NORD BU0080 User Manual

0080

DeviceNet Bus modules

Supplementary manual for NORDAC frequency inverters

SK TU1-DEV SK TU2-DEV SK TU3-DEV

NORDAC DeviceNet Manual Safety information

N O R D A C Frequency Inverters

Safety and operating instructions

for drive power converters

1.General

During operation, drive power converters may, depending on their protection class, have live, bare, moving or rotating parts or hot surfaces.

Unauthorised removal of covers, improper 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 commissioning and maintenance work

must be carried out by qualified personnel (compliant with IEC 364 or. CENELEC HD 384 or DIN VDE 0100 and IEC 664 or DIN VDE 0110 and national accident prevention regulations).

For the purposes of these basic safety instructions, qualified personnel are persons who are familiar with the assembly, installation, commissioning and operation of this product and who have the relevant qualifications for their work.

2. Proper use in Europe

Drive power converters are components intended for installation in electrical systems or machines.

When installed in machines, the drive power converter must not be commissioned (i.e. commencement of the proper use) until it has been ensured that the machine meets the provisions of the EC Directive 2006/42/EEC (Machinery Directive); EN 60204 must also be complied with.

Commissioning (i.e. implementation of the proper use) is only permitted if the EMC directive (2004/108/EEC) is complied with.

Drive power converters with a CE label meet the requirements of the Low Voltage Directive 2006/95/EEC. The stated harmonized standards for drive current inverters are used in the declaration of conformity.

Technical data and information for connection 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 safety functions which are described and explicitly approved.

3. Transport, storage

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

4. Installation

The installation and cooling of the equipment must be implemented according to the regulations in the corresponding documentation.

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

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

Drive power converters have electrostatically sensitive components, which can be easily damaged by incorrect handling. Electrical components must not be mechanically damaged or destroyed (this may cause a health hazard!).

5. Electrical connection

When working on live drive power converters, the applicable national accident prevention regulations must be complied with (e.g. BGV A3, formerly VBG 4).

The electrical installation must be implemented as per the applicable regulations (e.g. cable cross-section, fuses, earth lead connections) . Further instructions can be found in the documentation.

Information regarding EMC-compliant installation – such as shielding, earthing, location of filters and installation of cables – can be found in the drive power converter documentation. These instructions must be complied with even with CE marked drive power converters. Compliance with the limit values specified in the EMC regulations is the responsibility of the manufacturer of the system or machine.

6. Operation

Systems in which drive power converters are installed must be equipped, where necessary, with additional monitoring and protective equipment as per the applicable safety requirements, e.g. legislation concerning technical equipment, accident prevention regulations, etc.

The parameterisation and configuration of the drive power 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 disconnected from the power supply, live equipment components and power connections should not be touched immediately, because of possible charged capacitors. Observe the applicable information signs located on the drive power converter.

Further information can be found in this documentation.

These safety instructions must be kept in a safe place!

2 BU 0080 GB

NORDAC DeviceNet Manual About this document

Documentation

Designation: BU 0080 DE Part No.: 607 08 01 Device series: DeviceNet for SK 300E, SK 500E (entire series), SK 700E, SK 750E

Version list

Designation of previous issues

BU 0080 GB, December 2005 Part No. 607 0801 / 5205 BU 0080 GB, August 2010 Part No. 607 0801 / 3110

Software Version

V 1.1 R6 Original version

V 1.1 R7

Publisher

Getriebebau NORD GmbH & Co. KG

Rudolf-Diesel-Str. 1 • D-22941 Bargteheide • http://www.nord.com/ Tel.: +49 (0) 45 32 / 401-0 • Fax +49 (0) 45 32 / 401-555

Intended use of the frequency inverter

Compliance with the operating instructions is necessary 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 d ev i c e.

The DeviceNet module can only be used for the specifically defined frequency inverter series, use across series is only possible with the SK TU2-… module with SK 300E and Sk 750E. The use of these modules with other devices is not permitted and can lead to their destruction.

The DeviceNet modules and the corresponding frequency inverters are devices for stationary installation in control cabinets or decentralised structures. All details regarding technical data and permissible conditions at the installati on site must b e complied wi th.

Commissioning (implementation of the correct use) is not permitted until it has been ensured that the machine complies with the EMC directive 204/108/EEC and that the conformity of the end product meets the machine directive 2006/42/EEC (note EN 60204).

NOTE

Comments

Deletion of option "DevicenNet mc" for FI-series "vector mc" Inclusion of option "SK TU3-DEV" for FI-series SK 500E

This supplementary operating manual is only valid in conjunctio n with the operating manual supplied for the respective frequency inverter.

BU 0080 GB 3

NORDAC DeviceNet Manual

1 INTRODUCTION...................................................................................................................... 6

1.1 General information............................................................................................. 6

1.2 The bus system................................................................................................... 6

1.3 DeviceNet with NORDAC frequency inverters.................................................... 6

1.4 Delivery................................................................................................................ 6

1.5 Scope of supply................................................................................................... 6

1.6 Certifications........................................................................................................ 7

1.7 Identification System ........................................................................................... 7

2 MODULES................................................................................................................................8

2.1 NORDAC SK 500E.............................................................................................. 8

2.2 NORDAC SK 700E............................................................................................ 11

2.3 NORDAC trio SK 300E...................................................................................... 14

1.6.1 European EMC Directive .......................................................................................... 7

1.6.2 RoHS compliance..................................................................................................... 7

2.1.1 DeviceNet module SK TU3-DEV ..............................................................................9

2.1.2 Installation of the SK TU3 technology unit..............................................................10

2.2.1 DeviceNet module SK TU1-DEV ............................................................................12

2.2.2 Installation of the SK TU1 technology unit..............................................................13

2.3.1 DeviceNet module SK TU2-DEV ............................................................................14

2.3.2 Installing the technology unit ..................................................................................15

3 THE DEVICENET PROTOCOL ............................................................................................. 16

4 BUS CONFIGURATION......................................................................................................... 17

4.1 Laying the bus cables........................................................................................ 17

4.2 Cable length ...................................................................................................... 17

4.3 Cable layout and shielding (EMC measures).................................................... 17

5 FREQUENCY INVERTERS - SETTINGS AND CONTROL ELEMENTS.............................. 18

5.1 Frequency inverter bus parameters .................................................................. 18

5.1.1 Control terminal parameters ...................................................................................18

5.1.2 Additional parameters.............................................................................................19

5.1.3 Information parameters........................................................................................... 23

5.2 Module status.................................................................................................... 25

5.3 LED display........................................................................................................ 26

5.4 Rotary coding switch ......................................................................................... 26

6 DATA TRANSMISSION......................................................................................................... 27

6.1 I/O Messages - operating modes...................................................................... 27

6.2 Assembly........................................................................................................... 27

6.3 AC Profile........................................................................................................... 27

6.4 Process data (PZD)........................................................................................... 28

6.4.1 Process data for SK 300E/700E/750E....................................................................28

6.4.2 Process data for SK 500E (entire series)................................................................ 28

6.4.3 Control word (STW)................................................................................................ 29

6.4.4 Status word (ZSW) .................................................................................................30

6.4.5 The setpoint 1 (SW1)..............................................................................................31

6.4.6 Second and third setpoint (SW2/3).........................................................................33

6.4.7 The actual value 1 (IW1)......................................................................................... 35

6.4.8 Actual value 2 and actual value 3 (IW2/3) ..............................................................35

6.4.9 The status machine ................................................................................................37

6.5 Object classes................................................................................................... 39

6.5.1 Class 01 - Identity Object........................................................................................ 39

6.5.2 Class 03 - DeviceNet Object................................................................................... 39

6.5.3 Class 04 – Assembly Object...................................................................................39

6.5.4 Class 05 – DeviceNet Connection Object............................................................... 40

6.5.5 Class 40 (28

) – Motor Data Object......................................................................40

hex

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Contents

6.5.6 Class 41 (29

6.5.7 Class 42 (29

6.5.8 Class 42 (2A

6.5.9 Class 100-107 (64

6.5.10 Class 120 (78

) – Motor Data Object......................................................................41

hex

) – Motor Data Object......................................................................41

hex

) – Acknowledge Handler Object ....................................................41

hex

-6B

hex

) – NORDAC Index Object ..........................................................42

hex

) – NORDAC Objects....................................................42

hex

7 ERRORS.................................................................................................................................43

7.1 Troubleshooting..................................................................................................43

7.1.1 Error display............................................................................................................43

7.1.2 Error memory..........................................................................................................43

7.2 Error messages..................................................................................................44

8 ADDITIONAL INFORMATION................................................................................................45

8.1 Electronic data sheet (eds file)...........................................................................45

8.2 Maintenance and servicing information..............................................................46

8.3 Abbreviations in this manual ..............................................................................46

9 KEYWORD INDEX..................................................................................................................47

NORDAC DeviceNet Manual

1 Introduction

1.1 General information

This DeviceNet documentation is valid for the NORDAC SK 300E, SK 500E, SK 700E series and for SK 750E. NORDAC frequency inverters can be equipped with various modules for parameterisation or control. A slot

is provided for this in the basic device. As delivered, there is a blank cover at this location, which must be replaced by the DeviceNet technology unit.

1.2 The bus system

As well as the communication profile, DeviceNet defines so-called device profiles for the most important types of device used in industrial automation technology, e.g. digital and analog I/Os, drives, etc.

DeviceNet is an open field bus system, via which various control units such as SPS or PCs can be linked to sensors and actuators.

Devices from various manufacturers and with different degrees of complexity can be linked with DeviceNet and can be controlled, diagnosed, configures and parameterised via the bus.

DeviceNet provides the connection between the communication participants via the proven "Common Industrial Protocol" (CIP). The physical basis for this is the CANbus.

1.3 DeviceNet with NORDAC frequency inverters

Features:

• Electrically isolated bus interface

• Standard transfer rates up to 500 KBit/s

• Easy connection to the inverter via a 5-pin open-style plug connector.

• Status display with 4 LEDs

• 24V supply for bus drivers

• Programming of all frequency inverter parameters using DeviceNet

• Support of the communication profile DeviceNet Specification Release 2.0

and the drive profile AC Drive

• Group 2 Only Slave (Support of the predefined master/ slave connection set)

1.4 Delivery

Check the equipment immediately after delivery/unpacking for transport 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.

1.5 Scope of supply

SK TU1-DEV for frequency inverter SK 700E IP20 or SK TU2-DEV(-C) SK TU3-DEV* for frequency inverter SK 500E IP20

*incl. screw for optional fixing to the FI

6 BU 0080 GB

for frequency inverter SK 300E or SK 750E IP55 (optionally IP66) or

1.6 Certifications

1.6.1 European EMC Directive

If NORDAC frequency inverters or their options are installed according to the recommendations in this instruction manual, it meets all EMC directive requirements, as per the EMC product standard for motor-operated systems EN 61800-3.

1.6.2 RoHS compliance

The DeviceNet bus options described here are designed to be RoHS compliant according to Directive 2002/95/EEC

1.7 Identification System

SK TU3 -DE V( -C )

1 Introduction

IP pr otect i on cla ss : S tandard = IP55, C = „c oated“ (IP66) Bus system: AS1 = AS-Interface, CAN = CAN, CAO = CANopen,

DEV = DeviceNet, ECT = EtherCAT®, etc.

Device series: SK TU1 / SK TU2 / SK TU 3

NORDAC DeviceNet Manual

2 Modules

2.1 NORDAC SK 500E

By the use of various modules for display, control and parameterisation, the NORDAC SK 5xxE 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 TU3-…) is connected externally to the front of the frequency inverter and is therefore easy to access and replace at any time.

In the delivery condition, without the technology unit, 2 LEDs (green/red) are visible externally. These signal the actual device status.

The green LED indicates that the mains voltage is present and operational, while a flashing code that increases in speed shows 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 error (Manual BU 0500 Section 6).

LED

red/green

WARNING

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.

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2 Modules

2.1.1 DeviceNet module SK TU3-DEV

This DeviceNet module can be used for all types of SK 500E devices. It occupies the technology slot which can then no longer be used for control and display modules. Alternatively, the SimpleBox SK CSX-0 can be plugged on to the DeviceNet module and connected via the RS232/485 interface with the frequency inverter.

The DeviceNet module must be provided with an external 24V power supply therefore be identified by the master system even without a voltage supply to the frequency inverter. The data required for this purpose are set using a rotary coding switch. This Bus data is read in when the 24V is applied from the frequency inverter.

Supply voltage:

The supply voltage is 24V DC ±25% (pin 1 = V-, pin 5 = V+ (from left to right)). The connection is made via the 5-pin open-style plug connector. (See illustration below)

Setting the node address: (See Section.

5.4) The node address (0...63) can be set with the rotary switches NA x 1 and NA x 10: Example: Node address = 50 dec = NAx 1 = 0, NAx 10 = 5 If the node address is set to a value greater than 63, the value from the parameter (P515[-01]) of the frequency

inverter is used as the node address.

Setting the baud rate: (See Section

5.4)

The baud rate can be set using the rotary switch DR (125kBit/s...500kBit/s). If a value in the PGM range is set, the value from parameter (P514) of the frequency inverter is used as the baud rate.

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

DeviceNet status LEDs

MS (red/green) Æ Modul status N S ( r ed/green) Æ Mains (bus) status DS (green) Æ Module status

. This DeviceNet participant can

D E ( r ed) Æ

rot ary codin g swit ch

DR Æ Baud rate NA Æ Node addre s s

Module error

Further details in Cha

Fur ther det ails in Chap. 5. 4

. 5.3

Shielding terminal: Co nnection to P E of the frequency inverter to suppress interference in the B u s l in es

NORDAC DeviceNet Manual

2.1.2 Installation of the SK TU3 technology unit

The technology units must be installed as follows:

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

2. Push the control terminals cover down slightly or remove.

3. Remove the blank cover by pressing the release on the lower edge and pulling off with an upward turning movement. If necessary, the fixing screw next to the release must be removed.

4. Hook the technology unit onto the upper edge slots and press in lightly until engaged. Ensure full contact with the connector strip and fasten with the screws if necessary (separate packet).

5. Close the control terminal cover again.

2 "press“

Similar to illustration

Further detailed information can be found in the device manual BU 0500.

www.nord.com –

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2 Modules

2.2 NORDAC SK 700E

With the combination of modules for display, technology units and modules with digital and analog inputs and interfaces, customer interfaces or special extensions, the NORDAC SK 700E can easily be extended tot cater for the requirements of a wide range of different applications.

WARNING

Technology units (TU) are modules which can be inserted from

above for display, parameterisation and control of the inverter.

Customer interfaces (Customer Units) are modules which are inserted into the upper slot inside the inverter. They are used fo control and communication using digital/analog signals or bus interfaces.

Special extensions (EXtension Units) are inserted into the lower slot of the inverter. Such an extension unit is required if the speed is to be controlled or positioned by an incremental (absolute) encoder.

Modules must not be inserted or removed unless the device is free of voltage. The slots may

only be used for the intended modules. The slots are coded to prevent them being mixed up.

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

connected directly to the frequency inverter.

NOTE

NORDAC DeviceNet Manual

2.2.1 DeviceNet module SK TU1-DEV

This DeviceNet module can be used for all types of SK 700E devices. It occupies the technology slot which can then no longer be used for control and display modules. Alternatively, a hand-held parameter box SK PAR-xH (with adapter cable) can be connected to the frequency inverter via an optional RS232/RS485 interface.

The DeviceNet module must be provided with an external 24 V power supply therefore be identified by the master system even without a voltage supply to the frequency inverter. The data required for this purpose are set using a rotary coding switch. This Bus data is read in when the 24V is applied from the frequency inverter.

Supply voltage:

The supply voltage is 24V DC ±25% (pin 1 = V-, pin 5 = V+ (from left to right)). The connection is made via the 5-pin open-style plug connector. (See illustration below)

Setting the node address: (See Section.

5.4 ) The node address (0...63) can be set with the rotary switches NA x 1 and NA x 10: Example: Node address = 50 dec = NAx 1 = 0, NAx 10 = 5 If the node address is set to a value greater than 63, the value from the parameter (P515) of the frequency

inverter is used as the node address.

Setting the baud rate: (See Section.

5.4 )

The baud rate can be set using the rotary switch DR (125kBit/s...500kBit/s). If a value in the PGM range is set, the value from parameter (P514) of the frequency inverter is used as the baud rate.

DeviceNet status LEDs: (See Section.

5.3 ) MS (red/green): Module status MS (red/green) Mains (bus) status

Module status LEDs (See Section

5.3 ): DS (green): Module status DE (red): Module error

Shielding terminal: Connection to PE of the frequency inverter to suppress interference in the Bus lines

. This DeviceNet participant can

Connector assignment:

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2.2.2 Installation of the SK TU1 technology unit

Installation: the technology units must be installed 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. Allow the technology unit to engage audibly by pressing lightly on the installation surface.

NORDAC

700E

2 Modules

WARNING

Modules must not be inserted or removed unless the dev ice 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.

NOTE

NORDAC DeviceNet Manual

2.3 NORDAC trio SK 300E

With the combination of technology units and customer units (interfaces with digital and analog inputs) the NORDAC trio SK 300E can easily be extended to cater for the requirements of a wide range of different applications.

2.3.1 DeviceNet module SK TU2-DEV

This DeviceNet module can be used for all types of SK 300E and SK 750E devices. With the SK 300E it occupies the technology slot which can then no longer be used for control and display modules. Alternatively, a hand-held parameter box, SK PAR-2H can be connected (SK PAR-3H with adapter) to the frequency inverter via a standard RS485 interface (M12).

The DeviceNet module must be provided with an external 24 V power supply therefore be identified by the master system even without a voltage supply to the frequency inverter. The data required for this purpose are set using a rotary coding switch. This Bus data is read in when the 24V is applied from the frequency inverter.

Supply voltage:

The supply voltage is 24V DC ±25% (pin 1 = V-, pin 5 = V+ (from left to right)). The connection is made via the 5-pin open-style plug connector. (See illustration below)

DeviceNet status LEDs: (See Section MS (red/green): Module status MS (red/green) Mains status

Module status LEDs (See Section DS (green): Module status DE (red): Module error

Setting the node address:(See Section The node address (0...63) can be set with the rotary switches NA x 1 and NA x 10: Example: Node address = 50 dec = NAx 1 = 0, NAx 10 = 5 If the node address is set to a value greater than 63, the value from the parameter (P515) of the frequency

inverter is used as the node address.

Setting the baud rate:(See Section The baud rate can be set using the rotary switch DR (125kBit/s...500kBit/s). If a value in the PGM range is set,

the value from parameter (P514) of the frequency inverter is used as the baud rate.

5.4)

Connector assignment:

1 Shield 2 V+ 3 V 4 CAN_H 5 CAN_L

. This DeviceNet participant can

5.3)

5.3):

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2.3.2 Installing the technology unit

Installation: the technology units must be installed as follows:

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

2. Undo the 6 fastening screws on the blind plate and remove the blind plate (see left illustration).

3. Attach the PE connection on the inside of the technology unit being mounted (see right illustration). Fit the seal together with the technology unit on the surface of the frequency inverter. Ensure that the connector strip has full contact.

4. Lightly

5. Now tighten the 6 fastening screws in the specified sequence from 1 to 6 (see Fig. 1 on next page) and

Frequency inverter size Screw size Tightening torque

Size 1 Size 2

tighten all 6 fastening screws.

with the torque given in the table.

M4 x 8 1.5Nm ± 20%

2 Modules

Screw 3 Screw 4

Screw 2 Screw 1

Screw 6

Te chnol ogy unit fasten in g screws PE c on n ectio n o n th e tec h n ology unit

Screw 5

WARNING

Modules must not be inserted or removed unless the dev ice 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.

Operation is not permitted if there is no secure PE connection to the frequency inverter and to the technology unit!

NOTE

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