 1 1 1 1

Emergency stop

active

4.1.4 Frequency inverter status machine

The frequency inverter passes through a status m achine. The changes between various states are
triggered by the res pective control comm ands in the process data c ontrol word. The actual st atus is
returned in the process data status word.

After switching on, the inverter is in switch-on disabled status. This status can only be ended by
transmitting the “Shut down (Off 1)” command.

The answer to a m aster telegram normally does not yet contain a reaction to the contr ol command.
The controller must c heck the answers from the slaves as to whether the contr ol command has been
carried out.

The following bits indicate the status of the frequency inverter:

Status Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 0 1 0 1 1 1

42 BU 0060 GB-4112

4 Communication and Protocol

Internal st atus machi ne

3 4 5 6 8

1

Not on standby

Switching on the inverter

5

6

Emergency stop

active

Bit2 = 0: Emergency stop

Bit1 = 0: Disable voltage

v Bit2 = 0: Emergency stop

2

Switch-on

4 5

Bit0 = 0: Shut dow n

3

Ready for

2

5

Bit 3 = 0:Disable operation Bit0 = 1: Sw itch on

3

5

2 3

sw itch-on

4

Activated

Loading relay applied

disabled

Bit0 = 0: Shut dow n
& Bit1 = 1: Enable voltage
& Bit2 = 1: Enable pulses
(xxxx x1xx xxxx x110)

2

From any device status

7

Error reaction

active

8

Error

f = 0 reached
(emergency stop com plete)

Error

Error reaction complete

Bit3 = 1: Enable operation

& Bit0 = 1: Switch on

5

Operation

2

3 64

Control bits

0. Standby / Shut dow n

1. Disable / enable voltage

2. Enable pulses / emergency stop

3. Disable / enable operation

4. Betriebsbedingung / HLG sperren

5. Enable / stop RUE

6. Enable / disable setpoint

7. Error acknowledgement (0

10. Control data valid / invalid

11. Direction of rotation clockwise

12. Direction of rotation anticlockwise

14. Parameter set Bit 0

15. Parameter set Bit 1

è

1)

enabled

Priority of control commands:

1. Disable / enable voltage

2. Emergency stop

3. Shut down

4. Enable operation

5. Switch on

6. Disable operation

7. Reset error

Fig. 8: Status Machine of the Frequency Inverter

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Bit3 = 1: Enable operation

Bit4 = 0: Move down emergency stop ramp and

remain in 'Operation enabled'

Bit5 = 0: Hold frequency
Bit6 = 0: Setpoint = 0%

2

Coding of status:

1: Bit 0 = 0
2: Bit 6 = 1
3: Bit 0 = 1
4: Bit 1 = 1
5: Bit 2 = 1
6: Bit 5 = 0
7: Bit 2 & Bit 3 = 1
8: Bit 3 = 1

Bit7 0è1

Error acknowledgement

BU 0060 GB-4112 43

CANopen – Supplementary manual options for NORD - Frequency Inverters

4.1.5 Setpoi nt (SW)

The function of the 1st setpoint is set in parameter P546 (respectively P546 [-01]). The following
options are available:

Setpoint frequency (16 bit)

The setpoint frequency in setpoint 1 is transferred as a 16 Bit value as standard. Setpoint 1 is
transferred to the inverter as the second word in the process data area of the order telegram.

PZD1 PZD2 PZD3 PZD4
STW

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The setpoint is transf erred as a whole number with a value range of -32768 to 32767 (8000 hex to
7FFF hex). The value 16384 (4000 hex) is equal to 100%. The value C000 HEX corresponds to ­100%. A setpoint of 100% c orresponds to the param eter maximum frequ ency (parameter P105) set
in the same parameter set.

SW1 SW2/3 SW2/3

Setpoint position (16 or 32 Bit)

Using the posicon special extension POSICON ( SK XU1 -POS) of the SK 700E , the abs olute setpoint
position can be transfer red in setpoint 1 . It can be trans ferred as a 16 or 32 Bit value with a res olution
of 1=0.001 revolutions. In addition, the control terminals (POSICON control bits setting) can be
transferred in binary.

The SK 53xE / SK54xE version of the SK 500E series is also able to transfer pos itions, however
here, the 32 Bit position is divided into two 16 Bit components (Low word and High word). The
assignment of the tw o 16 Bit components is then carr ied out via appropriate parameterisat ion on 2
arbitrary setpoints (e.g.: SW1 and SW2).

16-Bit setpoint position setting:

As a 16 Bit value, a range of +32767 (= 32,767 revolutions) to -32768 (= -32,768 revolutions) is
possible. The 16 Bit setpoint pos ition is transferred as the sec ond word in the process data area (as
with the setpoint, see above)

32-Bit setpoint position setting:

As a 32 Bit value, the full position range of +/- 50000,000 revolutions is available. With the SK
700E/750E, the 32 Bit setpoi nt position is transferred in the area of the proces s data as the second
and third word. With the SK 500E in any t wo of the thre e words PZD 2, PZD3, PZD 4.

PZD1 PZD2 PZD3 PZD4

STW SW1, 32 Bit SW2

P546=3, 32bit setpoint position

SK 700E/750E

POSICON

SW1, 16 Bit SW2, 16 Bit SW3

44 BU 0060 GB-4112

P546=21 (23)

Low word

P546[-01]=21

(23)

Low word

P547=22 (24)

High word

P546[-02]=22

(24)

High word

SK 54xE

SK 53xE

4 Communication and Protocol

Bits 0-5

Position array/position increm ent

Bit 6

Approach reference point

Bit 7

Reference point

Bit 8

Teach-in

Bit 9

Quit teach-in

Bit 10

Reset position

Bits 0-3

Position array/position increm ent

Bits 4-7

Vacant

Bits 8­15

no significance

Posicon control bits setting:

A 16 Bit value is transf erred in which the control term inals of the posicon special extens ion unit are
mapped. The setpoint position is based on the position array / position increment as per the P610
setpoint mode.

The transferred Bits have the following meaning (see Manual BU 0510 / BU 0710):

SK 7x0E + SK XU1-POS

Bit Function

SK 53xE / SK 54xE

Bit Function

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Setpoints 2 and 3

In addition to setpoint 1, two further setpoints can be transferred. The division to the process data
words PZD3 and PZD4 depends on the inverter series:

PZD1 PZD2 PZD3 PZD4

STW SW1 SW3 SW2 SK 300E, SK 7x0E
STW SW1 SW2 SW3 SK 5xxE

SK 7x0E: thir d setpoint value can o nly be tr ansferred if a 32 Bit setp oint value is not transf erred in the
first setpoint.

PZD1 PZD2 PZD3 PZD4

STW

SW1 SW2

The second and third s et po ints are al wa ys 16 Bit . T he f unc tion of th e s ec ond an d third s et po int c a n be
set in the inverter under th e parameter 'Fct. Bus Set point 2' (P547 or P546 [-02]) as well as 'Fct. Bus
Setpoint 3' (P548 or P546 [-03]).

Both setpoints are tra nsferred as whole numbers in t he range (-32768 to 32767). The valu e 16384
(4000 HEX) correspon ds to 100%. The value C0 00 HEX is equal to –100 %, so that setpoints in th e
range –200% to +200% c an be tr ansf erred. A setpoint of 100% corr esponds to th e res pective nom inal
value (Section 4.1.7).

In addition, posicon c o ntrol bits can also be transferred here.

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BU 0060 GB-4112 45

CANopen – Supplementary manual options for NORD - Frequency Inverters

Bits 0-5

Digital input 1-6

Bit 6-11 for POSICON special extension unit

Digital input 7-12

Bit 6 for encoder special extension unit

Digital input 7

Bits 12-15

Multifunctional relay 1-4

Bits 0-4

Digital input 1-5

Bit 5-6 (above SK 520E)

Digital input 6-7

Bits 12-15

Relay and digital outputs 1 - 4

Setpoints 4 and 5

SK 540E and SK 545E freq uency in verters c an also pr ocess the 16 bit setp oints 4 and 5. T he f unction
of these setpoints can be set in the inver ter under the parameter 'Fct. Bus Setpoint 4' (P546 [-04]) as
well as 'Fct. Bus Setpoint 5' (P546 [-05]).

The value range and scaling corespond to setpoints 2 and 3.

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4.1.6 Actual value (IW)

The actual value 1, i. e. the actual outpu t frequenc y of the inverter, is tr ansferred as a 1 6 Bit value as
standard in the actual value 1. T he actual val ue 1 is transf erred to the m aster in t he inverter r esponse
telegram as the second word in the process data area.

PZD1 PZD2 PZD3 PZD4
ZSW IW1 IW2/3 IW2/3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The actual value 1 is trans ferred as a whole number in the rang e -32768 to 32767. In addit ion to the
actual frequency, other actual inverter values can be transferred. The setting is made in P543 (or
P543 [-01]) 'Actual bus value 1'.

The settings ‘Actual frequency’, ‘Actual speed’, ‘Current’ and ‘Torque current’ are transferred as
percentages of the respective nominal values. The value 16384 (4000 HEX) corres ponds to 100%.
The value C000 HEX corresponds to -100%. Actual values in the range –200% to +200% can be
transferred.

With the setting ‘Digital I/O status’, the states of the control terminals and the relay (MFR) /digital
outputs can be transferred:

SK 300E/700E/750E

Bit Status

SK 5xxE

Bit Status

With the settings ‘Actual position’ and ‘Setpoint position’, the actual absolu te position is transferred.
The resolution is 1 = 0.001 revolutions.

46 BU 0060 GB-4112

4 Communication and Protocol

If with SK 700/750E th e value 'Setpoint positi on 32Bit' is set in param eter P546 'Setpoint 1 funct ion',
the actua l value of the set point p osition or actual p osition is also tra nsfer red as a 32Bit valu e in PZD2
and PZD3:

PZD1 PZD2 PZD3 PZD4

ZSW IW1 IW2

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Actual value 2 and 3

It is possible to forward two more actual values to the controller.
The assignment of the actual val ues 2 and 3 to the process data words PZD3 and PZD4 is c arried out

in the same way as the assignm ent of setpoints 2 and 3. These also differ in sequence b etween the
SK 5xxE and other inverter series.

SK 300E/SK 700E/SK 750E
The actual value 2 (IW 2) is transm itted in PZD4. T he value to be transferred ca n be selected "Actual

bus value 2" (P544). Actua l value 3 (IW 3) can be transmitted in PDZ3 if act ual value 1 is not a 32 Bit
value. The value to be transferred can be selected "Actual bus value 3" (P545).

SK 5xxE
The actual value 2 (IW 2) is transm itted in PZD3. T he value to be transferred ca n be selected "Actual

bus value 2" (P544 or P5 43 [-02]). The actual value 3 (IW3) is transmitted in PZD4. T he value to be

transferred can be selected "Actual bus value 3" (P545 bzw. P543 [-03]).

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Actual value 4 and 5

SK 540E and SK 545E freq uency in verters c an also pr ocess the 16 bit setp oints 4 and 5. T he f unction
of these actual values is set in the inverter un der the param eters ' Actual bus value 4' (P543 [-0 4]) and
'Actual bus value 5' (P543 [-05])

The value range and the scalling correspond to thise of the other actual values.

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BU 0060 GB-4112 47

CANopen – Supplementary manual options for NORD - Frequency Inverters

Name

Analog signal

Bus signal

Setpoint values

Value

Standardisatio

Value

Max.val

Type

100% =

-100% =

Standardisation

Limitati

absolut

e

Setpoint frequency

{01}

0-10V

P104 … P105

±100%

16384

INT

4000
16384

dez

C000

-

16385

dez

4000

*

f

setpoint

[Hz]/P105

P105

Frequency

{04}

0-10V

P410 … P411

±200%

32767

INT

4000
16384

C000

-

4000

*

P105

Frequency

0-10V

P410 … P411

±200%

32767

INT

4000
16384

C000

-

4000

*

P105

Max. frequency

{07}

0-10V

P411

±200%

32767

INT

4000
16384

C000

-

4000

*

P105

Actual

{14}

0-10V

P105*

±100%

16384

INT

4000
16384

C000

-

4000

*

P105

Setpoint process

{ 15 }

0-10V

P105*

4000
16384

C000

-

4000

*

{2}

4000
16384

4000

{6}

U

(V)/10V

4000
16384

4000

Actual values

Actual frequency

0-10V

P201*

4000
16384

C000

-

4000

*

Actual speed

{02}

0-10V

P202*
U

AOut

(V)/10V

±200%

32767

INT

4000
16384

dez

C000

-

16385

dez

4000

*

n[rpm]/P202

Current

{03}

0-10V

P203*
U

AOut

(V)/10V

±200%

32767

INT

4000
16384

dez

C000

-

16385

dez

4000

*

f[Hz]/P105

Torque current

0-10V

P112* 100/

±200%

32767

INT

4000
16384

C000

-

4000

*

Master value

{19} … {24}

0-10V

P105*

4000
16384

C000

-

4000

*

4000
16384

C000

-

4000
of pairs of poles

or
4000

hex

*n[rpm]/P202

4.1.7 Standar di sation of setpoint / target values

The following table cont ains details f or the s tandardis ation of typical s etpoint and actual values. These
details relate to parameters (P400), (P418), (P543), (P546), (P740) or (P741).

{Function}

addition

subtraction

{ 05 }

valueProcess

controller

controller

Torque current

limit

Current limit

{Function}

{01}

{04}

Setpoint frequency

range

(10V=100%)

(10V=100%)

(10V=100%)

(10V=100%)

(10V=100%)

(10V=100%)

0-10V

(10V=100%)

0-10V

(10V=100%)

n

(min - max)

(min - max)

(min - max)

U

(V)/10V

AIN

U

(V)/10V

AIN

P112*

(V)/10V

U

AIN

P536*

AIN

range

±100% 16384 INT

0-100% 16384 INT

0-100% 16384 INT

(10V=100%)

(10V=100%)

(10V=100%)

(10V=100%)

U

(V)/10V

AOut

√((P203)²-

±100% 16384 INT

(P209)²)*
U

(V)/10V

AOut

(10V=100%)

U

AOut

(V)/10V

±100% 16384 INT

ue

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

dez

dez

dez

dez

dez

dez

dez

dez

dez

dez

16385

16385

16385

16385

16385

/

/

16385

16385

16385

hex

hex

f

dez

setpoint

hex

f

dez

setpoint

hex

f

dez

soll

hex

f

dez

setpoint

hex

f

dez

setpoint

hex

f[Hz]/P201

dez

hex

hex

hex

Iq[A]/(P112)*100/

dez

√((P203)²-(P209)²)

hex

f[Hz]/P105

dez

hex

hex

[Hz]/P411

hex

[Hz]/P411

hex

[Hz]/P411

hex

[Hz]/P105

hex

[Hz]/P105

* I[A]/P112 P112

hex

* I[A]/P536 P536

hex

hex

hex

hex

hex

hex

on

P105

Speed from rotary

encoder

{22}

/ /

±200% 32767 INT

hex

dez

16385

hex

dez

* n[rpm]/

hex

P201*60/Number

Table 9: Scaling of setpoints and actual values (Selection)

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48 BU 0060 GB-4112

4 Communication and Protocol

SK 540E and SK 545E devices enabl e processing of up to 5 setpoints or actual values. However,

this is only possible with a bus configuration via the integrated RJ45 interfaces. For the two additional values, 5

1*

Process data Master à Frequency inverter

(CAN address*2) + 0

2

Process data inverter à Master

(CAN address*2) + 1

3

Parameter order Master à Inverter

(CAN address*2) + 512

4

Parameter response inverter à Master

(CAN address*2) + 513

5

Broadcast process data Master à Inverter

1024 - 1032 (1)

* Only if broadcast is set in frequency inverter

4.2 The CANnord protocol

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4.2.1 Message object s

The control and param eterisation of NORD f requenc y inverter is im plem ented via CANn ord using f our
message objec ts. T he message obj ects are iden tifie d by various ident ifiers . The f ollowing s ervices are
available for a logic master (client):

• Transmit process data (control word and target value) – confirmed or broadcast

• Receive process data (status word and actual value)

• Transmit parameter order (read or write)

• Receive parameter order response identifier / parameter value

• Transfer of setpoint positions with SK 700E with PosiCon option, SK 53xE / SK 54xE

• Transfer of the actual frequency inverter status during operatio n

Information

Communication direction

The data directions "transmit", "receive" are relative to the logic master or client.

The process objects (1. + 2.) can be 4 Bytes (transfer of setpoint) or 8 Bytes (transfer of several
setpoints) long. Parameter objects are always 8 Bytes long.

Information

In CAN mode

bytes must be transmitted, whereby the 5th byte is a dummy.

SK 54xE – 2 additional setpoints and actual values

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4.2.2 Identifier

The standard CAN (2.0A) permits maximum 2048 different identifier s. Each identifier represents the
address for a message objec t, w hereby a frequency inverter uses at l eas t 4 dif f erent message objects.
In addition, so-called broadcast identifiers can be assigned.

The identifier of the message object can be derived from the CANnord address (P515):

Serial No. Message objects Determination of the identifier

Table 10: CANnord - Determination of message object identifiers

The identifier also spec ifies the pr iorit y in the C ANnor d protoc ol (the h igher the ide ntifier, th e lower the
priority). Process data therefore always automatically have higher priority.

In Extended Fram e telegra ms, a c onstant part is adde d to the ident ifier . The Ex tended ID is ge nerated
by adding 18 null bits, so that the ident ifier for extended and standard f ormats can be the same. The
identifier format is automatically recognised.

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BU 0060 GB-4112 49

CANopen – Supplementary manual options for NORD - Frequency Inverters

CAN bus address

100

dez

Process data Master à Frequency
inverter

200

Process data frequency inverter à
Master

201

Parameter order Master à Frequency
inverter

712

Parameter response frequency inverter à
Master

713
Broadcast identifier No. 4

1027

dez

Broadcast identifier No. 9 (all)

1032

dez

4.2.3 Identi fier example

In the frequency inverter, the CANnord address (P515) is set to the value 100.
This results in the following identifier:

Message objects Identifier

dez

dez

dez

dez

Table 11: Identifier example

Based on the above exam ple, the master transmits its proc ess data to the f requency inverter with the
identifier 200. As a respons e, it receives the actual v alues with the identifier 201. A param eter is sen t
with the identifier 712 to th e frequenc y inverter, th e respons e of the fr equency inverter is sent with t he
identifier 713.

If P509 is set to 11, the broadcast identifiers 1027 and 1032 are also valid.

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4.2.4 Sequence of data transfer

If the user sends process data to the frequency inverter, it responds via the appropriate message
channel. It acts in the same way with parameter orders.

The following delays occur between transmitting and receiving:

− Process data (t

− Parameter data (t

If an error occurs in the frequency inverter, it immediately transmits its status word and actual value
via the PZD channel. The er ror state is indicate d by the error bit in the status word. The current er ror
number can then be read out via the PKW channel.

) approx 1 to 3 ms

PZD

) approx. 5 to 10 ms

PKW

50 BU 0060 GB-4112

4 Communication and Protocol

from FI

Setpoint
from Master

Actual value

from FI

Parameter
order from Master

Timing process data

t

PZD

Timing parameter data

Parameter
response

t

PKW

Figure 9: Sequence of data transfer

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4.2.5 Broadcast telegrams

To control several frequency inverters simultaneously (e.g. same enable and same setpoint), it is
possible to address frequency inverter groups or all f requency inverters using broadcas t telegrams.
This means that, in add it ion to the identifiers d esc r ibed ab ov e, add it ion al br oa dcas t id ent if iers f or eac h
frequency inverter ar e also valid. A ra nge of 32 addr esses is assigne d to one broadcas t identifier. Al l
connected frequency inverters can be controlled using the broadcast identifier 1032.

CAN address (P515) Broadcast identifier

00 - 31 1024 (400h)
32 - 63 1025 (401h)
64 - 95 1026 (402h)
96 - 127 1027 (403h)
128 - 159 1028 (404h)
160 - 191 1029 (405h)
192 - 223 1030 (406h)
224 - 255 1031 (407h)
0 - 255 1032 (408h)

Table 12: Assignment of CAN address (P515) to the broadcast identifier

BU 0060 GB-4112 51

CANopen – Supplementary manual options for NORD - Frequency Inverters

1 2 3

4

PKE

IND

PWE1

PWE2

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

the inverter parameter num bers (PNU) of the particular inverter series please refer to the relevant operating

Information

Both the order label and the respons e label are abbreviated as AK. Therefore, care must be taken when reading

The broadcast function is activated when the interface parameter (P509=11) is set to CAN broadcast.
This assumes that the control data and setpoint are specified via CANnord.
Only process data can be transferred with broadcast telegrams. Status data are not returned

(unconfirmed service).

Pos: 81 /Anl eitungen/El ektronik/Bus systeme/4 . Kommunikat ion und Pr otokoll + Pr ozessdatentr ansfer/CAN open [BU00 60]/Das CANn ord Proto koll/Parametr ierung im M ode CAN [CAN ] @ 2\mod_1347285948586_388.docx @ 44341 @ 3 @ 1

4.2.6 Parametrer i sati on in CAN mode

In order to process a parameter (read or write / change an inverter parameter) a unique order
telegram is sent to the f requency inverter from the m aster. The FI responds with the corresponding
response.

In principle, the area of the telegram which is relevant for processing the parameter consists of a
parameter identification , in which the type of ord er (Write, Read etc.) a nd the relevant param eters
are specified. Indivi dual p aram eter sets or arra y elements can b e addres sed with the a id of the Index.
The parameter value contains the value to be written or read.

Pos: 82 /Anl eitungen/El ektronik/Bus systeme/4 . Kommunikat ion und Pr otokoll + Pr ozessdatentr ansfer/CAN open [BU00 60]/Das CANn ord Protokoll /Paramet erkennung (P KE) [CAN] @ 2\mod_1347286233845_388.docx @ 44366 @ 5555 @ 1

Parameter label (PKE)

The order or response and the associated parameters are encrypted in the parameter label (PKE).

AK

SPM

PNU

The parameter label (PKE) is always a 16 bit value.

PNU

Bits 0 to 10 contain the number of the required parameter (PNU), or the number of the
current parameter in the response telegram of the frequency inverter.

Information

For
instructions.

Parameter number PNU

SPM Bit 11 is the toggle-bit for spontaneous messages. This function is not supported!
AK

Bits 12 to 15 contain the order or response label.

Labelling: AK

or interpreting the order processing des cription in this section.

52 BU 0060 GB-4112

4 Communication and Protocol

0

No order

0

1

Order parameter value

1 / 2

2

Change parameter value (word)

1 3 Change parameter value (double word)

2 4 Reserved

- 5 Reserved

- 6 Order parameter value (array)

4 / 5

7

Change parameter value (array word)

4 8 Change parameter value (array double word)

5 9 Order the number of array elements

6

10

Reserved

-

11

Change parameter value (array double word)   
to the EEPROM

5

    

EEPROM

13

Change parameter value (double word)

w it   the

EEPROM

2

14

Change parameter value (word)     
EEPROM

1
0

No response

1

Transfer parameter value (word)

2

Transfer parameter value (double word)*

4

Transfer parameter value (array word)

5

Transfer parameter value (array double word)*

7

Order cannot be executed (with error number in PWE2)

* Only for PPO Type 2

Meanings of the values sent in the order label,:

The following table lists all the orders which can be transfer red from the master to the inverter. The
right-hand column contains the response, which is normally sent (response label positive). Only
certain response labels ar e possible, depending on the order l abel. In case of error ( AK negative) t he
inverter will always supply the value 7 in the response label (AK) to the master.

AK Function Response label positive

12 Change parameter value (array word)

4



Meanings of the values sent in the response label,:

AK Function

As long as an order has n ot yet been executed, the i nverter provides the respo nse to the last order.
Therefore the master must always check whether the received response matches the order sent.

For the plausibility check, the value in the response label (AK), the received parameter number
(PNU) with the corresponding Index (IND) as well as the current parameter value (PWE) can be
used for the description of parameters.

BU 0060 GB-4112 53

CANopen – Supplementary manual options for NORD - Frequency Inverters

0

Invalid parameter number

1

Parameter value cannot be changed

2

Lower or upper value limit exceeded

3

Incorrect sub-index

4

No array

5

Invalid data type (at present only for SK 700E)

6

Only resettable (only 0 may be written)

7

Description element cannot be changed

9

Description data not present

201

Invalid order element in the last order received

202

Internal response label cannot be depicted

1 2 3

4

PKE

IND

PWE1

PWE2

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Array 1-64

P1-P4

Sub-index

Error messages if the order cannot be executed

In the response label "Ord er cannot be executed" (A K = 7), then an error message is added to the
parameter value (PW E2) of the inver ter response. For the meanin gs of the values transferred, please
refer to the following table.

AK Meaning

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Sub-index (IND)

No information / all 0

P1-P4

The structure and function of the parameter index (IND) depends on the type of parameter to be
transferred. For values w hi ch depe nd o n t h e parameter set, the parameter set can be selected vi a B its
0 and 1 of the Index (IND) (0 = parameter set 1, 1 = parameter set 2,...).

If the parameter to be processed is also an array parameter (e.g. position array for the POSICON
option), then the sub-ind ex of the required param eter can addition ally be acces sed via Bit 2 to Bi t 7 of
the sub-index (0 = array element 1, 1 = array element 2,…):

Array element Parameter set Index

5 (000101

21 (010101

) 2 (01

BIN

) 4 (11

BIN

) 15

BIN

) 57

BIN

= 0001 0101

HEX

= 0101 0111

HEX

BIN

BIN

If a parameter is not dependent on the parameter set, then Bits 0 -7 are used for the sub-index.
Please refer to the operating instr uctions for details of the struc ture of the individual parameters and

which values may be called up.

If the sub-index is used, nos. 6, 7, 8 or 11, 12 must be used as the order label, in order for the
sub-index to be effective.

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54 BU 0060 GB-4112

4 Communication and Protocol

32 Bit parameter values are only used with the posicon option. All relevant parameters are described in the

Parameter value (PWE)

According to the type of the PPO or param eter, transf er of the param eter value (PW E) is always as a
word (16 Bit) or double word (32 Bit) Only one parameter value can be transferred in a telegram.

A 32 bit parameter val ue compr ises PWE1 (High value word) and PWE2 (Low v alue word, 4th word).
A 16 Bit param eter value is transferred in PWE2. For negative values the High word must be set to
FFFF hex.

Information

supplementary posicon instruction manual.

32 bit parameter values

The parameter value is transferred as an integ er value. For parameters with r esolutions 0.1 or 0.01
the parameter value must be multiplied by the inverse of the resolution.

Example

A run-up time of 99.99 seconds is to be set.

99.99s à 99.99 * 1 / 0.01 = 99.99 * 100 = 9999
Therefore the value 9999

Pos: 85 /Anl eitungen/El ektronik/Bus systeme/4 . Kommunikat ion und Pr otokoll + Pr ozessdatentr ansfer/CAN open [BU00 60]/Das CANo pen Proto koll/Das CAN open Protok oll [CANopen] @ 1\mod_1342086717076_388.docx @ 32024 @ 2 @ 1

= 270F

dec

must be transferred.

hex

BU 0060 GB-4112 55

CANopen – Supplementary manual options for NORD - Frequency Inverters

Object Index (OI)

The OI contains all objects of the device. Objects depict the visible functionality. They

ccess is gained via SDOs. An object is

addressed via the Index (16 Bit) and the SubIndex (8Bit). The OI is divided into the

A000h...FFFFh: Reserved

Service data obj.

SDOs are used for confirmed transfer of data of any length between two network
subscribers: The SDO cli ent is the initiating subscriber and has direct access to the OI

the SDO server (read and write). The SDO transfer is normally used for

parameterisation and service purpo ses .

Process data obj.

PDOs are used for transferring process data. The process data can contain a maximum

confirmation. The significance of the data
transferred is determined by the identifier and the set PDO mapping. A PDO always has
a producer (transmitter). Several consumers (receivers) may exist.

PDO mapping

sible to set which objects

(setpoint/actual values) are transferred into the PDO telegrams.

Identifier

Every CAN message has an 11 bit identifier. This identifier is used for addressing and
CANopen defines a preset identifier assignment which facilitates communication

The 11 bit identifier is

10 8 8 7 6 5 4 3 2 1 0

Function code

Node identifiers (1-127)

NMT

0000

0 SYNC

0001

80h

1005h-1007h

Time stamp

0010

100h

1012h, 1013h

Emergency

0001

81h – FFh

1014h, 1015h

PDO1 (Tx)

0011

181h – 1FFh

1800h, 1A00h

PDO1 (Rx)

0100

201h – 27Fh

1400h, 1600h

PDO2 (Tx)

0101

281h – 2FFh

1801h, 1A01h

PDO2 (Rx)

0110

301h – 37Fh

1401h, 1601h

PDO3 (Tx)

0111

381h – 3FFh

1802h, 1A02h

PDO3 (Rx)

1000

401h – 47Fh

1403h, 1602h

PDO4 (Tx)

1001

481h – 4FFh

1803h, 1A03h

PDO4 (Rx)

1010

501h – 57Fh

1403h, 1603h

SDO (Tx)

1011

581h – 5FFh

1200h

SDO (Rx)

1100

601h – 67Fh

1200h

NMT Error Control

1110

701h – 77Fh

1016h, 1017h

4.3 The CANopen protocol

contain data, parameters or functions. A
following areas:

0000h...1FFFh: Communication specific objects
2000h...5FFFh: Manufacturer-specific objects
6000h...9FFFh: Standardised device profile objects

(SDO)

inputs of

(PDO)

of 8 bytes. Transfer is made without

In objects 1600h-1603h / 1A00h..1A03h it is pos

priority assignment.
between a higher level device and up to 127 other devices.

broken down as follows:

Object Function code Resulting COB-ID OI entry

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56 BU 0060 GB-4112

4 Communication and Protocol

Pre-Operational

The inverter enters this state after initialisation. This
state is used for bus module configuration. Data traffic
via SDO objects is possible. The PDO channel is
blocked.

Identifier = 0x00 // Data byte 0
Operational

The bus is fully operational, SDO and PDO objects can
be transmitted

Identifier = 0x00 // Data byte 0
= 0x01 // Data byte 1 = 0x00

Stopped

Transfer of SDO and PDO objects is blocked, only NMT
messages can be transferred

Identifier = 0x00 // Data byte 0
= 0x02 // Data byte 1 = 0x00

Information

The drive profile is not s upported if the CANbus is implemented via the integrated RJ 45 sockets for SK 5xxE

Receive PDO

control data

... receives data

Transmit PDO

Status data

.... transmits data

4.3.1 Network Management (NMT)

The individual states of the CANopen network can be activated with the following commands:

Status Description Commands for setting the

operational state

= 0x80 // Data byte 1 = 0x00

Table 13: Network Management (NMT)

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4.3.2 Dri ve profile DS 402

Together with the module SK TUx-CAO the frequency inverter supports the drive profile DS 402
Velocity Mode (speed profile).

The profile is only valid in parameter set 1 and is activated via parameter (P551).

Figure 10: Velocity Mode CiA DSP 402 V1.1 page 178

When the drive profile is activated (P551 = On), objects 6040 - 6044 instead of 3000 - 3003 are relev ant.

inverters.

Drive profile DS 402

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4.3.3 Process dat a transfer in CANopen mode (PDO communication)

PDOs (Process Data Objects) are used for transferring process data.

PDO mode Data type Frequency inverter ...

Table 14: PDO types

NORD frequency inverter s have up to 4 trans mit and 4 rec eive PDOs which are identified b y different
identifiers.

Transfer of PDOs is m ade without conf irmation. T he significanc e of the data tr ansf erred is determ ined
by the CAN identifiers being used and the PDO mapping. A maximum of 8 bytes of data is transferred.

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BU 0060 GB-4112 57

CANopen – Supplementary manual options for NORD - Frequency Inverters

0

PDO is transmitted if a SYNC command has been received and the data (status) has
changed since the last SYNC command.

1 - 240

PDO is transmitted if 1..240 SYNC commands have been received, whether the data
(status) has changed or not.

252, 253

Reserved

254, 255

The PDO is transmitted imm ediately if the data (status) has changed (standard setting).

0 - 240

Data from the Receive PDO is only processed after the next SYNC command has been
received.

252, 253

Reserved

254, 255

Data from Receive PDO is processed immediately (standard setting).

1 2 3 4 Control Word (16 Bit)

Setpoint 1 (16 Bit)

3000

Control word (STW)

3001

Status word (ZSW)

3002

1

Setpoint 1 (SW1) 16 Bit

3003

1

Actual value 1 (IW1) 16
Bit

2 Setpoint 2 (SW2) 16 Bit

2

Actual value 2 (IW2) 16
Bit

3 Setpoint 3 (SW3) 16 Bit

3

Actual value 3 (IW3) 16
Bit

Bit

5 Setpoint 5 (SW5) 16 Bit

Only SK 54xE

5 Actual value 5 (IW5) 16
Bit

4 Setpoint 1 (SW1) 32 Bit

Only SK 7x0E

4 Actual value 1 (IW1) 32
Bit

PDO operating modes (transmission type)

The “transmission type” determines when a transmit PDO is transmitted and when the data from a
receive PDO is proc essed. T hes e settings are s et in o bjects 1400-1403 and 1800-1803. The f ollo wing
settings can be made with NORD frequency inverters:

Transmission type Value

Transmit PDO (Tx)

Receive PDO (Rx)

Table 15: PDO modes

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PDO mapping

The assignment of proces s data in the receive and transm it PDOs is set under P DO m apping (obj ects
1600-1603 and 1A00-1A03). Up to 8 bytes of data can be transferred in each PDO. Mapping
determines where which pieces of data are placed in these 8 bytes, e.g.:

PDO data bytes

The control word, status word, the setpoint values and actua l values can be set using the following
object numbers:

Index Sub-

index

4 Setpoint 4 (SW4) 16 Bit

Control object Index Sub-

index

Only SK 54xE

4 Actual value 4 (IW4) 16

Status object

An entry in the object i ndex determines the setti ng ( obj ec ts 1600-1603 and 1A00-1A0 3). T his specifies
which object of the device is transferred to which point of the PDO.

58 BU 0060 GB-4112

4 Communication and Protocol

PDO1 (Tx)

4 Byte

180h + NODE-ID

ZSW

IW1

PDO1 (Rx)

4 Byte

200h + NODE-ID

STW

SW1

PDO2 (Tx)

8 Byte

280h + NODE-ID

ZSW

IW1

IW3 *

IW2 *

PDO2 (Rx)

8 Byte

300h + NODE-ID

STW

SW1

SW3 *

SW2 *

PDO3 (Tx)

8 Byte

380h + NODE-ID

ZSW

IW1 (32 Bit)

IW2

PDO3 (Rx)

8 Byte

400h + NODE-ID

STW

SW1 (32Bit)

SW2

PDO4 (Tx)

2 Byte

480h + NODE-ID

ZSW

PDO4 (Rx)

2 Byte

500h + NODE-ID

STW

3rd word = IW/SW2, 4th word = IW/SW3

PDO1 (Tx)

8 Byte

180h + NODE-ID

ZSW

IW1

IW2

IW3

PDO1 (Rx)

8 Byte

200h + NODE-ID

STW

SW1

SW2

SW3

absolute encoder

Information

NORD frequency inverters support dynamic mapping and dummy mapping!

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PDO mapping SK 300E, SK 5xxE (SK TU3-…), SK 700E, SK 750E

PDO type Length Identifier 1st word 2nd word 3rd word 4th word

*) In the SK 5xxE devices, the IW/SW 3/2 are ass igned inversely to the words.

In the default setting, all rec eive PDOs are active. A d ecision is made when s ending mes sages to the
applicable identifier whether one setpoint or up to three setpoints can be evaluated.

With transmit PDOs, only PDO 1 is active, while PDOs 2 to 4 are deactivated. If the application
requires the sending of several actual values, the corresponding PDO must be switched on. In the
following example, trans mit PDO 2 is activated, the default setting transm its a status word and three
actual values. For th is, the following messages m ust be sent via the SDO paramet er channel (see
Section 4.3.4):

• Set the NMT status machine for the inverter to the state "Pre-Operational"

• Deactivate PDO 1 à SDO telegram (Index=0x1800 / Subindex=1 / Data=0xc0000181)

• Activate PDO 2 à SDO telegram (Index=0x1801 / Subindex=1 / Data=0x40000281)

• Set the NMT status machine for the inverter to the state "Operational"

• PDO 1 is deactivated to prevent the bus load from rising unnecessarily. The PDO is

activated/deactivated via Bit 31 in the corresponding parameter.

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PDO mapping, SK 511E up to SK 535E via internal RJ45 connection

PDO type Length Identifier 1st word 2nd word 3rd word 4th word

PDO2 (Rx) 4 Byte 300h + (NODE-ID +1) IW1 (32 Bit) of an

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BU 0060 GB-4112 59

CANopen – Supplementary manual options for NORD - Frequency Inverters

PDO1 (Tx)

8 Byte

180h + NODE-ID

ZSW

IW1

IW2

IW3

PDO1 (Rx)

8 Byte

200h + NODE-ID

STW

SW1

SW2

SW3

PDO2 (Tx)

5 Byte

280h + NODE-ID

IW4

IW5

PDO2 (Rx)

5 Byte

300h + NODE-ID

SW4

SW5

PDO3 (Rx)

4 Byte

400h + (NODE-ID +1)

IW1 (32 Bit) of an
absolute encoder

IDNodexIDSende −+=− 6000

IDNodexIDEmpfangs −+=− 5800

PDO mapping, SK 540E up to SK 545E via internal RJ45 connection

PDO type Length Identifier 1st word 2nd word 3rd word 4th word

Pos: 94 /Anl eitungen/El ektronik/Bus systeme/4 . Kommunikat ion und Pr otokoll + Pr ozessdatentr ansfer/CAN open [BU00 60]/Das CANo pen Proto koll/Inhibit T ime [CANop en] @ 1\mod_1342432696269_388.docx @ 32299 @ 5 @ 1

Inhibit Time

Each transmit PDO h as a param eter "In hibit T ime" (0x 1800 – 0x1803 Sub-Index 3). T his can be used
to set a minimum s end interval between t wo PDO m essages. I n network s with nu mer ous subscribers ,
the bus load can be influenced with this value. The default setting is 10 ms (Value x 100µs).

Pos: 95 /Anleit u ng e n/Elektroni k/Bussyste m e/ 4 . Ko mmunikatio n und Proto koll + Prozes sdatentrans fer/CANope n [BU0060]/D as CANopen Protokoll/ Event Timer [CANopen] @ 1\mod_1342432843212_388.docx @ 32323 @ 5 @ 1

Event Timer

The Parameter Event Tim e (0x1800 – 0x1803 Subind ex 5) can be used for all transm it PDOs. Once
this value is exc eeded, the PDOs are transmitted c yclically. The default setting is 2 50 ms (Value x
1ms).

Pos: 96 /Anleit u ng e n/Elektroni k/Bussyste m e/ 4 . Ko mmunikatio n und Proto koll + Prozes sdatentrans fer/CANope n [BU0060]/D as CANopen Protokoll/ Einstellung en am PDO [C ANopen] @ 1 \mod_1342431680963_388.docx @ 32251 @ 5 @ 1

PDO settings

All settings for the PDOs are implemented via the SDO parameter channel (Section 4.3.4).
The settings made are no t stored permanent ly in the devic e, i.e. a reset of the 24 V po wer supply will

reset the changed parameters to the default values.

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4.3.4 Paramet erisati on in CANopen mode (SDO communication)

Access to all parameters of the fr equency inver ter and the CANop en Box is im ple m ented via so-called
service data objects ( SDO). Access is via handshake bet ween client and s erver, i.e. aft er a message
is transmitted, the response must be waited for before a new message can be sent.

Transmit and receive addresses for SDO access seen from the PLC

The Node ID of the frequency in verter is set via the "ID-H" an d "ID-L" s witches on the CANopen Box
or in the PGM mode via parameter P515.

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60 BU 0060 GB-4112

4 Communication and Protocol

0x2B

0x66

0x20

0x01

0x67

0x00

0x00

0x00

Data à user data (Parameter value):
The values of the selected parameter are transferred

(1.03s = 103

dec

= 0067

hex

)

32 Bit value: 76 BC 2A 00

(2800,758rev = 2800758

dec

= 002ABC76

hex

)

Sub-Index à Parameter index or array value:
The selected parameter set and the array element of the parameter

For parameters which neither depend on parameter sets nor consist

Column

1 2 3 4 Row

P-set 1

P-set 2

P-set 3

P-set 4

1

Array [-01]

0x01

0x02

0x03

0x04

2

Array [-02]

0x05

0x06

0x07

0x08

3

Array [-03]

0x09

0x0A

0x0B

0x0C

4

Array [-04]

0x0D

0x0E

0x0F

0x10

…

…

Index à Parameter number of the frequency inverter:

The control byte à specifies the data length and the order:

0x23 = Transmit 32 bit value

Response

Any other response corresponds to a termination of parameter communication.

Transmitting parameter data via SDO

Transmission of parameter data = Writing a parameter value into the frequency inverter.
Example: Parameter P102 (acceleration time), 1.03s

Control

Index Sub-index Data

byte

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

in this area.

16 Bit value: 67 00 00 00

are coded in this area.
of array elements, the sub-index is 00

hex

For all other cases, the following overview applies:

The parameters are mapped in the area above 2000

=66

Parameter P102 = 102

dec

à 2000

hex

0x2B = Transmit 16 bit value

0x60 =

Table 16: Transmitting parameter data via SDO

Pos: 99 /Anl eitungen/El ektronik/Bus systeme/4 . Kommunikat ion und Pr otokoll + Pr ozessdatentr ansfer/CAN open [BU00 60]/Das CANo pen Proto koll Laden von Para meterdaten über SDO [C ANopen] @ 1 \mod_1342434267834_388.docx @ 32395 @ 5 @ 1

Error-free telegram received

Loading parameter data via SDO

Loading of param eter data is carried out in a sim ilar manner to the transm ission of parameter data.
For this, the master sends a read order (con trol byte 0x40) to the frequency inver ter, which specifies
which parameter a nd which array or which param eter set is to be read out. Th e data area remains
empty (everything 0).

The response telegram corresponds to the order telegram, whereby the status byte specifies the
length of the response data (response 16/32 bit) and the data area which contains the parameter
value which has been read out.

hex

+ 66

= 2066

hex

hex

:

à 66 20

hex

BU 0060 GB-4112 61

CANopen – Supplementary manual options for NORD - Frequency Inverters

0x40

0x20

0x66

0x01

0x00

0x00

0x00

0x00

0x4B

0x20

0x66

0x01

0x67

0x00

0x00

0x00

control byte

0x40 = Load value

Response

0x80 =

Response to an incorrect order

0x80

0x00

0x18

0x01

0x02

0x00

0x01

0x06

0x0601 0001

Access to write-only parameter

0x0601 0002

Access to read-only object

0x0607 0010

Data type or parameter length do not match

0x0609 0030

Parameter value range overflow

0x0609 0031

Parameter value range overflow

0x0609 0032

Parameter value range undershot

0x0609 0011

Sub-Index of parameter does not exist

Example: Read out parameter P102, Response: P102, 1.03s

Control byte/

Index Sub-index Data

Status byte

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Requirement

Response

The

0x4B =
0x43 =

Table 17: Loading parameter data via SDO

Pos: 100 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Proto kollAbbruch der Paramet erkommunik ation (SDO) [CANopen] @ 1\mod_1342434882348_388.docx @ 32420 @ 5 @ 1

à states the order:

Deliver the 16 bit value which has been read out
Deliver the 32 bit value which has been read out

Cancelling of parameter communication (SDO)

If problems occur during parameter communication ( e.g. value range over flow), a cancel telegram is
sent. This can be recognis ed by the num ber 0x80 in b yte 0. The cause of the cancellation is indicated
in bytes 4 to 7.

Control

byte

Last index used Error code

Byte 0 Byte 1 Byte 2 Byte 3 B yte 4 Byte 5 Byte 6 Byte 7

Table 18: Error message (0x06010002 = attempted writing access to a read-only object)

Error code Description

Table 19: Error codes – Parameter communication

Pos: 101 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Protokol l / Ändern der COB- ID (Adresse) eines PDOs [CANopen] @ 1\ mod_1342431982191_388.docx @ 32275 @ 5 @ 1

62 BU 0060 GB-4112

4 Communication and Protocol

PDO 1

0x1400 Sub 1

0x1800 Sub 1

PDO 2

0x1401 Sub 1

0x1801 Sub 1

PDO 3

0x1402 Sub 1

0x1802 Sub 1

PDO 4

0x1403 Sub 1

0x1803 Sub 1

0

PDO is active

1

PDO is switched off

30

1

29 to 11

0

10 to 0

X

PDO identifier ( COB – ID )

Changing the COB-ID (address) of a PDO

Changes to the identifier of a PDO can only be made when the NMT status machine of the inverter is
in the "Pre-Operational" state.

Each Transmit and Receive PDO has its own parameter for this setting.

PDO Receive PDO Send PDO

Table 20: Index table for transmit and receive PDOs of the inverter

The following parameter is a 32 bit value, which includes other information in addition to the identifier.

Bit number Value Meaning

31

Values cannot be changed

Table 21: Description of PDO COB-ID entry

The PDO identifier is stored in bits 0 to 1 0. The bit 31 must be set to null, other wise the PDO will be
deactivated. If, e.g. th e identif ier for a trans mit PDO is changed t o 0x201, the value 0x 4000020 1 must
be entered in the appropriate parameter.

The new identifier becomes valid by setting the NMT status machine to the "Operational" state.

Pos: 102 /Anleit ungen/Ele ktr onik/Buss ys t e me/4. Kommu nikation und Protokoll + Prozessdat entransfer/C ANopen [B U0060]/Das C ANopen Pro tokoll/CANo pen Objekte/ Objektverz eichnis @ 1\mod_1342606056063_388.docx @ 34032 @ 3 @ 1

BU 0060 GB-4112 63

CANopen – Supplementary manual options for NORD - Frequency Inverters

1000

-

Device type

Device type and functionality

RO

U32

1001

-

Error register

Error register

RO

U8

1002

-

Status Register

Status of the module

RO

U32

1003

ARR

Pre-defined Error

Error signaled by an emergency

U8 0

Number of errors

Number of errors ; 0 deletes the
error list

RW

U8
1 Error code

Error number

RO

U32

1005

-

COB-ID SYNC

Identifier for SYNC mess ages
(Default 80h)

RW

U32
1008

-

Device name

Device name

RO

STR

1009

-

Hardware version

Hardware configuration

RO

STR

100A

-

Software Version

Software version FI+CO

RO

STR

100C

-

Guard Time

Guard time (0=off)

ms

RW

U16

100D

-

Life Time Factor

Life time = life time factor * guard
time

RW

U16

1014

-

COB-ID Emergency Object

Identifier Emergency Object
(80h+Node-ID)

RW

U32
1015

-

Inhibit Time EMCY

Minimum repeat time

ms

RW

U16

1017

-

Producer Heartbeat Time

Cycle Time of Heartbeat

ms

RW

U16

1018

REC

Identity object

General device information

U32 0

Largest sub-index

Number of elements

RO

U8 1

Vendor ID

Manufacturer identification

RO

U32 2

Product code

Device version (product number)

RO

U32

3 Revision number

Software version and revision
number

RO

U32
4 Serial number

Serial number

RO

U32

1200

REC

Default Server SDO

SDO server

0x22

0 Largest sub-index

Number of elements

RO

U8

1 COB_ID Server>Client (rx)

Identifier receive SDO (600h +ID)

RO

U32

2 COB_ID Server>Client (tx)

Identifier transmit SDO (580h +ID)

RO

U32

4.3.5 Object Index

All available objects are contained in the NORD frequency inverter “Electronic data sheet” (eds file).

Pos: 103 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Protokol l /C ANopen Obje k te/ CANopen Profi l D S 30 1 @ 1\ mod_1342606177463_388.docx @ 34226 @ 5 @ 1

CANopen profile DS 301

Pos: 104 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Protokoll/CANopen Objekte/Kommuni kationsobjekte (1000hex – 1200hex) [zu DS 301] @ 1\mod_1342606247446_388.docx @ 34620 @ 6 @ 1

Communication objects (1000

- 1200

hex

hex

)

Index

(hex)

Sub Object Description Unit Access Type

object

Table 22: Communication object s (DS 301)

Pos: 105 /Anleit ungen/Ele ktr onik/Buss ys t e me/4. Kommuni kation und Protokoll + Prozessdat entransfer/C ANopen [BU 0060]/Das C ANopen Pro tokoll/CANo pen Objekte/ PDO Objekt e (1400hex – 1A03hex) [zu D S 301] @ 1 \mod_1342611822021_388.docx @ 34644 @ 6 @ 1

64 BU 0060 GB-4112

4 Communication and Protocol

1400­1403

REC

Receive PDO
Communication Parameter

Receive PDO characteristics

RW

0x21
0 Largest sub-index

Number of elements

RO

U8

1 COB-ID used by PDO

Identifier receive PDO

RW

U32 2

Transmission type

Receive PDO type

RW

U8 3

Not used

Not used

- - 4

Reserved

Reserved

- - 5

Not used

Not used

- -

1603

Receive PDO Mapping
Parameter

0 Largest sub-index

Number of elements

RW

U8 1-4

PDO mapping

Mapped objects

RW

U32

1800­1803

REC

Transmit PDO
Communication Parameter

Transmit PDO chara ct eristics

RW

0x21
0 Largest sub-index

Number of elements

RO

U8 1

COB-ID used by PDO

Identifier receive PDO

RW

U32 2

Transmission type

Send PDO type

RW

U8

3 Inhibit Time

Minimum transmit time

100µ
s

RW

U16
4 Reserved

Reserved

- - 5

Event Timer

Cyclic transmit timer

ms

RW

U16

1A00-

REC

Transmit PDO Mapping

Send PDO mapping

RW

0x21
0 Largest sub-index

Number of elements

RW

U8 1-4

PDO mapping

Mapped objects

RW

U32

PDO objects (1400

- 1A04

hex

hex

)

Index

(hex)

1600-

Sub Object Description Unit Access Type

REC

Receive PDO mapping RW 0x21

1A03

Table 23: PDO objects (DS 301)

Pos: 106 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Protokol l /C ANopen Obje k te/ CANopen Antri ebs- Profil DS402 - Objekt (603Fhex - 6049hex) @ 1\mod_1342613783140_388.docx @ 34769 @ 5 @ 1

Parameter

BU 0060 GB-4112 65

CANopen – Supplementary manual options for NORD - Frequency Inverters

603F

-

Error code

Error description

-

RO

U32

6040

-

Control word

Control word

-

RW

U16

6041

-

Status word

Status word

-

R0

U16

6042

-

Vl_target_velocity

Speed setpoint

rpm

RW

I16

6043

-

Vl_velocity_demand

Setpoint speed after ram p

rpm

RO

I16

6044

-

Vl_control_effort

Actual speed value

rpm

RO

I16

unt

1 Vl_velocity_min_amount

Min. speed value

rpm

RW

U32 2

Vl_velocity_max_amount

Max. speed value

rpm

RW

U32

6048

REC

Vl_velocity_acceleration

Speed acceleration

-

RO

REC

1 Delta_speed

Delta speed

rpm

RW

U32

2 Delta_time

Delta time

s

RW

U16

6049

REC

Vl_velocity_deceleration

Speed deceleration

-

RO

REC

1 Delta_speed

Delta speed

rpm

RW

U32 2

Delta_time

Delta time

s

RW

U16

CANopen drive profile DS402 - Objects (603F

– 6049

hex

hex

)

Index

(hex)

Sub Object Description Unit Access Type

6046 ARR Vl_velocity_min_max_amo

Table 24: Object drive profile DS 402

Pos: 107 /A nleitungen/El ektronik/B ussysteme/ 4. Kommuni kation und Pr otokoll + Pr ozessdate ntransfer/C ANopen [BU0 060]/Das CAN open Protokol l /C ANopen Obje k te/ Frequenzu mri c hter - Objekt (2000hex - 3003hex) @ 1\mod_1342615089512_388.docx @ 34794 @ 5 @ 1

Speed min/max amount - RO ARR

66 BU 0060 GB-4112

4 Communication and Protocol

2000­23E7

-

Manufacturer Spec.
Parameter

FI parameters    
manual)

-

-

-
3000

Control word

Control word (STW)

U16

3001

Status word

Status word (ZSW)

U16

3002

0

Largest sub-index

Number of elements

U8 1

Setpoint 1

Setpoint 1 (SW1) 16 Bit

U16

2 Setpoint 2

Setpoint 2 (SW2) 16 Bit

U16

3 Setpoint 3

Setpoint 3 (SW3) 16 Bit

U16

4*

Setpoint 4

Setpoint 4 (SW4) 16 Bit

U16

5*

Setpoint 5

Setpoint 5 (SW5) 16 Bit

U16

4**

Setpoint 1 (long)

Setpoint 1 (SW1) 32bit

U32

3003

0

Largest sub-index

Number of elements

U8 1

Actual Value 1

Actual value 1 (IW1) 16 Bit

U16

2 Actual Value 2

Actual value 2 (IW2) 16 Bit

U16

3 Actual Value 3

Actual value 3 (IW3) 16 Bit

U16

4*

Actual Value 4

Actual value 4 (IW4) 16 Bit

U16

5*

Actual Value 5

Actual value 5 (IW5) 16 Bit

U16

4**

Actual Value 1 (long)

Actual value 1 (IW1) 32bit

U32

* Only SK 7x0E

Frequency inverter objects (2000

hex

- 3003

hex

)

Index

(hex)

* Only SK 54xE

Sub Object Description Unit Access Type

Table 25: Frequency inverter objects

Pos: 108 /Anleit ungen/Ele ktronik/Buss ysteme/5. P arameter/! Kapitel Par ameter [CAN open BU0060] @ 1\mod_1342439979075_388.docx @ 32469 @ 1 @ 1

BU 0060 GB-4112 67

CANopen – Supplementary manual options for NORD - Frequency Inverters

signal must be present on the digital inputs being used

5. Parameters

To operate the inverter with the CANnord/CANopen protocol, the bus must be connected to the
master and some settings have to be made on the frequency inverter.

With CANopen protocol, the inverter parameters are mapped in the range 2000
8192
must be added to the value 2000

to 9191

dec

, i.e. when parameterisation is carried out via the bus, the parameter numbers

dec

(e.g. P508 à obj . 21FC

hex

hex

).

to 23E7

hex

hex

=

The frequency inverter can always be parameterised. The control source can be selected with
parameter P509 (contro l word) and param eter P510 (setpoi nt source). The te legram down tim e P513
can be selected depending on the bus system.

Information

According to the type or equipment of the frequency inverter, individual parameters may be different or restricted.

Deviating Parameter Set t in g s

Information

When activated, the functions block voltage, quick stop, remote control and cancel error, are available at the
(local) control terminals. To operate the drive, a High
before the drive can be enabled.

Control terminal functions

Pos: 109 /Anleit ungen/Ele ktr onik/Buss ys t e me/5. Paramet er / BUS Paramet er SK 30 0 E / 700E / 750E @ 1\mod_1335530232658_388.docx @ 24698 @ 2 @ 1

68 BU 0060 GB-4112

5 Parameters

The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions

In order to use this function, one of the bus setpoints (P546, P547, P548) must be s et to >Bus I/O

The possible functions for the Bus In Bits can be found in the table of functions for the digital

can be accessed with the ControlBox. A

The bus I/O Out bits are perceived as digital outputs. These can be set to the same functions as

In order to use this function, one of the bus setpoints (P543, P544, P545) must be s et to >Bus I/O

The possible functions for the Bus Out Bits can be found in the table of functions for the digital

Note

ControlBox at SK 300E

of the first array can be accessed with the ControlBox. A

5.1 BUS parameter data for SK 300E/700E/750E

Pos: 110 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/P4xx Steuerklem men @ 0\mod_1327678262854_388.do cx @ 9027 @ 5 @ 1

5.1.1 Control t ermi nals

Parameter

{factory setting}

Pos: 111 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P480 – Fu n ktion Bus I/O In Bit s [S K 300E, SK 700E] @ 1\mod_1335776613691_388.docx @ 24730 @ @ 1

Setting value / Description / Note Supervisor

P480 [-01]
...
[-08]

0 ... 62
{ all 0 }

Pos: 112 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P481 – Fu nktion Bus I /O Out Bits [ SK 300E, S K 700E] @ 1\ mod_1335777244985_388.docx @ 24 754 @ @ 1

P481 [-01]
...
[-08]

Function BusIO In Bits

(Function Bus I/O In Bits)

S

(P420...425).

In Bits 0-7 <. The required function must then be assigned to the relevant bit.

[-01] = Bus I/O In Bit 0
[-02] = Bus I/O In Bit 1
[-03] = Bus I/O In Bit 2
[-04] = Bus I/O In Bit 3

[-06] = Bus I/O In Bit 5
[-07] = Bus I/O In Bit 6
[-08] = Bus I/O In Bit 7

[-05] = Bus I/O In Bit 4

inputs P420...425.

Note ControlBox at SK 300E

SK 300E: Only the value of the first array
ParameterBox or the NORDCON software is required to access the other arrays.

Function BusIO Out Bits

(Function Bus I/O Out Bits)

S

Parameter
set

0 ... 38
{ all 0 }

P434 … P443; P624 … P629 (only SK 7x0E with POSICON).

In Bits 0-7 <. The required function must then be assigned to the relevant bit.

[-01] = Bus I/O Out Bit 0
[-02] = Bus I/O Out Bit 1
[-03] = Bus I/O Out Bit 2

[-06] = Bus I/O Out Bit 5
[-07] = Bus I/O Out Bit 6
[-08] = Bus I/O Out Bit 7

[-04] = Bus I/O Out Bit 3
[-05] = Bus I/O Out Bit 4

outputs or the relays P434.

SK 300E: Only the value
ParameterBox or the NORDCON software is required to access the other arrays.

Pos: 113 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P482 – Nor mierung Bus I/O Out Bits [SK 300 E, SK 7 00E] @ 1\ mod_133577915 4763_388.docx @ 24778 @ @ 1

BU 0060 GB-4112 69

CANopen – Supplementary manual options for NORD - Frequency Inverters

Adjustment of the limit values of the relay functions/Bus Out Bits. For a negative value, the output

reached and the setting values are positive, the relay contact closes, with

(1st word),

ip (4th word) are

Information

USS mode

P482 [-01]
...

Norm. BusIO Out Bits

(Standardisation of bus I/O Out bits )

[-08]

-400 … 400 %
{ all 100 }

function will be output negative.
When the limit value is

negative setting values the relay contact opens.
The assignment of the arrays correspond to those of parameter (P481).

Pos: 114 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P483 – Hyst erese Bus I/O Out Bits [SK 300E, SK 700E] @ 1\mod_1335779289990_388.docx @ 24802 @ @ 1

P483 [-01]
...

1 … 100 %
{ all 10 }

Hyst. BusIO Out Bits

(Hysteresis of bus I/O Out bits)

[-08]

Difference between switch-on and sw itch-off poi nt to prevent oscillation of the output signal.
The assignment of the arrays correspond to those of parameter (P481).

Pos: 115 /Anleit ungen/5. / 6. Parametri erung [BU 0 500 / BU 020 0]/P5xx Zus atzparameter @ 0\mod_1328091531180_388.docx @ 10880 @ 5 @ 1

5.1.2 Additional parameters

Parameter

{factory setting}

Pos: 116 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P503 – Leitfunktion Ausgabe [SK 300E, SK 7x0E] @ 1\mod_1342447391451_388.docx @ 32493 @ @ 1

P503

0 ... 5
{ 0 }

Setting value / Description / Note Supervisor Parameter set

Master function output

(Master function output)

For master-slave applications this parameter specifies on which bus s ystem the master transmits
the control word and the m aster values for the slave. On the slave, parameters (P509), (P510),
(P546 )(… (P548)) define the source from which the slave obtains the control word and the
master values from the master and how these are to be processed by the slave.

Only the master frequency (setpoint 1 and control word) is transferred with Mode 1, while the
actual values selected in P543, P544 and P545 are transferred in Mode 2.

In Mode 3 a 32Bit actual position and a 16 bit setpoint speed (after ramp) is outp ut. M ode 3 is
required for synchronous control with the Posic on option.

Mode 4 can be used for curve control in torque-coupled vehicles. The status w ord
the actual setpoint frequency before the speed ramp (2nd word), the actual torque current
standardised to the torque limit (3rd word) and the actual frequency without sl
transmitted.

0 = Off
1 = USS mode 1 3 = USS mode 2 5 = USS mode 3 7 = USS mode 4
2 = CAN Mode 1 4 = CAN Mode 2 6 = CAN Mode 3 8 = CAN Mode 4

up to 250kBaud

S

S

S

Each USS mode prevents communication with a PC and NORD CON.

Pos: 117 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P509 – Sc hnittstelle [SK 300E, S K 700E - CANo pen] @ 1\mod_1342448673313_388.docx @ 32517 @ @ 1

70 BU 0060 GB-4112

5 Parameters

**) If the communication during keyboard control is interrupted (time out 0.5 sec),

P509

0 ... 21
{ 0 }

Interface

(Interface)

Selection of the interface via which the FI is controlled.

0 = Control terminals or keyboard control ** with the ControlBox (if P510=0), the

ParameterBox (not ext. P-box) or via BUS I/O Bits.

1 = Only control terminals , the FI can onl y be controlled via the digital and analog

inputs or via the bus I/O Bits.

5 = CAN setpoint*, the frequency setpoint is transferred via CAN. Control via the digital

inputs is still active.

6 = CAN control word*, the control signals (enable, direction of rotation, ...) are

transferred via UCAN, the setpoint via the analog input or the fixed frequencies.

7 = CAN*, all control data is transferred via CAN. The analog input and the digital inputs

have no function (except safety functions)

11 = CAN Broadcast*, the inverter receives all of the control data via CAN without

responding to the master (e.g. for the synchronisation function). The analog input and
the digital inputs have no function (except safety functions)

15 = CANopen setpoint*, as for setting 5, but CANopen

16 = CANopen control word*, as for setting 6, but CANopen

17 = CANopen*, as for setting 7, but CANopen

*) Keyboard control (ControlBox, ParameterBox) is blocked, parameterisation is still possible.

Pos: 118 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P510 – Sc hnittstelle Busnebensol l werte [SK 700E] @ 1\ mod_1335780555886_388.docx @ 24850 @ @ 1

P510

0 ... 8
{ all 0 }

Pos: 119 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P513 – Tel egrammausf allzeit @ 0 \mod_1328092407709_388.docx @ 11180 @ @ 1

the FI will block without an error message.

Bus interface auxiliary setpoint

(Bus interface auxiliary setpoin t s)

SK 700E/

SK750E

S

Selection of the interface via which the FI is controlled.

0 = Auto (=P509): The source of the auxiliary setpoint is automatically derived from the

setting in the parameter P509 >Interface<

1 = USS
2 = CANbus
3 = Profibus
4 = InterBus
5 = CANopen
6 = DeviceNet
7 =

Reserved

8 = CAN Broadcast

BU 0060 GB-4112 71

CANopen – Supplementary manual options for NORD - Frequency Inverters

Monitoring function of the active bus interface. Following recei pt of a valid telegram, the next one

and switches off with the error

: Even if communication between BusBox and FI is interrupted (e.g. 24V error,

Used to set the transfer rate (transfer speed) via the CANbus interface. All bus participants must
have the same baud rate setting. With the use of the CANopen technology unit, settings from this

the technology unit has been set to

Information

On, a Reset Node message or a Power On of the

Setting of the basic CANbus address for CAN and CANopen. With the use of the CANopen

rotary coding switch on

Information

Data takeover

The baud rate is only read after a Power On, a Reset Node message or a Power On of the

P513

-0.1 / 0.0 /

0.1 ... 1000 s
{ 0.0 }

Pos: 120 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P514 – CAN -Baudrate @ 0\mod_1328092466350_388.docx @ 11203 @ @ 1

P514

0 ... 7
{ 4 }

Telegram time-out

(Telegram time out)

must arrive within the set period. Otherwise the FI reports an error
message E010 >Bus Time Out<.

0.0 = Off: Monitoring is switched off.

-0.1 = No error

Box removed, etc.), the FI will continue to operate unchanged.

CAN baud rate

(CAN baud rate)

parameter are only valid if the BAUD rotary coding switch on

PGM.

0 = 10kBaud
1 = 20kBaud
2 = 50kBaud

3 = 100kBaud
4 = 125kBaud
5 = 250kBaud

*) Reliable operation cannot be guaranteed

Data takeover

S

6 = 500kBaud
7 = 1MBaud *

(for test purposes
only)

Pos: 121 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P515 – CAN -Adresse [SK 300E, SK 7x0E . CANopen] @ 1\mod_1342517855338_388 .docx @ 32814 @ @ 1

P515

0 ... 255
{ 50 }

Pos: 122 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/ Parameter/P500-P599/Param eter P543 – B us-Istwert 1 [SK 300E, SK 7x0 E] @ 1\mod_1335781763553_388.docx @ 24880 @ @ 1

The baud rate is only read after a Power
24V bus supply.

CAN address

(CAN address)

technology unit, settings from this parameter are only valid if the BAUD
the technology unit has been set to PGM.

24V bus supply.

72 BU 0060 GB-4112

5 Parameters

Note

Actual position (only with POSICON,
SK 7x0E)

Actual frequency

Setpoint position (only with
POSICON, SK 7x0E)

2 =

Actual speed

8 =

Setpoint frequency

3 =

Current

9 =

Error number

Actual position increment (only with

POSICON, SK 7x0E)1

Digital IO status 2

Setpoint position increment (on ly with

POSICON, SK 7x0E)1

12 =

BusIO Out Bits 0...7

P543

0 ... 12
{ 1 }

Pos: 123 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P544 – B us-Istwert 2 [SK 300E, SK 7x0E] @ 1\ mod_1342518732806_388.docx @ 33038 @ @ 1

P544

Bus actual value 1

(Actual bus value 1)

SK 300E /

SK 7x0E

S P

The return value 1 can be selected for bus actuation in this parameter.

Settings

For detailed informationen concerning the settings, please refer to the description of parameter
P418 for the respective frequency inverter.

Off

0 =

1 =

Torque current (100% = P112)

4 =

5 =

Actual bus value 2

(Actual bus value 2)

6 =

7 =

10 =

11 =

SK 300E /

SK 7x0E

S P

0 ... 12

This parameter is identical to P543.

{ 0 }

Pos: 124 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P545 – B us-Istwert 3 [SK 300E, SK 7x0E] @ 1\ mod_1342518842434_388.docx @ 330 62 @ @ 1

P545

0 ... 12

Actual bus value 3

(Actual bus value 3)

This parameter is identical to P543.

SK 300E /

SK 7x0E

S P

{ 0 }

Pos: 125 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P546 – B us-Sollwert 1 [SK 30 0E, SK 7x0E] @ 1\mod_1335786897102_388.docx @ 24952 @ @ 1

1

Setpoint/actual position corresponding to an 8192 increment encoder.

2

The assignment of the digital inputs in P543/ 544/ 545 = 5 for SK 700E/ SK 750E

Bit 0 = DigIn 1 Bit 1 = DigIn 2 Bit 2 = DigIn 3 Bit 3 = DigIn 4

Bit 4 = DigIn 5 Bit 5 = DigIn 6 Bit 6 = DigIn 7 (POS or ENC) Bit 7 = DigIn 8 (POS)
Bit 8 = DigIn 9 (POS) Bit 9 = DigIn 10 (POS) Bit 10 = DigIn 11 (POS) Bit 11 = DigIn 12 (POS)
Bit 12 = REL 1 Bit 13 = REL 2 Bit 14 = REL 3 (POS) Bit 15 = REL 4 (POS)

BU 0060 GB-4112 73

CANopen – Supplementary manual options for NORD - Frequency Inverters

In this parameter, a function is allocated to the output setpoint 1 during bus actuation. The

type 2 or 4)

(P214)

SK 7x0E)

2 =

Torque current limit (P112)

13 =

Multiplication (only SK 7x0E)

3 =

Actual frequency PID

14 =

Process controller actual value

4 =

Frequency addition

15 =

Process controller setpoint

5 =

Frequency subtraction

16 =

Process controller lead

6 =

Current limit (only SK 7x0E) (P536)

17 =

BusIO In Bits 0...7

(P105)

SK 7x0E)

8 =

Actual PID frequency limited

19 =

Set relays (P541)

P546

0 ... 7
{ 1 }

Pos: 126 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Paramet er P547 – Bus -Sollwert 2 [SK 30 0 E, SK 7x0E] @ 1\mod_1335788467112_388.do cx @ 24976 @ @ 1

P547

0 ... 20
{ 0 }

Bus setpoint 1

(Bus setpoint 1)

SK 300E /

SK 7x0E

S P

settings 2 to 6 are only relevant for type SK 700E and SK 750E inverters in combination with the
POSICON option.

0 = Off
1 = Setpoint frequency (16 bit)
2 = 16 Bit setpoint position
3 = 32 Bit Bit setpoint position (PPO

Bus setpoint 2

(Bus setpoint 2)

4 = POSICON control terminals (16 Bit)3
5 = Setpoint position (16 Bit)
6 = Setpoint position (32 Bit) increment
7 = Bus I/O In Bits 0-7

SK 300E /

SK 7x0E

S P

In this parameter, a function is allocated to the setpoint 2 which is output during bus actuation.

0 =

Off

1 =

Setpoint frequency

11 =

Torque precontrol (only SK 7x0E)

12 =

POSICON control terminals (only

Pos: 127 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P548 – B us-Sollwert 3 [SK 30 0E, SK 7x0E] @ 1\mod_1335790742656_388.docx @ 25000 @ @ 1

P548

0 ... 20
{ 0 }

Pos: 128 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Paramet er P551 – Ant r i e bs profil @ 0\mod_1328098517139_388.d oc x @ 12054 @ @ 1

7 =

Maximum frequency (only SK 7x0E)

9 =

Actual PID frequency monitored

10 =

Torque

Bus setpoint 3

(Bus setpoint 3)

18 =

Curve travel calculator (only

20 = Set analog output (P542)

SK 300E /

SK 7x0E

S P

In this parameter, a function is assigned to the delivered setpoint 3 (SW3) for bus control. This is
identical to parameter P547 and is only present if P546 ≠ 3 and 6.

3

The "reference run", "teach-in" and "reset position can be controlled via the other bits:
Bit 0: Pos. array / Pos. increment Bit 1: Pos. array / Pos. increment Bit 2: Pos. array / Pos. increment
Bit 3: Pos. array / Pos. increment Bit 4: Pos. array / Pos. increment Bit 5: Pos. array / Pos. increment
Bit 6: Approach reference point Bit 7: R e f. point Bit 8: Teac h- In Bit 9: Quit Teach- In Bit 10: Reset pos.

74 BU 0060 GB-4112

5 Parameters

Note

This parameter shows the software and revision

the FI. This can be significant when

Array 03 provides information about any special
versions of the hardware or software A zero

This parameter informs
about the actual control
word and the setpoints that
are transferred via the bus

P551

0 … 1

Drive profile

(Drive profile)

According to the option the relevant process data profiles can be activated with this parameter.

S

{ 0 }

System

CANopen DeviceNet InterBus

Technology module SK TUx-CAO SK TUx-DEV SK TUx-IBS
Setting

0 = OFF =

1 = ON =

DS402 profile AC Drives profile Drivecom profile

USS protocol (Profile "Nord")

Activation of profiles

This parameter is only effective for pluggable technology modules (SK TU3-…).

Pos: 129 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/P7xx I nformatio nen @ 0\mod_1328170311705_388.docx @ 12293 @ 5 @ 1

5.1.3 Information

Parameter Setting value / Description / Note Supervisor Parameter set

Pos: 130 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P707 – S oftware-Versi on/-Revision @ 0\mod_1328171743458_388.docx @ 12479 @ @ 1

P707 [-01]
...
[-03]

Software-Version

(Software version/ revision)

0.0 ... 9999.9

Pos: 131 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P740 – Prozessdaten Bus In [SK 300E, SK 7x0E] @ 1\mod_1335791131327_388.docx @ 25024 @ @ 1

P740 [-01]
...
[-06]

0000 ... FFFF (hex)

Pos: 132 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P741 – Prozessdaten Bus Out [SK 300E / SK 7x0E] @ 1\mod_1335791437905_388.docx @ 25048 @ @ 1

numbers in
different FIs are assigned the same settings.

stands for the standard version.

Process data Bus In

(Process data bus in)

Series SK 300E:
[-01 ] = Control word

systems.
For display, a BUS system

must be selected in P509

[-02] = setpoint value 1
[-03] = setpoint value 2
[-04] = setpoint value 3

[-05] = Bus I/O In Bits (P480) [-06] = Bus I/O In Bits (P480)

... [-01] = Version number (1.7)
... [-02] = Revision number (R0)
... [-03] = Special version of hard-/software (0.0)

SK 300E /

SK 7x0E

S

Series SK 7x0E:
[-01 ] = Control word

[-02] = setpoint value 1
[-03] = Setpoint val. 1 High byte
[-04] = setpoint value 2
[-05] = setpoint value 3

BU 0060 GB-4112 75

CANopen – Supplementary manual options for NORD - Frequency Inverters

information about the actual
status word and the actual
values that are transferred

xxx), but only when own

Version status (software version) of the installed option
module(s) but only when own processor is present, i.e. not for

codes specific to the bus can be found in the section "Error monitoring" of the

P741 [-01]
...

0000 ... FFFF (hex) This parameter provides

Process data Bus Out

(Process data bus out)

[-06]

via the bus systems.

Series SK 300E
[-01] = Status word

[-02] = Actual value 1
[-03] = Actual value 2
[-04] = Actual value 3

SK 300E /

SK 7x0E

Series SK 7x0E
[-01] = Status word

[-02] = Actual value 1
[-03] = Actual val. 1 High byte
[-04] = Actual value 2
[-05] = Actual value 3

[-05] = Bus I/O Out Bit (P481) [-06] = Bus I/O Out Bit (P481)

Pos: 133 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P745 – B aug r u p pen Version [SK 3 00 E] @ 1\mod_1335791798489_388.docx @ 25072 @ @ 1

P745

Module version

(Module version)

SK 300E

0.0 ... 3276.7 Version status (software version) of the technology unit (SK TU2-

processor is present, i.e. not for SK TU2-CTR.
Have this data available if you have a technical query.

Pos: 134 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P745 – B aug r u p pen Version [SK 7 x 0E ] @ 1\ mod_13357920 03777_388.docx @ 25096 @ @ 1

P745 [-01]
...

0000 ... FFFF (hex)

Module version

(Module version)

[-03]

SK TU1-CTR.
Have this data available if you have a technical query.

SK 7x0E

[-01] = Technology unit
[-02] = Customer unit
[-03] = Special extension unit

S

S

Pos: 135 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Parameter/P700-P799/Parameter P7 46 – Baugruppen Zustand [SK 300E] @ 1\mod_1335792492116_388.docx @ 25120 @ @ 1

P746

Module status

(Module status)

SK 300E

S

0000 ... FFFF (hex) Shows the actual status (readiness, error, communication) of the technology unit (SK TU2-xxx),

but only when own processor is present, i.e. not for SK TU2-CTR.
Example:
0603

hex

High byte = 06
Low byte = 03

à Profibus

hex

à Module ready + connection to master

hex

Details of the
relevant supplementary instru c tion s.

Pos: 136 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P746 – B augruppen Zus tand [SK 7 x0E] @ 1\mo d_1335792880284 _388.docx @ 25144 @ @ 1

76 BU 0060 GB-4112

5 Parameters

P746 [-01]
...
[-03]

Module status

(Module status)

SK 7x0E

0000 ... FFFF (hex) Shows the actual status (readiness, error, communication) of

the installed technology unit(s) (if active), but only when own
processor is present, i.e. not for SK TU1-CTR.

Example:
0603

hex

High byte = 06
Low byte = 03

à Profibus

hex

à Module ready + connection to master

hex

Details of the codes specific to the bus can be found in the
section "Error monitoring" of the relevant supplementary
instructions.

Pos: 137 /A nleitungen/El ektronik/B ussysteme/ 5. Parameter /BUS Para meter SK 5x xE @ 1\mod_1336378272615_388.docx @ 25201 @ 2 @ 1

S

[-01] = Technology unit
[-02] = Customer unit
[-03] = Special extension unit

BU 0060 GB-4112 77

CANopen – Supplementary manual options for NORD - Frequency Inverters

The SK 54xE frequency inverter can administer 5 setpoint or actual values (each 16 bit). However, via the

... the bus system only provides the possibility of processing setpoint or actual values 1 ...

in association with IO extension modules these I/O bits can also process their

The possible functions for the Bus In Bits can be found in the table of functions for the digital

5.2 SK 5xxE BUS Parameters

Information

technology unit SK TU3-

3.

Pos: 138 /Anleit ungen/5. /6. Parametrierung [BU 0500 / BU 0200]/P4xx Steuerklemm en @ 0\mod_1327678262854_388.docx @ 9027 @ 5 @ 1

5.2.1 Control t ermi nals

Parameter

{factory setting}

Pos: 139 /Anleit ungen/5. / 6. Parametri erung [BU 0 500 / BU 020 0]/Parameter /P400-P499/ Parameter P480 – Funktion Bus I/O In Bits [S K 5 x xE] @ 0\ mod_1328002641156_388.docx @ 10779 @ @ 1

P480 [-01]
...

0 ... 80
{ all 0 }

Setting value / Description / Note Supervisor

Function BusIO In Bits

(Bus I/O In Bits function)

[-12]

The Bus I/O In Bits are perceived as digital inputs (P420). They can be set to the same functions.
In order to use this function, one of the bus setpoints (P546) must be set to >Bus I/O In Bits 0 -7

<. The required function must then be assigned to the relevant bit.
With the SK 54xE

input signals.

[-01] = Bus I/O In Bit 0 (or SK54xE and above: + DI1 of the second IOE)
[-02] = Bus I/O In Bit 1 (or SK54xE and above: + DI2 of the second IOE)
[-03] = Bus I/O In Bit 2 (or SK54xE and above: + DI3 of the second IOE)
[-04] = Bus I/O In Bit 3 (or SK54xE and above: + DI4 of the second IOE)
[-05] = Bus I/O In Bit 4 (or SK54xE and above: + DI1 of the first IOE)
[-06] = Bus I/O In Bit 5 (or SK54xE and above: + DI2 of the first IOE)
[-07] = Bus I/O In Bit 6 (or SK54xE and above: + DI3 of the first IOE)
[-08] = Bus I/O In Bit 7 (or SK54xE and above: + DI4 of the first IOE)
[-09] = Flag 1
[-10] = Flag 2
[-11] = Bit 8 BUS control word
[-12] = Bit 9 BUS control word

Number of bus setpoints and actual values

S

Parameter
set

inputs. Function {14} "Remote contr ol" is not pos sib le.

Pos: 140 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P481 – Funktion Bus I/O Out B its [SK 5xxE] @ 0\mod_1328002703095_388.docx @ 10802 @ @ 1

78 BU 0060 GB-4112

5 Parameters

perceived as digital outputs (P434). They can be set to the same

in association with IO extension modules these I/O bits can also process their

functions for the Bus Out Bits can be found in the table of functions for the digital

Adjustment of the limit values of the relay functions/Bus Out Bits. For a negative value, the output

values are positive, the relay contact closes, with

P481 [-01]
...
[-10]

0 ... 39
{ all 0 }

Pos: 141 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P482 – Nor mierung Bus I/O Out Bits [SK 5xx E] @ 0\mod_1328002779143_388.docx @ 10825 @ @ 1

P482 [-01]
...

[-10]

Function BusIO Out Bits

(Function of Bus I/O Out Bits)

The bus I/O Out bits are
functions.

In order to use this function, one of the bus setpoints (P543) must be set to >Bus I/O In Bits 0-7
<. The required function must then be assigned to the relevant bit.

With the SK 54xE
input signals.

[-01] = Bus I/O Out Bit 0
[-02] = Bus I/O Out Bit 1
[-03] = Bus I/O Out Bit 2
[-04] = Bus I/O Out Bit 3
[-05] = Bus I/O Out Bit 4 (or SK54xE and above: + DO1 of the first IOE)
[-06] = Bus I/O Out Bit 5 (or SK54xE and above: + DO2 of the first IOE)
[-07] = Bus I/O Out Bit 6 / Flag 1 (or SK54xE and above: + DO1 of the second IOE)
[-08] = Bus I/O Out Bit 7 / Flag 2 (or SK54xE and above: + DO2 of the second IOE)
[-09] = Bit 10 BUS status word
[-10] = Bit 13 BUS status word

The possible
outputs or the relays.

For further details, please refer to the manual for the AS interface, BU 0090.

Norm. BusIO Out Bits

(Scaling of bus I/O Out bits)

S

S

-400…400 %
{ all 100 }

Pos: 142 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P400-P 499/Param eter P483 – Hyst erese Bus I/O Out Bits [SK 5xxE] @ 0\ mod_1328002828441_388.docx @ 10 848 @ @ 1

P483 [-01]
...
[-10]

1…100 %
{ all 10 }

Pos: 143 /Anleit ungen/5. / 6. Parametri erung [BU 0 500 / BU 020 0]/P5xx Zus atzparameter @ 0\mod_1328091531180_388.docx @ 10880 @ 5 @ 1

function will be output negative.
When the limit value is reached and the setting

negative setting values the relay contact opens.
The assignment of the arrays correspond to those of parameter (P481).

Hyst. BusIO Out Bits

(Hysteresis of bus I/O Out bits)

Difference between switch-on and sw itch-off poi nt to prevent oscillation of the output signal.
The assignment of the arrays correspond to those of parameter (P481).

S

BU 0060 GB-4112 79

CANopen – Supplementary manual options for NORD - Frequency Inverters

535E:

master values). The assignment of these

this parameter specifies on which bus system the master transmits

the control word and the master values (P502) for the slave. On the slave, parameters (P509),

5.2.2 Additional parameters

Parameter

{factory setting}

Pos: 144 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P502 – Wer t L ei tf unktion @ 0\mod_1328091690836_388.do cx @ 10927 @ @ 1

P502 [-01]
...
[-05]

0 ... 57
{ all 0 }

Pos: 145 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P503 – Leitfunktion Ausgabe @ 0\ mod_1328091743696_388.docx @ 10950 @ @ 1

P503

Setting value / Description / Note Supervisor Parameter set

Value Masterfunction

(Value master function)

S P

Selection of the master value of a Master for output to a bus system (see P503) - (up to SK
max. 3 master values, SK 540 and above: max. 5
master values to the slave is carried out via (P546) (...(P548)):

[-01] = Master value 1 [-02] = Master value 2 [-03] = Master value 3

SK 540E and above:

[-04] = Master value 4 [-05] = Master value 5

Selection of possible setting values for master values:

00 = Off
01 = Actual frequency
02 = Actual speed
03 = Electricity
04 = Torque current
05 = State of digital inputs and

outputs

06 = Reserved
07 = Reserved
08 = Setpoint frequency

09 = Error message
10 = Reserved
11 = Reserved
12 = Digital Ou t Bit 0…7
13 = Reserved
14 = Reserved
15 = Reserved
16 = Reserved
17 = Value analog input 1
18 = Value analog input 2

19 = Setpoint frequency

master value
20 = Setpoint freq. after

master val ramp
21 = Actual freq. without

master value slip

22 = Speed encoder
23 = Actual freq. with slip

(SW V2.0 and above)

24 = Master value, act. freq.
with slip

(SW V2.0 and above)

53 = ... 57 Reserved

Master function output

(Master function output)

S

0 ... 5
{ 0 }

For master-slave applications
(P510), (P546 ... ) define the source from which the slave obtains the control word and the master

values from the master and how these are to be processed by the slave.

0 = Off: no output of control word and master valu es.
1 = USS: output of control words and master values to USS.
2 = CAN: output of control words and master values to CAN (up to

250 kBaud).

3 = CANopen: output of control words and master values to CANopen.
4 = System bus active: no output of control word and master values, however via the

ParameterBox or NORD CON, all participants whic h are set
to System bus active are visible.

5 = CANopen+Sys.bus active: output of control word and master values on CAN open via

the ParameterBox or NORD CON, all participants which are
set to system bus active are visible.

Pos: 146 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P509 – Quel l e Steuerwort @ 0\ mod_1328092104264_388.docx @ 11088 @ @ 1

80 BU 0060 GB-4112

5 Parameters

, the FI can only be controlled via the digital and analog inputs or

*) Keyboard control (ControlBox, ParameterBox, PotentiometerBox) is blocked,

**) If the communication during keyboard control is interrupted (time out 0.5 sec),

based bus systems (e.g.:

Parameterisation of a frequency inverter via a field bus connection requires

For details about the respective Bus systems please

P509

0 ... 10
{ 0 }

Source Control Word

(Source control word)

Selection of the interface via which the FI is controlled.

0 = Control terminals or keyboard control ** with the ControlBox (if P510=0), the

ParameterBox (not ext. p-box) or via BUS I/O Bits.

1 = Only control terminals

via the bus I/O Bits.

2 = USS control word *, the control signals (enable, direction of rotation, ...) are transferred

via the RS485 interface. The setpoint is transferred via the analog input or the fixed
frequencies.
Above SK 540E this setting should also be selected if communication via Modbus RTU is
intended. The frequency inverter automatically detects whether this is a USS protocol or
a Modbus protocol.

3 = CAN control word *
4 = Profibus control word *
5 = InterBus control word *

NOTE:

6 = CANopen control word *
7 = DeviceNet control word *
8 = Ethernet TU*** control word*

refer to the respective Options descriptions.

www.nord.com -

9 = CAN Broadcast *

10 = CANopen Broadcast *

parameterisation is still possibl e.

Pos: 147 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P510 – Q uel l e Sollwerte @ 0\mod_1328092251176_388.docx @ 11111 @ @ 1

P510 [-01]
[-02]

0 ... 10
{ all 0 }

Pos: 148 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P513 – Tel egrammausf allzeit @ 0 \mod_1328092407709_388.docx @ 11180 @ @ 1

the FI will block without an error message.

***) The Ethernet TU setting must be used for all NORD Ethernet-

EtherCAT: SK TU3-ECT, PROFINET: SK TU3-PNT).

Note:

parameter (P509) "Control Terminals" to be set to the appropriate bus syste m

Setpoint source

(Setpoint source)

S

Selection of the setpoint source to be parameterised.

[-01] = Main setpoint source [-02] = Auxiliary setpoint source

Selection of the interface via which the FI recei ves the setpoint.

0 = Auto (=P509): The source of the auxiliary setpoint is

automatically derived from the setting in the parameter
P509 >Interface<

1 = Control terminals, digital and analog inputs control

the frequency, including fixed frequencies

2 = USS (or Modbus RTU SK 540E and above)
3 = CAN

4 = Profibus
5 = InterBus
6 = CANopen
7 = DeviceNet
8 = Ethernet TU
9 = CAN Broadcast

10 = CANopen Broadcast

BU 0060 GB-4112 81

CANopen – Supplementary manual options for NORD - Frequency Inverters

Monitoring function of the active bus interface. Following recei pt of a valid telegram, the next one

Otherwise the FI reports an error and switches off with the error

: Even if communication between BusBox and FI is interrupted (e.g. 24V error,

Used to set the transfer rate (transfer speed) via the CANbus interface. All bus participants must
have the same baud rate setting. With the use of the CANopen technology unit, settings from this

the technology unit has been set to

Information

On, a Reset Node message or a Power On of the

Setting of the basic CANbus address for CAN and CANopen. With the use of the CANopen

The baud rate is only read after a Power On, a Reset Node message or a Power On of the

P513

-0.1 / 0.0 /

0.1 ... 1000 s
{ 0.0 }

Pos: 149 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P514 – CAN -Baudrate @ 0\mod_1328092466350_388.docx @ 11203 @ @ 1

P514

0 ... 7
{ 4 }

Telegram time-out

(Telegram time out)

must arrive within the set period.
message E010 >Bus Time Out<.

0.0 = Off: Monitoring is switched off.

-0.1 = No error

Box removed, etc.), the FI will continue to operate unchanged.

CAN baud rate

(CAN baud rate)

parameter are only valid if the BAUD rotary coding switch on

PGM.

0 = 10kBaud
1 = 20kBaud
2 = 50kBaud

3 = 100kBaud
4 = 125kBaud
5 = 250kBaud

*) Reliable operation cannot be guaranteed

Data takeover

S

6 = 500kBaud
7 = 1MBaud *

(for test purposes
only)

Pos: 150 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P515 – CAN -Adresse @ 0\mod_1328092561242_388.docx @ 11226 @ @ 1

P515 [-01]
...
[-03]

0 ... 255
{ all 50 }

The baud rate is only read after a Power
24V bus supply.

CAN address

(CAN address)

technology unit, settings from this parameter are only valid if the BAUD rotary coding switch on
the technology unit has been set to PGM.

Information Data takeover

24V bus supply.

From software version 1.6 and above, this can be set in three levels:

[-01] = Slave address, Receipt address for CAN and CANopen (as before)
[-02] = Broadcast slave address, Broadcast – receipt address for CANopen (Slave)
[-03] = Master address, Broadcast – Transmission address for CANopen (Master)

Pos: 151 /Anleit ungen/5. /6. Parametrierung [BU 0500 / BU 0200]/Parameter/P500-P599/Parameter P5 43 – Bus-Istwer t 1 [S K 50 0. . . 53 5E] @ 0\mod_1328097541755_388.docx @ 11824 @ @ 1

82 BU 0060 GB-4112

5 Parameters

For further details please refer to the manual for the frequency inverter (P418, P543),

relevant bus module. For

further details please refer to the manual for the frequency inverter (P418, P543),

0 =

Off

13 =

... 16 Reserved

1 =

Actual frequency

17 =

Value analog input 1

2 =

Actual speed

18 =

Value analog input 2

3 =

Current

19 =

Setpoint frequency master
value(P503)

4 =

Torque current (100% = P112)

20 =

Setpoint frequency master value after

"Setpoint frequency master

value after ramp"

5 =

Digital IO status 4

21 =

Act. freq. without slip master value

"Actual frequency without slip master
value"

6 =

22 =

Speed encoder

sible with

SK 520E and encoder feedback)

8 =

Setpoint frequency

23 =

Actual frequency with slip, "Actual

9 =

Error number

24 =

Master value, actual freq. with slip,

(SW V2.0 and above)

10 =

... 11 Reserved

53 =

... 57 Reserved

12 =

BusIO Out Bits 0...7

P543

0 ... 24
{ 1 }

Pos: 152 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P543 – B us-Istwerte [SK 54xE] @ 0\mod_1328097636349_388.docx @ 11847 @ @ 1

P543 [-01]
...

[-05]

0 ... 57
{ [-01] = 1 }

{ [-02] = 4 }
{ [-03] = 9 }
{ [-04] = 0 }
{ [-05] = 0 }

Actual bus value 1

(Actual bus value 3)

S P

The return value 1 can be s elected for bus actuation in this parameter.
The possible analog functions can be found in the following table.
NOTE:

the relevant BUS operating instructions or BU 0510.

Bus actual value

(Bus – Actual value)

S P

In this parameter the return value for bus actuation can be selected.
NOTE: The actual values 4 and 5 must be supported by the

the relevant BUS operating instructions or the manuals BU 0510 / BU0550.

[-01] = Bus - Actual value 1 [-02] = Bus - Actual value 2 [-03] = Bus - Actual value 3
[-04] = Bus - Actual value 4 [-05] = Bus - Actual value 5

Pos: 153 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P544 – B us-Istwert 2 [SK 50 0. ..535E] @ 0\mod_1328097766412_388.do cx @ 11870 @ @ 1

P544

0 ... 24
{ 0 }

Pos: 154 /Anleit ungen/5. /6. Parametrier ung [BU 05 00 / BU 0200] /Parameter/ P500-P599/P arameter P 545 – Bus-Istw er t 3 [ S K 50 0...535E] @ 0\ mod_1328097880052_388.docx @ 11893 @ @ 1

... 7 Reserved

Actual bus value 2

(Actual bus value 2)

This parameter is identical to P543.
Condition is PPO 2 or PPO 4 type (P507).

ramp

(only pos

frequency with slip"

(SW V2.0 and above)

"Master value, actual freq. with slip"

S P

4

The assignment of the digital inputs in P543/ 544/ 545 = 5

Bit 0 = DigIn 1 Bit 1 = DigIn 2 Bit 2 = DigIn 3 Bit 3 = DigIn 4
Bit 4 = DigIn 5
Bit 8 = Dig. func. AIN1 AIN2
Bit 12 = Out 1/ MFR1

BU 0060 GB-4112 83

Bit 5 = DigIn 6 (SK 520E and above) Bit 6 = DigIn 7 (SK 520E and above) Bit 7 = Dig. func. AIN1

Bit 9 = DigIn 8 (SK 540E and above) Bit 10 = DigIn 1, 1.IOE (SK 540E and above) Bit 11 = DigIn 2, 1.IOE (SK 540E and above)

Bit 13 = Out 2/ MFR2 Bit 14 = Out 3/ DOUT1 (SK 520E and above) Bit 15 = Out 4/ DOUT2 (SK 520E and above)

CANopen – Supplementary manual options for NORD - Frequency Inverters

For further details please refer to the manual for the frequency inverter (P400, P546),

The setpoints 4 and 5 must be supported by the relevant bus module. For further

(P400, P546), the

0 =

Off

16 =

Process controller lead

1 =

Setpoint frequency

17 =

BusIO In Bits 0...7

2 =

Torque current limit (P112)

18 =

Curve travel calculator

3 =

Actual frequency PID

19 =

Set relays, "Output status"
(P434/441/450/455=38)

4 =

Frequency addition

20 =

Set analog output (P418=31)

5 =

Frequency subtraction

21 =

... 45 reserved from SK 530E and above à
BU 0510

6 =

46 =

torque process controller"

7 =

Maximum frequency (P105)

47 =

reserved from SK 530E and above à
BU 0510

8 =

Actual PID frequency limited

48 =

Motor temperature (SK 540E a nd above)

9 =

Actual PID frequency monitored

49 =

reserved from SK 540E and above à
BU 0510

10 =

Torque servo mode (P300)

53 =

d-correction F process (SK 540E and
above)

11 =

Torque precontrol (P214)

54 =

d-correction Torque (SK 540E and abov e)

12 =

Reserved

55 =

d-correction F+torque (SK 540E and

13 =

Multiplication

56 =

reserved from SK 540E and above à
BU 0510

14 =

57 =

BU 0510

15 =

Process controller setpoint

P545

0 ... 24
{ 0 }

Pos: 155 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P546 – Funktion Bus-Sollwert 1 [SK 500...535E] @ 0\mod_132809796 2990_388.docx @ 11916 @ @ 1

P546

0 ... 55
{ 1 }

Pos: 156 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P546 – Funktion Bus-Sollwerte [SK 54xE] @ 0\mod_1328098077630_388.docx @ 11939 @ @ 1

P546 [-01]
...
[-05]

0 ... 57
{ [-01] = 1 }
all other { 0 }

Actual bus value 3

(Actual bus value 3)

S P

This parameter is identical to P543.
Condition is PPO 2 or PPO 4 type (P507).

Digital Bus setpoint 1

(Function of bus setpoint 1)

S P

In this parameter, a function is allocated to the output setpoint 1 during bus actuation.
The possible analog functions can be found in the following table.
NOTE:

the relevant BUS operating instructions or the manuals BU 0510 / BU0550.

Digital Bus setpoint

(Function of bus setpoint)

S P

In this parameter, during bus actuation a function is allocated to the setpoint provided.
NOTE:

details please refer to the manual for the frequency inverter
relevant BUS operating instructions or the manuals BU 0510 / BU0550.

[-01] = Bus setpoint 1 [-02] = Bus setpoint 2 [-03] = Bus setpoint 3
[-04] = Bus setpoint 4 [-05] = Bus setpoint 5

Pos: 157 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P547 – Funktion Bus-Sollwert 2 [SK 500...535E] @ 0\mod_132809818 0008_388.docx @ 11962 @ @ 1

84 BU 0060 GB-4112

Current limit (P536)

Process controller actual value

Setpoint Torque processreg., "Setpoint

above)

reserved from SK 540E and above à

5 Parameters

Note

P547

0 ... 55
{ 0 }

Pos: 158 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P548 – Funktion Bus-Sollwert 3 [SK 500...535E] @ 0\mod_1328098278323_388.docx @ 11985 @ @ 1

P548

0 ... 55
{ 0 }

Pos: 159 /Anleit ungen/5. /6. Parametrierung [BU 0500 / BU 0200]/Parameter/P500-P599/Parameter P5 51 – Antriebs pr of i l @ 0\ mod_1328098517139_388.docx @ 120 54 @ @ 1

P551

0 … 1
{ 0 }

Digital Bus setpoint 2

(Function of bus setpoint 2)

S P

This parameter is identical to P546.

Digital Bus setpoint 3

(Function of bus setpoint 3)

S P

This parameter is identical to P546.

Drive profile

(Drive profile)

S

According to the option the relevant process data profiles can be activated with this parameter.

System

CANopen DeviceNet InterBus

Technology module SK TUx-CAO SK TUx-DEV SK TUx-IBS
Setting

0 = OFF =

USS protocol (Profile "Nord")

Pos: 160 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P500-P 599/Param eter P560 – P arameter Speic hermode @ 0\mod_1328098918376_388.docx @ 12238 @ @ 1

P560

0 ... 2
{ 1 }

Pos: 161 /Anl eitungen/5. / 6. Parametr ierung [BU 0500 / BU 02 00]/P7xx Inf ormationen @ 0\mod_1328170311705_388. docx @ 12293 @ 5 @ 1

1 = ON =

DS402 profile AC Drives pro file Drivecom profile

Activation of profiles

This parameter is only effective for pluggable technology modules (SK TU3-…).

Parameter, Saving mode

(Saving mode parameter)

0 = Only in RAM, changes to the parameter settings are no longer saved on the EEPROM.

All previously saved settings are retained, even if the FI is disconnected from the mains.

1 = RAM and EEPROM, all parameter changes are automatically written to the EEPROM

and remain stored there even if the FI is disconnected from the mains supply.

2 =

OFF, no saving in RAM and EEPROM possible (no parameter changes are accepted)

NOTE:

If BUS communication is us ed to implement parameter changes, it must be ensured
that the maximum number of write cycles (100,000 x) in the EEPROM is not
exceeded.

S

BU 0060 GB-4112 85

CANopen – Supplementary manual options for NORD - Frequency Inverters

This parameter shows the software and revision
numbers in the FI. This can be significant when

Array 03 provides information about any special
versions of the hardware or software A zero

This parameter informs
word and the setpoints that

are transferred via the bus

5.2.3 Information

Parameter Setting value / Description / Note Supervisor Parameter set

Pos: 162 /Anleit ungen/5. /6. Parametrier ung [BU 05 00 / BU 0200] /Parameter/ P700-P799/P arameter P 707 – Softwar e-Version/-Revision @ 0\mod_1328171743458_388.docx @ 12479 @ @ 1

P707 [-01]
...
[-03]

Software-Version

(Software version/ revision)

0.0 ... 9999.9

Pos: 163 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P740 – Prozessdaten Bus In [SK 500...535E] @ 0\mod_132817524 8086_388.docx @ 13313 @ @ 1

P740 [-01]
...

[-13]

0000 ... FFFF (hex)

Pos: 164 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P740 – Prozessdaten Bus In [SK 54xE] @ 0\mod_1328177837899_388.docx @ 13336 @ @ 1

different FIs are assigned the same settings.

stands for the standard version.

Process Data Bus In

(Process data Bus In)

about the actual control

systems.
For display, a BUS system

must be selected in P509

[-01 ] = Control word
[-02] = setpoint value 1

[-03] = setpoint value 2
[-04] = setpoint value 3

[-05] = Bus I/O In Bits (P480)

[-06] = Parameter data In 1
[-07] = Parameter data In 2
[-08] = Parameter data In 3
[-09] = Parameter data In 4
[-10] = Parameter data In 5

[-11] = setpoint value 1
[-12] = setpoint value 2
[-13] = setpoint value 3

... ... [-01] = Version number (1.7)

... ... [-02] = Revision number (R0)

... ... [-03] = Special version of

hardware/software (0.0)

S

Control word, source from
P509.

Setpoint data from main
setpoint (P510 [-01]).

The displayed value depicts all
Bus In Bit sources linked with
"OR".

Data during parameter transfer:
Order label (AK),Parameter
number (PNU), Index (IND),
Parameter value (PWE 1/2)

Setpoint data from the master
function value (Broadcast), if
P509 = 9/10
(P510 [-02])

86 BU 0060 GB-4112

5 Parameters

This parameter informs
about the actual control
word and the setpoints that
are transferred via the bus

This parameter provides
information about the actual
status word and the actual
values that are transferred

P740 [-01]
...
[-23]

Process Data Bus In

(Process data Bus In)

S

0000 ... FFFF (hex)

Pos: 165 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P741 – Prozessdaten Bus Out [SK 500...535E] @ 0\mod_1328177890266_388.docx @ 13359 @ @ 1

P741 [-01]
...
[-13]

[-01 ] = Control word
[-02] = setpoint value 1

systems.
For display, a BUS system

must be selected in P509

[-03] = setpoint value 2
[-04] = setpoint value 3
[-05] = setpoint value 4
[-06] = setpoint value 5

[-07] = Bus I/O In Bits (P480)

[-08] = Parameter data In 1
[-09] = Parameter data In 2
[-10] = Parameter data In 3
[-11] = Parameter data In 4
[-12] = Parameter data In 5

[-13] = setpoint value 1
[-14] = setpoint value 2
[-15] = setpoint value 3
[-16] = setpoint value 4
[-17] = setpoint value 5

[-18] = PLC control word
[-19] = setpoint value 1

[-20] = setpoint value 2
[-21] = setpoint value 3
[-22] = setpoint value 4
[-23] = setpoint value 5

Process Data Bus Out

(Process data Bus Out)

Control word, source from
P509.

Setpoint data from main
setpoint (P510 [-01]).

The displayed value depicts all
Bus In Bit sources linked with
"OR".

Data during parameter transfer:
Order label (AK),Parameter
number (PNU), Index (IND),
Parameter value (PWE 1/2)

Setpoint data from the master
function value (Broadcast), if
P509 = 9/10
(P510 [-02])

Control word, source PLC

Setpoint data from the PLC.

S

0000 ... FFFF (hex)

Pos: 166 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P741 – Prozessdaten Bus Out [SK 54xE] @ 0\mod_1328177956772_388.docx @ 13382 @ @ 1

via the bus systems.

[-01] = Status word
[-02] = Actual value 1 (P543)

[-03] = Actual value 2 (P544)
[-04] = Actual value 3 (P545)

[-05] = Bus I/O Out Bit (P481)

[-06 ] = Parameter data Out 1
[-07 ] = Parameter data Out 2
[-08 ] = Parameter data Out 3
[-09 ] = Parameter data Out 4
[-10 ] = Parameter data Out 5

[-11] = Actual value 1 master

function

[-12] = Actual value 2 master

function

[-13] = Actual value 3 master

function

Status word, source from
P509.

The displayed value depicts
all Bus OUT Bit sourc es linked
with " OR".

Data during parameter
transfer.

Actual value of master
function
P502 / P503.

BU 0060 GB-4112 87

CANopen – Supplementary manual options for NORD - Frequency Inverters

This parameter provides
information about the actual
status word and the actual
values that are transferred

xxx), but only when own

Details of the codes specific to the bus can be found in the section "Error monitoring" of the

P741 [-01]
...

0000 ... FFFF (hex)

Pos: 167 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P745 – B aug r u p pen Version @ 0\mod_1328178182499_388.docx @ 13474 @ @ 1

P745

-3276.8 ... 3276.8 Version status (software version) of the technology unit (SK TU3-

Pos: 168 /Anl eitungen/5. / 6. Parametr ierung [BU 0500 / BU 02 00]/Parame ter/P700-P7 99/Paramet er P746 – Baugruppen Zustand PBR [SK 5xxE] @ 1\mod_1335793579623_388.docx @ 25168 @ @ 1

P746

Process Data Bus Out

(Process data Bus Out)

[-23]

[-01] = Status word
[-02] = Actual value 1 (P543 [-01])

via the bus systems.

[-03] = Actual value 2 (P543 [-02])
[-04] = Actual value 3 (P543 [-03])
[-05] = Actual value 4 (P543 [-04])
[-06] = Actual value 5 (P543 [-05])

[-07] = Bus I/O Out Bit (P481)

[-08 ] = Parameter data Out 1
[-09 ] = Parameter data Out 2
[-10 ] = Parameter data Out 3
[-11 ] = Parameter data Out 4
[-12 ] = Parameter data Out 5

[-13] = Actual value 1 master

function

[-14] = Actual value 2 master

function

[-15] = Actual value 3 master

function

[-16] = Actual value 4 master

function

[-17] = Actual value 5 master

function

[-18] = PLC status word
[-19] = Actual value 1 PLC

[-20] = Actual value 2 PLC
[-21] = Actual value 3 PLC
[-22] = Actual value 4 PLC
[-23] = Actual value 5 PLC

Module version

(Module version)

processor is present, i.e. not for SK TU3-CTR.
Have this data available if you have a technical query.

Module status

(Module status)

S

Status word, source from
P509.

The displayed value depicts
all Bus OUT Bit sourc es linked
with " OR".

Data during parameter
transfer.

Actual value of master
function P502 / P503.

Status word via PLC

Actual value data via PLC

S

0000 ... FFFF (hex) Shows the actual status (readiness, error, communication) of the technology unit (SK TU3-xxx),

but only when own processor is present, i.e. not for SK TU3-CTR.
Example:
0603

hex

High byte = 06
Low byte = 03

à Profibus

hex

à Module ready + connection to master

hex

relevant supplementary instru c tion s.

Pos: 169 /A nleitungen/5 . /6. Param etrierung [BU 0500 / BU 0200]/Para meter/P700-P 799/Param eter P748 – St atus CANopen @ 0\mod_1328178317375_388. docx @ 13543 @ @ 1

88 BU 0060 GB-4112

5 Parameters

P748 [-01]
...
[-03]

0000 ... FFFF (hex)

Pos: 170 /Anleit ungen/6. /7. Mel dungen zum Bet r i e bsz ustand [BU 05 00 / B U 02 00]/SK 5xxE 6. M el d u ng en zum Betrieb s zu s ta nd @ 0\mod_1328182661026_388.docx @ 13845 @ 1555 @ 1

SK 520E or

higher

S

Status CANopen

(CANopen status)
[01] = CANbus/CANopen status [-02] = reserved [-03] = reserved

Bit 0 = 24V bus voltage supply
Bit 1 = CANbus in "Bus Warning" status
Bit 2 = CANbus in "Bus Off" status
Bit 3 ... Bit 5 = free
Bit 6 = Protocol of the CAN module is 0 =

CAN or 1 = CANopen
Bit 7 = free
Bit 8 = "Bootsup Message" sent
Bit 9 = CANopen NMT State
Bit 10 = CANopen NMT State
Bit 11 = free
Bit 12 ... 14 = reserved
Bit 15 = free

CANopen NMT State Bit 10 Bit 9

Pre-Operational =

Stopped =

Operational =

0
0
1

0
1
0

BU 0060 GB-4112 89

CANopen – Supplementary manual options for NORD - Frequency Inverters

6. Operating status messages

Frequency inverters and technology units gen erate appropriate messages if they deviate from their
normal operating status. There is a differentiation between warning and error messages. If the
frequency inverter is in the status "Start disabled", the reason for this can also be displayed.

Frequency inverter start disabled

If the frequency inverter is i n the s ta tus "N ot Re ady" or "Start Disabled", th e r easo n for this is indicated
in the third array element of parameter (P700).

Display is only possible with the NORD CON software or the ParameterBox (SK PAR-3H).

Warning messages

Warning messages are g enerate d as soon as a def ined limit is r eac hed. H owev er th is does not c ause
the frequency inver ter to switch of f. These mess ages can be displa yed via the arra y element [-02] in
parameter (P700) unti l either the reas on for the warning is no long er present or the fr equenc y inverter
has gone into a fault state with an error message.

Error messages

Errors cause the frequency inverters to switch off, in order to prevent a device fault.
The following options are available to reset a fault (acknowledge):

• Switching the mains off and on again,

• By an appropriately programmed digital input (P420 ... P425 / P470 = Function 12),

• By switching off the “enable” on the frequency inverter (if no digital input is programmed for
acknowledgement),

• By Bus acknowledgem ent or

• By P506, automatic error acknowledgement.

Device LEDs: As delivered (without the technology unit) 2 LEDs (green/red) are visible

externally. These indicate the actual device status.

The green LED indicates that the mains voltage is present and operational,

while a flashing code that increases in speed sho ws the degree of overload at
the frequency inverter output.

The red LED signals actual error by flashing with a frequency which

corresponds to the number code of the fault.

Pos: 171 /A nleitungen/El ektronik/B ussysteme/ 6. Meldunge n zum Betrie bszustand / Fehlerüber wachung/Fehl erüberwac hung [CANop en] @ 1\mod_1342764821361_388.docx @ 35735 @ 2 @ 1

6.1 Error monitoring

Various methods of err or monitoring are avai lable for the f ield bus level. De pending on the tec hnolog y
which is used, this enables the status of modules and communication to be indicated with LED
displays, inverter parameters and field bus telegrams.

Pos: 172 /Anleit ungen/Ele ktr onik/Buss ys t e me/6. Meldunge n zum Betriebsz ustand / Fehler ü berwachung / S t at us über Paramet er anzeige [CAN open] @ 1\mod_1342702734266_388.docx @ 35681 @ 355 @ 1

90 BU 0060 GB-4112

6 Operating status messages

0

1

3 – 5

6

The protocol of the CAN module is:
0 = CAN 1 = CANopen

7

Vacant

8

1 = "Bootsup Message" sent

9 – 10

CANopen NMT State

Status

Bit 10

Bit 9

Stopped

0 0 Pre-Operational

0 1 Operational

1

0

11 – 15

Reserved

6.1.1 Stat us via parameter display

Module status of the technology unit

In parameter P746, the status of the CANopen technology unit can be read.
For the SK 700E, par ameter P746 is a sub-index parameter . The status of the CANn ord / CANopen

technology unit (SK TU1-…) is shown in sub-index 0 (or Array -01), the status of the CANnord
customer interface (SK CU1-…) is shown in sub-index 1 (or Array -02).

The parameter contains binary coded information which is displayed in hexadecimal:

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Module ID

CANopen=0Chex
Module in status “operational”
Initialisation active

Module error
Timeout error
Initialisation error (0)
Reserved (0)

Module ready

Reserved (0)

Status of internal CANnord/CANopen, SK 511E and above

If the internal RJ45 C AN no rd/C AN ope n i terface (SK 511E and a bo ve) is us ed , p arameter P748 arra y ­01 can be used to display the status of the device.

The display is coded in hexadecimal, the individual bits are listed below:

Bit Meaning

1 = 24V Bus supply voltage
1 = CAN Bus in "Bus Warning" status

2

1 = CAN Bus in "Bus Off" status
Vacant

Table 26: CANnord/CANopen status, parameter P748

Pos: 173 /Anleit ungen/Ele ktr onik/Buss ys t e me/6. Meldunge n zum Betriebsz ustand / Fehler ü berwachung / LE D Anzeige bei der Tec h n ol ogiebox [CANopen] @ 1\mod_1342764433366_ 388.docx @ 35711 @ 355 @ 1

BU 0060 GB-4112 91

CANopen – Supplementary manual options for NORD - Frequency Inverters

TxD (green)

Transmitting CAN data

RxD (green)

Receiving CAN data

CR (green)

Single flashing (1s)

CANopen status STOPPED

Flashing (0.5s)

CANopen status PRE-OPERATIONAL

No other subscriber is in the bus or the wiring is faulty. (only possible
when flashing with CE)

To:

CANopen status OPERATIONAL

CE (red)

Off

No error

Flashing

Bus warning, CAN controller error counter has reached or exceeded

No other subscribers available

To:

Bus off, CAN controller has disconnected from the bus because a

DR (green)

Off

No voltage supply

Flashing

Initialisation (init. phase)

On

Module OK

DE (red)

Off

No error

Flashing (0.2s)

Initialisation phase

Flashing (0.5s)

Timeout error

Single flashing (1s)

Inverter error (see frequency inverter instructions)

To:

System error, e.g. plug contact not correct

6.1.2 LED display with the technology unit:

The status of the technology unit is indicated by the integrated LEDs:

CANnord LED display

LED Meaning

Table 27: LED display, CANnord communication status

LED display CANopen

LED Display Meaning

Flashing (0.25s)

the warning limit.

Check wiring / shielding / termination resistors

serious error has occurred, e.g.:

Wiring error
Incorrect baud rate set

Table 28: LED display, CANopen communication status

LED Display Meaning

Table 29: LED display, CANopen module status

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92 BU 0060 GB-4112

6 Operating status messages

0x00

0x81

0x01

0x00

0x00

0x00

0x00

0x00

IDNodexIDSende −+=− 800

1000

General error

The error number transmitted by FI is not known to the TO.
It must be read out via P700 or another actual value.

4210

1.0

Inverter overtemperature

4310

2.0 / 2.1

Motor overtemperature / … I2t

2310

3.0

Inverter overcurrent

7112

3.1

Chopper overcurrent

2211

3.2

IGBT overcurrent (125%)

2212

3.3

IGBT overcurrent fast (150%)

2200

4.0 / 4.1

Module overcurrent / pulse switch-off overcurrent

3210

5.0

Link circuit overvoltage

3110

5.1

Mains overvoltage

3230

6.0

Link voltage undervoltage (charging error)

3120

6.1

Mains undervoltage

3130

7.0

Phase failure

6310

8.0

EEPROM parameter loss

5530

8.1 / 8.2

Invalid inverter type / copy error ext. EEPROM

8100

10.0 / 10.1 / 10.2 / 10.3 / 10.4 /

10.5 / 10.6 / 10.7

Telegram downtime, initialisation error, system error
5000

10.8

Communication error ext. Module

5110

11.0

ADU customer unit error

9000

12.0 / 12.1 / 12.2

Watchdog – customer/switch-off limit reach ed

7305

13.0

Incremental encoder 1

6.1.3 Emergency Object telegram for inverter error messages

If an internal error occurs in the frequenc y inverter, an error m essage is sent automatically via the
CANbus.

Error message Error

Not used

register

Byte 0 Byte 1 Byte 2 Byte 3 B yte 4 Byte 5 Byte 6 Byte 7

Table 30: Structure of error message (Time-out through P 513)

After the error is reset, the Emergency Object is sent with the error mess age null.
The Transmit ID for the error telegram is based on the following formula:

The Node ID of the freque ncy inverter is s et via the "ID -H" (or "ID x10")a nd "ID -L" (or "IDx1") s witches
on the CANopen unit or in the PGM mode via parameter P515.

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6.1.4 Error lists,

CANopen

error

(hex)

FI error number Meaning

BU 0060 GB-4112 93

CANopen – Supplementary manual options for NORD - Frequency Inverters

8400

13.1

Speed slip error

8300

13.2

Slip error switch-off monitoring

8710

13.5

Flying saw acceleration too low

8711

13.6

Flying saw value incorrect

8600

14.0 / 14.1

Reserved

8612

14.2

Reference limit

7300

14.3

Sensor

7306

14.4

Incremental encoder 2

7310

14.5

Speed sensor

7320

14.6 / 14.7 / 14.8

Position sensor

6000

15.0 / 15.1 / 15.2 / 15.3 / 15.4 /

20.7 / 20.9 / 21.0

System error, device software

motor / motor current monitoring during brake

operation

5300

17.0

Control panel

FF10

18.0

Safety circuit

FF11

19.0

Parameter identification error

5510

20.0

RAM data memory

5520

20.8

EPROM error

7330

25.0

Hiper. abs./inc. error

7331

25.1

Universal encoder communication

7332

25.2

No correspondence Universal Encoder

7333

25.3

Universal encoder resolution

7334

25.4

Universal encoder error

CANopen

error

(hex)

FI error number Meaning

15.5 / 15.6 / 15.7 / 15.8 / 20.1 /

20.2 / 20.3 / 20.4 / 20.5 / 20.6 /

7120 16.0 / 16.1 Phase error

Table 31: Assignment of CAN open errors to inverter errors

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94 BU 0060 GB-4112

7 Examples

P509

Setpoint source

6 or 17

CANopen

P510

Setpoint source

0

Auto

P515 (or rotary
coding switch on
the bus module)

CAN address

50

(50

= 32

)

P551

Drive profile

0

Off

7. Examples

Various examples are shown below to clarify the control and parameterisation of the frequency
inverter with the bus system.

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7.1 Mains switch-on

After the CAN participant h as been s witched on it logs into th e s ystem with the CAN ID: 700
ID.

Example

+ Node

hex

Node ID: 50

dec

à 32

hex

Mains On à if the participant was recognised 732

is transmitted.

hex

As no valid telegram was sent at this time, the inverter switches to the status " Starting disabled" (à
status word: 0B40).

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7.2 Operational settting of the bus participant

Be sending 0001 to ID000 all participants are set to "Operational".

Pos: 179 /Anleit ungen/Ele ktr onik/Buss ys t e me/7. Beispiel - T elegramme/ Prozessdate n (PDO) [CAN open BU00 60] @ 1\mod_1342776486166_388.doc x @ 35815 @ 2555 @ 1

7.3 Process data (PDO)

The exchange of process data is carried out via PDOs and is illustra t ed in the follo wing example.

Example:

Communication via: Technology unit SK TU4-CAO
Scope of data: STW and SW1
Communication settings on the frequency inverter

Parameter number Parameter name Setting Meaning

Identifier:

CAN ID for Rx-PDO1: 200
CAN ID for Tx-PDO1: 180

BU 0060 GB-4112 95

(Node ID)

hex

hex

+ NODE-ID à 200
+ NODE-ID à 180

hex

hex

+ 32
+ 32

= 232

hex

= 1B2

hex

dec

hex

(control word + setpoint 1)

hex

(status word + actu al valu e 1)

hex

CANopen – Supplementary manual options for NORD - Frequency Inverters

Process data word 1

Process data word 2

Byte 0

Byte 1

Byte 2

Byte 3

Byte 0

Byte 1

Byte 2

Byte 3

Object 3001 (status word)

Object 3003 Sub 1 (actual

value 1)

be transferred. The

Byte 0

Byte 1

Byte 2

Byte 3

7E

04

00

00

Order

31

0B

00

00

Response

Byte 0

Byte 1

Byte 2

Byte 3

Mapping:

CAN-ID

for Rx-PDO1

Object 3000 (control word) Object 3002 Sub 1 (setpoint 1)

CAN-ID

for Tx-PDO1

Information

Objects 3002 and 3003

Objects 3002 and 3003 can be used to specify which setpoint or actual value is to
significance of the setpoints or actual values is set using the parameters P543-P548 in the frequency inverter.

Information

Data transfer is performed in Little Endian format. This means that in the data word, the High byte follows after
the Low byte. Example: "047E" à 7E 04.

Little Endian data format

In order to be able to control the frequency inverter, the CANopen status must first be set to
“Operational”

Setting the frequency inverter to "Ready for switch-on"

After switching on, the frequency inverter is in “Switch-on block” status. It has to be switched to
"Standby" status using a contr ol command. To do so, the c ontrol word “0x047E” m ust be transmitted.
The PDO telegram therefore has the following structure:

CAN-ID

232
1B2

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

Enabling the frequency inverter with 50% o f its maximum frequency

The drive unit is to operate at 50% of its maximum frequency. 100% corresponds to a setpoint of
4000

. Therefore "0x047F" must be sent as the control word and "0x2000" must be sent as the

hex

setpoint:

96 BU 0060 GB-4112

CAN-ID

232

hex

1B2

hex

7F

04

hex

37

0B

hex

00

hex

00

hex

20

hex

20

hex

hex

hex

Order

Response

7 Examples

14 0 Parameter set Bit 0 off

14 0 Parameter set Bit 0 off

13 0 Reserved

13 0 Not function P481,10

11

0 4 Rotational direction: right

11

1 B Rotation right is on

10 1 Control data valid

10 0 Not function P481, 9

8 0 Not function P481, 11

8 1

Setpoint reached

7

0 7 No (error) acknowledgement

7 0 3 No warning

6 1 Enable setpoint

6 0

Starting not disabled

4 1 Enable pulses

4 1

Voltage enabled

3

1 E Operation enabled

3 0 1 No error

1 1 Do not disable voltage

1 0

Not ready for operation

0 0 Not ready for operation

0 1

Ready to start

Structure of the control word / sta tu s word

PZD1 PZD2

STW

ZSW

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Example: "Ready to start"

Control word Status word

Bit Value Value

15 0

Meaning Bit Value Value

HEX

Parameter set Bit 1 off 15 0

SW1

IW1

Meaning

HEX

Parameter set Bit 1 off

0

12 0 Rotation left is off 12 0 Rotation left is off

9 0 Not function P481, 12 9 1 Bus controller active

5 1 Enable ramp 5 1 No emergency stop

2 1 Emergency Stop not active 2 0 Operation not enabled

0

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BU 0060 GB-4112 97

CANopen – Supplementary manual options for NORD - Frequency Inverters

Node ID

=50

dec

= 32

hex

Transmission address:

= 632

hex

(600

hex

+ 32

hex

)

Receive address:

= 5B2

hex

(580

hex

+ 32

hex

)

P102 „"Acceleration time":

= 102

dec

= 66

hex

à 2000

hex

+ 66

hex

= 2066

hex

Parameter set 1

= 01

hex

Value 1.03s:

= 1.03s à integer value: =103

dec

= 0067

hex

Control byte:

Send 16 bit value:

= 2B

hex

Load 16 bit value:

= 40

hex

"P102 acceleration time") into

Writing to the RAM of the frequency inverter should therefore be used for writing parameter data. The setting for

7.4 Reading and writing parameter data (SDO)

Reading and writing of parameter data is performed via SDOs and is illustrated in the following
examples.

Detailed information a bout t he s tr uct ure of an S DO ( e.g : def init io n of the c ontro l bytes) can be found in
Section 4.3.4.

Information

Parameters are mapped in objects above 2000

Example

Telegrams:
Writing parameter data

Sending a parameter

setting to the FI:

ID 632 à 2B 6620 01 67 00
At the transmission address: 632

value with the value 0067
(„P102 acceleration time“) in parameter set 1 Array 1 (01

hex

Parameter objects

!

the control byte 2B

hex

(1,03s ) is written in the parameter 2066

hex

for a 16Bit

hex

).

hex

hex

Reading parameter data

Loading a parameter

setting from the FI:

Query to the FI

ID 632 à 40 6620 01
At the transmission addres s: 632

the c ontrol byte 40

hex

for the r equest

hex

is sent to the frequency inverter to read out the saved value from the
parameter 2066

(01

).

hex

("P102 accelerat ion tim e") iin para met er set 1 Arra y 1

hex

Response from the FI

ID 5B2 à 4B 6620 01 6700
At the receiving address: 5B2

delivered from the parameter 2066
parameter set 1 Array 1 (01

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ATTENTION

The maximum number or write cycles on the EEPROM of the frequency inverters is limited to 100,000 cycles.
Continuous writing to the EEPROM therefore results in the destruction of the EEPROM.

this is made in parameter P560 of the frequency inverter.

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EEPROM writing cycles

the 16 bit value (status byte 4B

hex

(

hex

) with the value of 0067

hex

hex

(1.03s).

hex

) is

98 BU 0060 GB-4112

8 Additional information

8. Additional information

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8.1 Electronic data sheet (eds file)

All available objects ar e contained in the (SK***E.eds) “Electronic data sheet” (e ds file). This can be
downloaded free of charge from www.nord.com

http://www2.nord.com/cms/de/documentation/software/software_detail_14558.jsp#top

The selection of the correct file is made according to the name of the relevant bus module (e.g.
SK TU3-CAO). The correct assignment can be found in the attached readme.txt file. If necessary,
various versions of the eds file are available for sele ction. In this case, the correct vers ion must be
selected according to the firmware version of the frequency inverter (P707).

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8.2 Further documents

Internet www.can-cia.org
www.drivecom.org
Literature CIA draft Standard 301

.

CIA draft Standard 402

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8.3 Repair information

If you contact our technical support, please have the precise device type (rating plate/display),
accessories and/or opt ions, the software vers ion used (P707) and the series number (name plate) at
hand.

8.3.1 Repairs

The device must be sent to the following address if it needs repairing:

NORD Electronic DRIVESYSTEMS GmbH

Tjüchkampstraße 37

26605 Aurich, Germany

For queries about repairs, please contact:

Getriebebau NORD GmbH & Co. KG

Tel.: 04532 / 289-2515
Fax: 04532 / 289-2555

If a frequency inv erter is s e nt i n f or repair, no liabilit y can be accepted for any added components, e.g.
such as mains cables, potentiometer, external displays, etc.!

Please remove all non-original parts from the frequency inverter.

BU 0060 GB-4112 99

CANopen – Supplementary manual options for NORD - Frequency Inverters

possible, the reason for returning the component/device should be stated. If necessary, at least one contact for

ATTENTION

ASIC

Integrated circuit specific to the application

Baud rate

The transmission rate for serial interfaces in bits per second

Binary code

The designation for a code in which messages are communicated by "0" and "1" signals.

of 8 bits.

Broadcast

In a network, all slave participants are addressed simultaneously by the master.

CAN

Controller Area Network is an asynchronous serial field bus system

CANopen

Designates a communications protocol based on CAN

COB - ID

Communication Object Identifi er à Identifier of a CAN/CANopen message

EDS

Electronic Data Sheet

EMCY message

Emergency message (error telegram)

the sequence in which the bytes are processed in a data word. In this case

first the Low byte and then the High byte

Identifier

Unique definition of a message ("addressing") à Address of a CAN message box (i.e.
addressing of a message and not the participant); a node may have several identifiers .

ISO

The International Standards Organisation is the international association of
standardisation organisations and produces international standards in all fields, with the
exception of electricity and electronics.

Node

Bus participant, e.g. an FI, I/O module, etc.

OSI layer model

The Open Systems Interconnection Reference Model (OSI) defines the elements,
structures and tasks necessary for data communication and assigns these to the times
for the communication process in seven consecutive layers.

Polling

Cyclical querying of individual components by a central component (NMT master / NMT
slave)

Producer-consumer

A participant (producer) places data on the bus, all other participants (consumers)

this message and decide on the basis of the identifier, whether this message is

relevant to them.

Information

Reason for return

If
queries should be stated.

This is important in order to keep repair times as short and efficient as possible.
On request you can also obtain a suitable return goods voucher from Getriebebau NORD.

Unless otherwise agreed, the device is reset to the factory settings after inspection or repair.

Possible Consequential Damage

In order to rule out the possibility that the cause of a device fault is due to an optional module, the connected
optional modules should also be returned in cas e of a fault.

8.3.2 Internet information

You can also find the comprehensive manual in German and in English on our Internet site.

www.nord.com

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8.4 Keyword Index

Bit / Byte A bit (binary digit) is the sm allest unit of information in the binary system. A byte consi sts

Little Endian Describes

model

receive

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100 BU 0060 GB-4112