NORD BU0210 User Manual

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Intelligent Drivesystems, Worldwide Services

SUPPLEMENTARY MANUAL BU 0210 GB

SK 200E FREQUENCY INVERTER WITH POSICON FUNCTIONALITY

Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Straße 1 D-22941 Bargteheide, Germany Tel.: +49 45 32 - 40 10 Fax: +49 45 32 - 40 12 53

BU 0210 GB

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SK 200E with "PosiCon Functionality" Safety information

SK 200E Frequency Inverter

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 and initialisation and maintenance work must be carried out by qualified personnel (comply with IEC 364, CENELEC HD 384, DIN VDE 0100, IEC 664 and 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 cannot be commissioned (i.e. commencement of the proper use) until it has been ensured that the machine meets the provisions of the EC Directive 98/37/EEC (Machine Directive); EN 60204 must also be complied 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 a CE label meet the requirements of the Low Voltage Directive 2006/95/EEC. The harmonised standards for drive power converters stated in the declaration of conformity are used.

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 73/23/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, previously 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 where 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!

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SK 200E with "PosiCon Functionality" About this document

Documentation

Designation: BU 0210 GB Part No.: 607 21 01 Device series: SK 205E, SK 215E, SK 225E, SK 235E Device types: SK 2xxE-250-112-O ... SK 2xxE-750-112-O, 0.25 - 0.75kW, 1~ 100-120V, 230V version

SK 2xxE-250-123-A ... SK 2xxE-111-123-A, 0.25 - 1.1kW, 1~ 220-240V SK 2xxE-250-323-A ... SK 2xxE-401-323-A, 0.25 - 4.0kW, 3~ 220-240V SK 2xxE-550-340-A ... SK 2xxE-751-340-A, 0.55 - 7.5kW, 3~ 380-480V

Version list

Designation of previous issues Software

BU 0210 GB, May 2009

Part. No. 607 2101 / 2509

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

The compliance with the operating instructions is necessary for fault-free operation and the acceptance of possible 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 dev i c e .

SK 200E frequency inverters are devices for industrial and commercial plants for operating three-phase asynchronous motors with squirrel-cage rotors. These motors must be suitable for operation with frequency inverters, other loads must not be connected to the devices.

SK 200E frequency inverters are devices for fixed installation on motors or in equipment close to the motor to be operated. All details regarding technical data and permissible conditions at the installation site must be complied with.

Commissioning (starting of intended operation) is prohibited until it has been established that the machine complies to the EMC guidelines 2004/108/EEC and the final product conforms to Machine Guideline 98/37/EEC (also observe EN 60204).

Comments

Version

V 1.0 R0 First issue

 Getriebebau NORD GmbH & Co. KG, 2009

BU 0210 GB Subject to technical amendments 3

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SK 2x5E with "PosiCon Functionality"

1 GENERAL INFORMATION ...................................................................................................... 6

1.1 Safety and installation Information ...................................................................... 7

1.2 Certifications ........................................................................................................ 9

1.2.1 European EMC Directive .......................................................................................... 9

1.2.2 UL Approval - File No. E171342 (in preparation) ...................................................... 9

1.2.3 C-Tick labeling .......................................................................................................... 9

1.2.4 RoHS compliance ..................................................................................................... 9

2 ENCODER CONNECTIONS .................................................................................................. 10

2.1 Incremental encoder connection ....................................................................... 10

2.1.1 Colour and contact assignments for the incremental encoders .............................. 10

2.2 CANopen absolute encoder connection ............................................................ 12

2.2.1 General information ................................................................................................ 12

2.2.2 Approved CANopen absolute encoders for automatic encoder recognition ............ 12

2.2.3 Assignment of the system bus interface for the SK 2x5E ....................................... 12

3 FUNCTION DESCRIPTION ................................................................................................... 13

3.1 Introduction ........................................................................................................ 13

3.2 Position detection .............................................................................................. 13

3.2.1 Position detection with incremental encoders ......................................................... 13

3.2.2 Position detection with CANopen absolute encoders ............................................. 16

3.2.3 Encoder monitoring ................................................................................................. 20

3.2.4 Positioning with absolute / incremental encoders in absolute mode ....................... 21

3.3 Specifying the setpoint ...................................................................................... 23

3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits ...... 23

3.3.2 Position increment array– relative setpoint position via digital inputs or BUS I/O

3.3.3 Bus setpoints .......................................................................................................... 24

3.3.4 Bus - Specification of absolute setpoint via field bus .............................................. 25

3.3.5 Bus increments – specification of relative setpoint via field bus ............................. 25

3.4 Teach - In function via digital inputs or Bus I/O In Bits ...................................... 25

3.5 Conversion ratio of the setpoint and actual values (P607 and P608) ............... 26

3.6 Position control functions (P600) ....................................................................... 27

3.7 Position Control ................................................................................................. 28

3.8 Output messages .............................................................................................. 29

3.8.1 Digital output ........................................................................................................... 29

3.8.2 Output messages via BUS I/O Out Bits (P481)....................................................... 30

In Bits ................................................................................................................... 24

4 PARAMETER SETTINGS ...................................................................................................... 31

5 COMMISSIONING .................................................................................................................. 43

6 SYNCHRONOUS CONTROL ................................................................................................ 45

6.1 General information ........................................................................................... 45

6.2 Communication settings .................................................................................... 45

6.3 Settings for slave ramp time and maximum frequency ..................................... 46

6.4 Setting the speed and position controls ............................................................ 46

6.5 Taking a speed ratio between master and slave into account .......................... 46

6.6 Achievable precision / Position monitoring ........................................................ 47

6.7 Significance of P630 for synchronous operation ............................................... 47

6.8 Notes on reference point runs with synchronous operation .............................. 47

6.9 Offset switching in synchronous operation ........................................................ 48

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Table of Contents

7 TROUBLESHOOTING ............................................................................................................ 49

7.1 Error messages .................................................................................................. 49

7.2 Troubleshooting table ......................................................................................... 50

7.2.1 Sources of faults in servo mode operation (without position control) ...................... 50

7.2.2 General causes of faults ......................................................................................... 51

7.2.3 Special sources of faults for position control with incremental encoders ................ 51

7.2.4 Special sources of faults for position control with absolute encoders ..................... 51

8 REPAIRS ................................................................................................................................. 52

9 KEYWORD INDEX / ABBREVIATIONS ................................................................................. 53

10 ADDITIONAL INFORMATION .............................................................................................. 55

10.1 Maintenance and servicing information ............................................................ 55

11 INDEX .................................................................................................................................... 57

12 AGENCIES / BRANCHES .................................................................................................... 58

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SK 2x5E with "PosiCon Functionality"

1 General information

NORDAC SK 2x5E frequency inverters are intermediate voltage circuit converters with fully digital microprocessor technology for controlling the speed of 3-phase motors.

In combination with a HTL incremental encoder or a CANopen absolute encoder the standard components form a high-precision positioning drive:

 The frequency inverter provides 15 programmable absolute positions.  By means of the position control, the position is maintained even with large load fluctuations.  Time-optimised and safe travel up to the target position by means of path calculation.  In addition to travelling to absolute positions, up to 4 step lengths (so-called position increments)

can be stored in the frequency inverter.

 Required positions can also be transferred via a field bus interface.  The positioning function is available as a standard function of the SK 2x5E.

The parameters (P6xx), which are required for positioning are input as an additional menu group (Positioning) in the inverter menu structure, as soon as the functionality is enabled in the supervisor parameter (P003=3).

The specified setpoint position can be input via the existing digital inputs, the Bus IO In Bits, or via the USS protocol or other field bus system.

A switchover from speed control to position control (Positioning) can be achieved by switching over the parameters.

A synchronous operation functionality between a master and one or more slave drives is possible via the integrated system bus interface.

A round axis function (Modulo axes) is also available for rotating platforms and similar applications. This controls an endless axis with optimisation of travel. According to the required position, the drive rotates clockwise or anticlockwise.

NOTE

This manual BU 0210 GB only describes aspects which are directly related to the PosiCon functionality. All standard functions and parameters of the inverter are contained in the Manual (BU 0200 GB).

Due to software updates the parameters described here may differ from those of your device. Therefore care should be taken that both the current NordCon version and the version of your ParameterBox correspond to the latest software version. In case of doubt, please contact your local NORD agency.

You can always find the latest version of this description on the Getriebebau NORD internet page.

http://www.nord.com/

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1 General information

1.1 Safety and installation Information

NORDAC SK 200E frequency inverters are equipment for use in industrial high voltage systems and are

operated at voltages which may cause death or severe injuries if they are touched.

 Installation and other work may only be carried out by qualified electricians and with the

device disconnected and must be strictly observed.

 Local regulations for the installation of electrical equipment and accident prevention must

be complied with.

 The equipment continues to carry hazardous voltages for up to 5 minutes

switched off at the mains.

 For single phase operation (115V/230 V) the mains impedance must be at least 100H for

each conductor. If this is not the case, a mains choke must be installed.

 For safe isolation from the mains, all poles of the supply cable to the frequency inverter

must be able to be disconnected.

 Even during motor standstill (e.g. due to electronic block, blocked drive or output terminal

short circuit the mains connection terminals, motor terminals and terminals for the brake resistor may conduct hazardous voltages isolation from the mains.

 Warning: with certain settings, the frequency inverter/motor can start up automatically after

the mains are switched on.

 The frequency inverter is only intended for permanent connection and may not be operated

without effective earthing connections that comply with local regulations for large leakage currents (>3.5mA). VDE 0160 requires the installation of a second earthing conductor or an earthing conductor cross-section of at least 10mm

 For 3-phase frequency inverters, normal FI-circuit breakers are not suitable as the sole

protection for three-phase frequency inverters if the local regulations do not permit a possible DC proportion in the fault current. According to EN 50178 / VDE 0160, the FI circuit breaker must be an all-current sensitive FI circuit breaker (Type B).

 In normal use, NORDAC 200E frequency inverters are maintenance free. The cooling

surfaces must be regularly cleaned with compressed air if the ambient air is dusty.

. The operating instructions must always be available to these persons

after being

. A motor standstill is not identical to electrical

CAUTION

The heat sink and all other metal components can heat up to temperatures above 70°C.

When installing, sufficient distance from neighbouring components must be maintained. Allow sufficient cooling time before working on the components.

Protection against accidental contact may need to be provided.

ATTENTION

DANGER TO LIFE

The frequency inverter may continue to carry voltages for up to 5 minutes after being switched off at the mains. Inverter terminals, motor cables and motor terminals may carry voltage!

Touching open or free terminals, cables and equipment components can lead to severe injury or death!

Work may only be carried out by qualified specialist electricians and with the electrical supply to the device disconnected.

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SK 2x5E with "PosiCon Functionality"

CAUTION

Children and the general public must be kept away from the equipment!

The equipment may only be used for the purpose intended by the manufacturer. Unauthorised modifications and the use of spare parts and additional equipment which has not been purchased from or recommended by the manufacturer of the device may cause fire, electric shock and injury.

Keep these operating instructions in an accessible location and give them to all operators!

WARNING

This product intended for use in an industrial environment and is subject to sales restrictions as per IEC 61800-3. In a domestic environment, this product can cause high frequency interference, in which case the user may be required to take appropriate measures.

An appropriate measure would be the inclusion of an optional, recommended mains filter.

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1 General information

1.2 Certifications

1.2.1 European EMC Directive

If the NORDAC SK 200E is 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. (see also Section

8.1, Electromagnetic Compatibility [EMC].)

1.2.2 UL Approval - File No. E171342 (in preparation)

“Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical Amperes, 120 Volts maximum (SK2xxE-xxx-112), or -240 Volts maximum (SK2xxE-xxx-323), or 500 Volts maximum (SK2xxE-xxx-340) and when protected by J class fuses as indicated.”

Suitable for use with mains with a maximum short circuit current of 5000A (symmetrical), 120V maximum (SK 2xxE-xxx-112), 240V maximum (SK 2xxE-xxx-323), or 500V maximum (SK 2xxE-xxx-340), and with protection with a J-class fuse as described in BU 0200 GB Section 7.7.

SK 200E frequency inverters include a motor overload protection. Further technical details can be found in Section 7.7 of BU0200

1.2.3 C-Tick labeling

NORD SK 200E series frequency inverters fulfil all the relevant regulations in Australia in New Zealand.

1.2.4 RoHS compliance

SK 200E series frequency inverters are designed to be RoHS compliant according to Directive 2002/95/EEC

N 23134

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SK 2x5E with "PosiCon Functionality"

2 Encoder connections

2.1 Incremental encoder connection

The incremental encoder connection is an input for a type with two tracks and an HTL-compatible signals. The supply voltage for the incremental encoder is 24V.

Note

For devices with an integrated AS interface the maximum current consumption of the device is limited to 290mA. The HTL incremental encoder may therefore require an external power supply.

The pulse number per rotation can be between 500 and 8192 increments. It is set via parameter P301 "Incremental encoder pulse number" in the menu group "Control parameters". For cable lengths > 20 m and motor speeds above 1500 min

-1

the encoder should not have more than 1024 pulses/revolution.

For longer cable lengths the cable cross-section must be selected large enough so that the voltage drop in the cable is not too great. This particularly affects the supply cable, in which the cross-section can be increased by connecting several conductors in parallel.

2.1.1 Colour and contact assignments for the incremental encoders

Function Cable colours for incremental encoders Assignment for SK 2x5E

24V supply brown / green

0V supply white / green

Track A brown

Track A inverse green --

Track B grey

Track B inverse pink --

Track 0 red --

Track 0 inverse black --

Cable shield via large-area earthing using the EMC cable connector

44 VO +24V

40 DGND

22 ENC A+

23 ENC B+

NOTE If there are deviations from the standard equipment (24V encoder, HTL) for the motors,

please note the accompanying data sheet or consult your supplier.

The external 24V supply is used as the power supply.

ATTENTION

The rotation of the incremental encoder must correspond to that of the motor. Therefore, depending on the rotation direction of the encoder to the motor (possibly reversed), a positive or negative pulse number must be set in parameter P301 "Incremental encoder pulse number".

Control terminal block

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2 Encoder connections

The HTL incremental encoder is connected to the digital inputs 2 (terminal 22) and 3 (terminal 23) with the tracks A and B. Track zero is not used.

NOTE This description (BU 0210) only contains a selection of the functions and connection terminals

which are specific and relevant for the positioning function. All standard functions should be obtained from the Manual supplied with the frequency inverter (BU 0200).

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SK 2x5E with "PosiCon Functionality"

2.2 CANopen absolute encoder connection

2.2.1 General information

The connection of an absolute encoder to the SK 2x5E is carried out via the internal system bus interface. As a minimum requirement, the absolute value encoder to be connected must have a CAN Bus interface with CANopen protocol.

The SK 2x5E supports CANopen absolute encoders with the communication profile DS 406. If an absolute encoder supplied by Getriebebau Nord is used, automatic parameterisation of the encoder via the SK 2x5E is possible. Only the CAN address and the baud rate of the encoder still need to be set with the rotary or dip switches on the encoder. All other necessary parameters are set by the SK 2x5E via the CAN Bus in the encoder.

2.2.2 Approved CANopen absolute encoders for automatic encoder recognition

Only CANopen absolute encoders (with bus cover) from the following companies are approved:

Company Internet Single-turn encoder Multiple-turn encoder

FRABA Posital

IVO www.ivo.de

Fritz Kübler www.kuebler.com Opto-mechanical encoders

www.posital.de

At present approval does not apply

Single-turn encoders

Please request if required

At present approval does not apply

Single-turn encoders

Please request if required

Type: Sendix 8.5878.XX2X.XXXX.XXXXX

for

2.2.3 Assignment of the system bus interface for the SK 2x5E

Function Assignment for SK 2x5E

Opto-mechanical encoders Type: OCD-C2X1B-XXXX-XXXX-0CC

10-30V DC, 25Bit

8192 Inc/rev, 4096 rev

Magnetic encoders Type: Multivo GOMMH.X205P32

10-30V DC, 29Bit

Default setting: Node ID 1, 50KBd

Can be parameterised

Opto-mechanical encoders

Type: Sendix 8.5888. XX2X.XXXX.XXXXX

10-30V DC

24V supply

0V supply

System bus +

System bus Shielding via large-area earthing using the EMC cable connector

44 VO +24V

40 DGND

77 SYS+ (CAN+)

78 SYS- (CAN-)

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3 Function description

3.1 Introduction

A wide range of positioning and position control tasks can be performed with the positioning function. In order to facilitate the decision as to which configuration provides the optimum solution for the task, the various processes for the setting of setpoints and recording of the actual values are described in the following sections.

The setpoint can be specified as either an absolute or a relative position. An absolute position is recommended for applications with fixed positions, for example with travelling trolleys, lifts, shelf access devices etc. A relative position is advisable primarily for all axes which operate in steps, especially for endless axes such as rotating platforms and pulsed compartmentalised conveyor belts. The specification of the setpoint can also be made via the bus (Profibus, CAN bus, DeviceNet or USS interface). Here the position can be specified as a value or combination of bits as a position number or increment.

With the use of the optional AS interface, the specification of the setpoint value is only possible by means of a combination of bits, in a similar manner to control via the control terminals.

If switching between positioning and speed specifications is required, this can be realised by switching between parameter sets. A position regulation in parameter P600 "Positioning" is parameterised to "ON" in one parameter set and to "OFF" in another parameter set. Switching between the parameter sets can take place at any time, i.e. even during operation.

3.2 Position detection

3.2.1 Position detection with incremental encoders

For an absolute actual position, a reference point is needed, with the aid of which the zero position of the axis is determined. The position detection operates as long as the frequency inverter is supplied with power. The pulses of the incremental encoder are counted in the inverter and added to the actual position. The resolution or pulse number of the incremental encoder is set in parameter P301 "Incremental Encoder Pulse Number". By setting negative pulse numbers, the direction of rotation can be adapted to the installation orientation of the rotary encoder. After switching on the inverter supply voltage, the actual position = 0 (P604"Encoder Type" without the option "Save Position") or it is at the value which was present on shut-down (P604 "Encoder Type" with the option "Save Position").

The recording of the position functions independently of the enabling signal of the inverter and parameter P600 "Positioning". The inverter determines the actual position for as long as it is supplied with power. Changes in position which are carried out with the inverter switched off do not cause a change in the actual position. Therefore a reference point run is therefore normally necessary after each "Mains switch-on" of the frequency inverter.

If the inverter is not operated in Servo- Mode P300 "Servo Mode" the incremental encoder can also be mounted at another position than on the motor shaft. In this case, the speed ratio of the motor to the incremental encoder must be parameterised. Rotations of the incremental encoder are converted to motor revolutions by the inverter with the aid of parameter P607 "Speed Ratio" and P608 "Reduction Ratio".

= nG * Üb / Un nG:: Incremental encoder rotations

: Motor rotations

: Speed ratio (P607[01])

: Reduction ratio (P608[01])

Example: The incremental encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3.

The following values are parameterised. P607 Speed ratio: 263; P608 Reduction ratio: 10

NOTE The direction of rotation of the incremental encoder must comply with the direction of rotation of

the motor. With a positive output frequency (clockwise rotation) the actual position value must increase. If the direction of rotation is not correct, this can be adjusted with a negative value in P607 "Speed Ratio".

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SK 2x5E with "PosiCon Functionality"

With the aid of a value which can be parameterised in parameter P609 [01] "Offset Position" the zero point can be set to a different position to that which is determined by the reference point. The offset is applied after conversion of the encoder rotations to motor rotations. After changes to the speed ratio/reduction ratio P607 [01] and P608 [01] the offset position value must be entered again.

3.2.1.1 Reference point run via digital inputs or BUS I/O In bits

The Reference point run is started via one of the digital inputs or one of the Bus IO In bits. For this a digital input must be programmed for the appropriate function (P420[01]...[04] "Function Digital Input", setting 22). For the Bus IO In Bits the corresponding Bit / Array (P480 "Bus IO In Bits", setting 22) must be parameterised. The direction of the reference point search is specified via the signals "Enable Left/Right". The current setpoint frequency determines the speed of the reference point run. Via one of the 4 digital inputs the reference point is also read in. For this a digital input must be programmed for the appropriate function (P420[01]...[04] "Function Digital Input", setting 23). For the Bus IO In Bits the corresponding Bit / Array (P480 "Bus IO In Bits", setting 23) must be parameterised.

In order to also realise the function "Reference Point Run" via a serial interface or via the Bus IO In bits, one of the "Bus Setpoint Values" (P546[01]...[03]) must be set to the setting "Bus IO In Bits 0...7" and under P480 "Function Bus I/O IN Bits" the function setting 22 must be assigned to the corresponding bit.

Sequence of the reference point run: With the reference point run enabled, the drive unit moves in the direction of its setpoint value (Enable Right/Left, +/- Setpoint). On reaching the reference point switch, the signal at the digital input or Bus IO In Bit "Reference Point" reverses the direction of travel. Therefore the drive unit moves away from the reference switch again. After the switch has been left, the reference point run is complete. If the drive unit is already at the switch at the start of the reference point run, the reference point run is immediately started with the inverse direction of rotation. After leaving the switch the reference point run is complete and the current position is set to 0 or to the value set in parameter P609 "Offset Position". The drive unit remains at the new zero point until the reference point run is stopped by the removal of the signal. In the setpoint mode P610 "Position Increment Array" = 1 (relative positioning) the setpoint position is simultaneously set to 0. With appropriate parameterisation of one of the parameters "Digital Output Function" (P434, setting 20 - reference point), the frequency inverter reports the end of the reference point run with corresponding adoption of the reference point. The feedback for the end of the reference point run can also be reported via the Bus IO OUT bits (P481, "Bus IO Out Bits", setting 20).

If an incremental encoder without the function "Save Position" is used (See P604 "Encoder Type") the actual position in parameter P601 "Current Position" is set to "0" when the frequency inverter is switched on. For parameterisation with the function "Save Position" the last saved value is taken as the actual position.

The output message "Reference Point" shows that a valid reference point is available. The outputs are switched off when a reference point run is started and are switched on again after the completion of the reference point run.

If the option "Save Position" (P604 "Encoder Type") is not selected (factory setting) the relay or the output are switched off when the inverter is switched on.

If the option "Save Position" is selected the relay or the output are switched on immediately after the inverter is switched on. Control via one of the Bus IO Out Bits is accordingly identical.

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3 Function description

The reference point run can be cancelled by removing the "Enable" signal or by "Emergency Stop" or "Block Voltage".

ATTENTION

In this case the frequency inverter does not generate an error message.

NOTE: For further details of possible functionality settings, please refer to the relevant parameter

description in Section 4 Parameter settings.

3.2.1.2 Reset position via digital inputs or BUS I/O In Bits

As an alternative to a reference point run, one of the digital inputs can be programmed to the setting "Reset Position" (P420[01]…[04], setting 61). Control via one of the Bus IO Bits is correspondingly identical. In

contrast to the reference point function, the input or the Bus IO Bit is always effective and when the signal changes immediately sets the actual position from 0 → 1 to 0. If an offset has been parameterised in parameter P609 "Offset Position", the axis will be displaced by this value. Resetting of the position is carried out independently from the setting of the "Positioning" in parameter P600. In "Position Setpoint Mode" the setpoint position /in parameter P610, 2 = Position increment array is set to 0.

The precision of reproducibility of the referencing via Reset Position is not as good as with the reference point run - as it depends on the tolerance of the reference point switch and the speed with which the switch is approached. However, the precision achieved is sufficient for many applications. In addition, referencing can be performed without interrupting the positioning.

The function "Reset Position" can also be realised via a serial interface or the Bus IO In Bits. For this, one of the bus setpoint values (P546[01]…[03]) must be set to 20 "Bus IO In bits 0..7" and under P480 "Function Bus I/O In Bits" the function setting 61 must be assigned to the corresponding bit.

NOTE: For further details of the possible functionality settings, please refer to the relevant parameter

description in the section "Parameter Settings".

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3.2.2 Position detection with CANopen absolute encoders

The absolute encoder communicates the actual position value serially via the CANopen interface on the frequency inverter. The position is always completely available in the absolute encoder and is also correct after displacement of the axis when the inverter is switched off. A reference point run is therefore not necessary.

If an absolute encoder is connected the parameter P604 "Encoder Type" must be parameterised to one of the absolute functions (Setting 1, 5, 6 or 7) for the CANopen absolute encoder.

If the absolute encoder is not mounted on the motor shaft the gear ratio between the motor and the absolute encoder must be parameterised. Rotations of the absolute encoder are converted to motor revolutions by the inverter with the aid of parameter P607 "Speed Ratio" and P608 "Reduction Ratio".

= nG * Üb / Un nG:: Absolute encoder rotations

Example: The absolute encoder is installed on the output side of the gear unit. The gear unit has a ratio of i = 26.3.

The following values are parameterised.

: Motor rotations

: Speed Ratio (P607[02])

: Reduction Ratio (P608[02])

Speed ratio: 263; Reduction ratio: 10

The direction of rotation of the absolute encoder must comply with the direction of rotation of the motor. With a positive output frequency (clockwise rotation) the actual position value must increase. If the direction of rotation is not correct, this can be adjusted with a negative value in P607 "Speed Ratio".

The zero point of the axis can be adjusted with the aid of value which can be parameterised in parameter P609 [02] "Offset Position". The offset is applied after the calculation. After changes to the Speed Ratio/Reduction Ratio P607 [02] and P608 [02] the value in parameter P609 "Offset Position" must be entered again.

ATTENTION

The maximum possible position in parameter P615 "Maximum Position" results from the resolution of the encoder and the Speed Ratio/Reduction Ratio (P607 and P608). Under no circumstances can the maximum value exceed +/- 65535 (16Bit) rotations. Circulation is not permissible. Endless items, which mainly run in a single direction must be realised with an incremental encoder (See Section

3.2.1). Position setpoints should be internally limited to the maximum possible value range.

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3 Function description

3.2.2.1 Resetting the CANopen absolute encoder

By means of the two functions "Reference Point Run" (See Section 3.2.1.1) and "Reset Position" (See Section

3.2.1.2) a CANopen absolute encoder can also be moved to the value "0" or the value set in parameter P609 [02] "Offset Position"

As the resetting of the position in the CANopen absolute encoder takes somewhat longer than the resetting of an incremental encoder, the speed selected during the resetting procedure should be as low as possible, as otherwise large differences may occur.

If both an incremental encoder and a CANopen absolute encoder are connected to the frequency inverter, both encoders can be reset by the performance of the functions "Reference Point Run" or "Reset Position".

3.2.2.2 Settings of the CANopen absolute encoder

The baud rate and the CAN address must be set on the encoder. For the assignment of the switches on the encoder, please refer to the manufacturer´s operating instructions.

The CAN address for the absolute encoder should be set in parameter P515

"CAN Address" according to the

following formula:

Encoder CAN address = SK 2x5E CAN address (P515) + 1

The CAN baud rate set in the encoder must be identical to the parameter P514 "CAN Baud Rate" in SK 2x5E and all other participants in the bus system. If parameterisation of the encoder is carried out via the SK 2x5E, the transmission cycle for the absolute encoder position is simultaneously set via the baud rate.

For the operation of several CANopen absolute encoders on a bus system, e.g. for synchronous operation, different transmission cycle times can be set for the system bus master and the CANopen absolute encoders.

With the parameter P552 "System Bus Master Cycle Time" the cycle time for the system bus master mode can be parameterised in Array [01] and for the CANopen absolute encoder in Array [02]. Care must be taken that the parameterised values are not lower than the values in the column for the minimum values of the actual cycle time. This value depends on the baud rate set in parameter P514 "CAN Baud Rate".

P514

Baud rate

[kBaud]

10 50 20 10 42.5 20 25 20 10 21.2

50 10 10 5 17.0 100 5 5 2 17.0 125 5 5 2 13.6 250 5 2 1 17.0 500 5 2 1 8.5

10002

P552 [01]

Default system bus

master [ms]

5 2 1 4.25

P552 [02]

Default CANopen

Absolute encoder

[ms]

P552 [02]

Minimum value for

actual cycle time

[ms]

Bus load caused by

an encoder

[%]

Table 1: Encoder cycle time dependent on the baud rate

Alternatively, the baud rate and the address can also be set with DIP switches (See BU 0200)

Only for testing purposes. Reliable operation is not guaranteed.

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The possible bus load in the system always depends on the real-time specific to the system. Very good results are achieved with a bus load less than 40%. Under no circumstances should a bus load greater than 80% be selected. For the estimation of the bus load, the other possible bus traffic (setpoint and actual values for the FIs and other bus participants) should also be taken into account.

Additional explanations about the CAN interface can be obtained from Manual BU 0060.

3.2.2.3 Parameterisation of the SK 2X5E

The appropriate settings for the CANopen absolute encoder must be parameterised via the parameters P514 "CAN Baud Rate" and P515 "CAN Address".

ATTENTION

Before the CANopen absolute encoder can be connected to the frequency inverter, the parameters P514 "CAN Baud Rate" and P515 "CAN Address" must be parameterised!

Please note that with the SK 2x5E the baud rate can also be determined by the DIP switches on the device.

The following setting should only be made if the CAN bus with the associated 24V supply is connected to all devices.

The resolution of the absolute encoder is set via the parameter P605 "Absolute Encoder".

P605 [01] = Multi-turn resolution in Bit P605 [02] = Single-turn resolution in Bit

The relevant settings should be obtained from the data sheet for the absolute encoder.

Example: for a 25Bit encoder (12 Bit multi-turn, 13 Bit single-turn):

P605 [01] = 12  4096 number of resolvable rotary encoder rotations P605 [02] = 13  8192 resolution per rotary encoder rotation

The CAN absolute encoder is activated via parameter 604 "Encoder Type". The following settings are possible:

P604 = 1  CANopen absolute encoder (Auto), with automatic configuration active P604 = 6  CANopen absolute encoder (Auto), with manual configuration active

The encoder can be used for the function "Optimum Path" with the following settings:

P604 = 5  CANopen absolute encoder optimum path (Auto), with automatic configuration active P604 = 7  CANopen absolute encoder optimum path (Auto), with manual configuration active

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3 Function description

In the function "Optimum Path" the multi-turn resolution of the encoder can be additionally limited for the overflow point via parameter P615 "Maximum Position". The multi-turn resolution in rotations (1 rotation = 1,000 rev) is entered in parameter P615. It is also possible to enter a non-integer value of rotations For an example, see Section 3.2.4.2.

After the setting or selection of the encoder type in parameter P604 "Encoder Types" the function of the encoder can be tested via parameter P601 "Current Position".

ATTENTION

The function "Automatic Configuration" may only be used for encoder types approved by NORD. See Section 2.2.2.

3.2.2.4 Manual commissioning of the CANopen absolute encoder

In addition to "automatic" configuration (Auto) a "manual" setting (Manual) of the encoder is also possible. With "Auto" the parameterisation is carried out by the frequency inverter. With manual commissioning, a CAN bus master is required in addition to the SK 2X5E and the encoder. This must switch the encoder into the bus status "Operational" and set the following parameters.

- Parameters 0x6001 and 0x6002: resolution, according to the settings in P605 "Absolute Encoder".

- Parameter 0x62000:cycle time. The parameterisation of a value ≤ 20ms is recommended. The selected cycle time influences the reaction speed of the positioning control in the SK 2X5E.

3.2.2.5 Encoder errors

If a CANopen encoder is parameterised in the SK 2X5E and the positioning control is enabled in parameter P600 "Positioning Control", the function of the encoder is permanently monitored. Although the encoder position is displayed when "Positioning Control" P600 is not enabled, no error messages are generated in case of problems. Therefore emergency or manual operation is always possible.

On the occurrence of one of the following conditions, the fault or error message E14.4

is triggered:

 five seconds after switching on the SK 2X5E there is no contact with the encoder  the encoder does not respond to an SDO command from the SK 2X5E  The parameters set in the SK 2X5E do not correspond to the possibilities for the encoder (e.g. P605

resolution of the CANopen absolute encoder)

 the SK 2X5E does not receive a position value over a period of 50ms

In case of encoder error, the last valid position is retained in the SK 2X5E.

Error messages are only possible of the positioning is enabled

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3.2.3 Encoder monitoring

If an absolute and an incremental encoder are present, the positioning difference between the two encoders can be monitored with parameter P631 "Slip Error Abs/Inc". The maximum permissible deviation between the absolute and the incremental encoder is specified by the value set in this parameter. With the value "0" slip error monitoring is disabled. If the maximum permissible deviation is exceeded the error message "E013 (E14.6)" is activated. The gear ratio or the positions where the two encoders are installed may differ. For each of the two encoders a parameter value for P607 "Speed Ratio", P608 "Reduction Ratio" and P609 "Offset Position" can be set.

If there is no second, redundant encoder for position monitoring a slip error for the position can be specified via the parameter P630 "Pos. Slip Error". In this case the current position is compared with the change in position calculated from the current speed. On reaching a target position, the estimated position is set to the actual position value of the encoder in order to prevent addition of errors over time. If the positioning difference exceeds the slip error value set in P630 "Pos. Slip Error", the error message "Error E013 (E14.5)" is activated. For larger travel paths larger values are necessary in P630. The necessary value is best determined by experiment. With the value "0" slip error monitoring is disabled.

The permissible operating range can be restricted with the parameters P616 "Minimum Position" and P615 "Maximum Position". If the drive unit departs from the permissible range, the error message "Error E013 (E14.7) maximum position exceeded" or "Error E013 (E14.8) minimum position undershot" is activated.

With a set value of "0" the relevant position monitoring is disabled. In parameter P604 "Encoder Type", setting 3, 4, 5 or 7 the position monitoring is also not enabled.

ATTENTION

Position setpoint values which are greater than the set value for "Minimum Position" in parameter P616 and "Maximum Position" in parameter P615 will be internally limited to these set values in the inverter.

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3 Function description

3.2.4 Positioning with absolute / incremental encoders in absolute mode

3.2.4.1 Optimised path positioning with a single rotation of the encoder

For rotating platforms in which the individual positions are divided around the circumference, there is the problem that normally the optimal movement path from one position to the next must be set. However, with a standard positioning, with a change of the setpoint position from -0.375 to + 0.375 the drive unit would select the long movement path "around the outside" (See a).

The situation, or the longer movement path can be avoided if a CANopen absolute encoder in parameter P604 "Encoder Type" with the settings 5 or 7 (CANopen absolute rotational encoder, optimised path) or an incremental rotary encoder in the setting 3 (Incremental rotary encoder, absolute) or 4 (Incremental rotary encoder, absolute with storage) is used. In this case, the short movement path is always selected. Here, the drive unit passes over the overflow point

of the relevant rotary encoder (See b).

0.5 / -0.5

0.375 -0.375

0. 25

0.125

-0.125

-0.25

0.375 -0.375

0. 25

0.125

0.5 / -0.5

-0.25

-0. 125

a) normal travel path b) optimised travel path

The zero point of a single-turn absolute encoder is determined by where it is mounted and can be varied via the parameter P609 [02] "Offset Position". If an incremental encoder is used, either a “Reference Point Run" or a "Reset Position" function must be performed in order to determine the zero position. The zero position can also be varied by means of an entry in parameter P609 [01] "Offset Position".

The above example is for a speed ratio or reduction ratio of "1". The maximum value of the position or the overflow point is calculated as follows:

= 0.5 * Üb / Un Üb: Speed Ratio (P607[02])

n

max

: Maximum value of motor rotation

max

: Reduction Ratio (P608[02])

Example: The absolute encoder or incremental encoder is installed on the output side of the gear unit.

The gear unit has a ratio of i=26.3.

=0.5 * 263 / 10= 13.15 rev.

max

The overflow point corresponds to 1/2 of a rotation of the encoder

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3.2.4.2 Optimised path positioning with arbitrary rotation of the encoder

If more than one rotation of the encoder is required for the entire travel path, the overflow point

determined. This results from half of the entire travel path. This value must be entered in parameter P615 "Maximum Position". Here it should be noted that the precision of the value may have a maximum of three decimal places. A deviant error causes an additional error with each overflow.

NOTE If an addition of the errors is to be avoided, the system must be referenced again after each

rotation.

must be

25. 25

50.5 / -5 0.5

-3 7. 87537 .8 75

-2 5. 25

-1 2. 6251 2. 625

12 .6 25

50.5 / -50 .5

-37.87537 .8 75

-25.2525.25

-1 2. 625

a) normal travel path b) optimised travel path

Example: The total travel path is 101 rotations of the encoder, then the "Maximum Position" in P615 = 0.5 * 101

rotations. = 50.5 rotations must be entered.

The above example is for a speed ratio or reduction ratio of "1". The maximum value of the position or the overflow point is calculated as follows:

= 0.5 * UD * Üb / Un Üb: Speed ratio (P607[01])

n

max

Example: The incremental encoder is installed on the output side of the gear unit. The gear unit has a ratio

of i = 26.3.

: Maximum value of motor rotation

max

: Reduction ratio (P608[01])

Rotations of rotary encoder

n

=0.5 * 101 rotations * 263 / 10 = 1328.15 rotations.

max

The overflow point corresponds to 1/2 of a rotation of the encoder

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3 Function description

Overview of incremental and absolute encoder parameter settings

Single-turn -

Absolute

Encoder

Multi-turn -

Absolute

Encoder

Incremental

Rotary

Encoder

Incremental

Rotary

Encoder

Number of

rotary encoder

rotations

≥ 1

> 1

P604 Encoder Type

5 = CANopen

Optimised path

5 = CANopen optimised

path

3 = Increment, absolute 4 = Increment, absolute

with saving 3 = Increment, absolute 4 = Increment, absolute

with saving

P605 CANopen absolute

encoder resolution

Array [01] = 0

Array [02] = Pulse number

Array [01] = Number

Array [02] = Pulse number

P615 Maximum

Position

0 No

0.5 * Total rotations No

0 Yes

0.5 * Total rotations Yes

Reference

Array [01] = Multi-turn resolution - number of possible rotary encoder rotations Array [02] = Single-turn resolution - resolution per rotation of rotary encoder

NOTE A multi-turn encoder can also be used as a single-turn absolute encoder. For this, the setting

of the parameter P605 "Absolute Encoder" in Array [01] for multi-turn resolution must be parameterised to 0 (See table below under P605 for the single-turn absolute encoder)

3.3 Specifying the setpoint

Three different procedures are available for specifying the setpoint. The specification of the setpoint can be made via:

 digital inputs or Bus IO In Bits as absolute position by means of the position array  digital inputs or Bus IO In Bits as relative position by means of the position increment array  Bus setpoint value

For the specification of the setpoint value it does not matter how the actual position is obtained. Absolute, relative and bus setpoint values can be specified, regardless of whether an absolute encoder or incremental encoder are used for the feedback of the number of rotations.

3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits

In parameter P610 "Setpoint Mode" up to 15 positions can be selected via Function 0 = "Position Array", using the digital inputs 1-4 of the inverter or the Bus IO In Bits. If the I/O-extension is used, there are additionally up to 4 digital inputs, which are also interpreted as Bus IO In Bits. The position numbers result from the binary value. A position setpoint value can be parameterised for each position number. The position setpoint value can either be entered via a control panel (Control Technology Unit or Parameter Technology Unit) or with a PC by means of the "NORD CON" parameterisation software (read out and adopt current position), or via "Teach-in" by travelling to the positions.

With the setting [62] "Sync for Position Array Pointer" for the digital inputs or BUS I/O In Bits it is possible to control the start of travel to the setpoint position. If one of the inputs or bus IO In bits is parameterised to [62] "Sync for Position Array Pointer", by means of further digital inputs or Bus I/O In Bits, the position or the position array can be preselected as binary code. The position value is adopted as the setpoint position as soon as the input "Sync for Position Array Pointer" is set to "1".

Run

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If the absolute setpoint position is specified via Bus IO In Bits, the position number results from bits 0...3 of the serial interface. For this, a bus setpoint value (P546[01] ...[03] "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits".

NOTE: For further details of possible functionality settings, please refer to the relevant parameter

description in Section 4 "Parameter settings“.

3.3.2 Position increment array– relative setpoint position via digital inputs or BUS I/O In Bits

The position setpoint value "Position Increment Array" is especially advisable for endless axes. For this, the function 1 = "Position Increment Array" must be parameterised in parameter P610 "Setpoint Mode". Up to 4 digital inputs or Bus IO Bits can each be assigned an input signal for one of the 4 position increment array elements. If the input signal changes from "0" to "1" the value of the element is added to the setpoint position. The values can be positive or negative, so that a return to the starting position is also possible. The addition is carried out on each positive signal flank, regardless of whether or not the inverter is enabled. A multiple of the parameterised increment can be specified with several consecutive pulses to the allocated input. The pulse width and the width of the pauses between pulses must be at least 10 ms.

If the relative setpoint position is specified via Bus IO Bits, bits 0...3 of the serial interface are each assigned to the position increment array. For this, a bus setpoint value (P546[01] ...[03] "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits".

NOTE: For further details of possible functionality settings, please refer to the relevant parameter

description in Section 4 "Parameter settings“.

3.3.3 Bus setpoints

The transfer of the setpoint can be carried out via various field bus systems. The position can be specified in terms of rotations or increments. A rotation of the motor then corresponds to a resolution of 1/1000 rotation or 32768 increments. The source of the bus setpoint must be selected in parameter P510 "Setpoint Source" in the menu group "Additional Functions". The position setpoints to be transferred via the bus must be set in parameters P546[01]…[03] "Function Bus Setpoints"

In order to utilise the entire positioning area, the High and Low words should be used. With this, a 32 bit position setpoint can be specified via a control unit.

Example: One motor rotation (See value P602) = 1.000 revolution. = Bus setpoint 1000

NOTE: For further details concerning bus setpoints please refer to the relevant BUS operating

instructions.

deC

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3 Function description

3.3.4 Bus - Specification of absolute setpoint via field bus

If the setting [3] is parameterised in parameter P610 "Setpoint Mode", the specification of the position setpoint is made exclusively via a field bus system. The setting of the field bus system is parameterised in parameter P509 "Interface". For the bus setting, the functions of the digital inputs as well as the Bus IO In Bits for the specification of the position from parameter P631 "Position" / position array elements are not enabled.

3.3.5 Bus increments – specification of relative setpoint via field bus

If the setting [4] for "Bus Increments" is parameterised in parameter P610 "Setpoint Mode", the specification of the relative position setpoint is made via a field bus. The adoption of the setpoint is performed with the command "Sync" for the position array pointer. The adoption of the bus increment is carried out on the change of flank from "1" to "0" of Sync for the position array pointer command.

3.4 Teach - In function via digital inputs or Bus I/O In Bits

As an alternative to the direct input, the parameterisation of the absolute setpoint position (position array) can also be carried out via the function "Teach-In".

Two inputs are required for "Teach- In" via digital inputs or Bus IO In Bits. One input, or one of the parameters P420[01]…[04] or. P480 must be parameterised to function [24] "Teach-In" and a further input must be parameterised to function [25] "Quit Teach-In". "Teach-In" is started with the "1" signal to the relevant input and remains enabled until the signal is cancelled again. On a change from 0 to 1 of the signal "Quit Teach-In", the current position setpoint is saved in parameter P613 "Position". The position number or the position array element or the position increment array is specified via the position specification (bit 0 to 3 position (increment) array) of the digital inputs or Bus IO In Bits in parameter P420[01]...[04] or P480 with one of the functions [55 to 58] "Bit 0-3 for Position (Increment) Array". If no input is accessed (corresponds to position 0) the position number is generated via an internal counter. The counter is increased after the adoption of each position. At the start of the "Teach-In" with specified position 0 the counter is at 1. On adoption of the value with "Quit Teach-In" the counter is increased. As soon as a position is addressed via the digital inputs, the counter is set to this position.

As long as the "Teach-In" is enabled, the frequency inverter can be controlled with enable signals and frequency setpoints (identical to parameter P600 "Position Control" = "Off").

The function "Teach-In" can also be implemented via a serial interface or the Bus IO In Bits. For this, a bus setpoint value (P546[01] ...[03] "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits" on the relevant bus.

NOTE: For further details of the possible functionality settings, please refer to the relevant parameter

description in the section "Parameter Settings".

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



3.5 Conversion ratio of the setpoint and actual values (P607 and P608)

The position values are based on the number of rotations of the motor. If a different reference value is required, with the aid of parameter P607 [03] the "Speed Ratio" and P608 [03] the "Reduction Ratio" can be converted into a different unit. No values after the decimal point can be entered in the parameters "Speed Ratio" and "Reduction Ratio". In order to achieve greater precision, the two values should each be multiplied by the same factor, which should be as large as possible. The product must not exceed the value 6500, i.e. the factor must not be too large.

Example: Lifting gear

Unit in [cm] Gear unit: i = 26.3 Drum diameter: d = 50.5 cm Multiplier: 100 selected

]3[608

]3[607

NOTE: The required unit can be selected in parameter P640 "Unit Pos. Value". In the example, the

ratioReduction P



oSpeed ratiP

parameter P640 "Unit Pos. Value" must be parameterised to the function 4 = cm.

5,50





3,26

10065,158

1003,26



15865

2630



rotation

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3 Function description

3.6 Position control functions (P600)

Four different positioning variants are possible.

Linear ramp with maximum frequency (setting [1])

The acceleration is linear. The speed of constant travel is always carried out with the "Maximum Frequency" set under parameter P105.

Linear ramp with setpoint frequency (setting [2])

The acceleration is linear. The speed of constant travel is specified via the setpoint frequency. This can be changed via the analog input or via a bus setpoint value.

S ramp with maximum frequency (setting [3])

The speed of constant travel is always carried out with the "Maximum Frequency" set under parameter P105. However, in positioning operation the frequency ramps can be operated as S ramps. Compared with conventional linear frequency increases (or decreases), according to the start-up time (or braking time) a gentle rounding (without jerking) is performed to change from a static state to acceleration or braking. Also, when the final speed is attained, the acceleration or deceleration is slowly reduced. The S ramp always corresponds to a rounding of 100% and only applies, when positioning is also being performed. The effective ramp time is doubled by S ramping.

S ramp with setpoint frequency (setting [4])

The speed of constant travel is specified via the setpoint frequency. However, in positioning operation the frequency ramps are operated as S ramps. For further details, please refer to the previous paragraph.

The setpoint frequency can be changed via the analog input or via a bus setpoint value.

ATTENTION

The parameter P106 "Ramp Rounding" must still be set to "0" for positioning. If the enabling is removed or a reference point run is carried out, the rounding is not effective.

NOTE: For the S ramp function, i.e. setting 3 or 4 it should be noted that during

reference point runs the S ramp is not active.

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3.7 Position Control

The position control functions as a P- feedback loop. The setpoint position and the actual position are continuously compared with each other. The setpoint frequency is formed by the multiplication of this difference with the parameter P611 "Position Control P". This value is then limited to the "Maximum Frequency" parameterised in parameter P105.

A path distance is calculated from the "Braking Time" parameterised in parameter P103 and the current speed. Without taking the distance calculation into account by means of the braking time, the speed would normally be reduced too late. Exceptions to this are highly dynamic applications with extremely short braking and starting times and applications in which only very small path increments are specified.

As a further parameter, a starting point for slow travel can be set in parameter P612 "Size of Target Window". Within the target window the setpoint frequency is limited to the frequency set in parameter P104 "Minimum Frequency". This frequency can not fall below 2 Hz. For applications with greatly fluctuating loads and without speed regulation, a creep path can be parameterised by means of this parameter.

The parameter P612 "Size of Target Window" does not Reached".

Overview of position control

have an effect on the relay/output message "Position

Freq uency:

Max .

Min .

Start-up time

Travel with max. frequency

P position control

Travel with min. frequency

Time

Braking time

(*) Time determined by "Size of

(*)

Target Window"

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3 Function description

3.8 Output messages

3.8.1 Digital output

The SK 2x5E is equipped with a digital output, which can be parameterised for a function.

Reference point (setting [20])

The digital output indicates that there is a valid reference point. The output is switched off if a reference point run is started. The output switches on as soon as the reference point has been found. The status after switching on the inverter supply voltage depends on the setting in P606 "Resolution CANopen Absolute Encoder" - with "Save Position" the output is switched on after the supply voltage is switched on. Otherwise it is switched off.

Setpoint reached (setting [21])

With this function the inverter reports that the setpoint position has been reached. This output switches on if the difference between the setpoint and the actual position is smaller than the value set in parameter P625 "Output Hysteresis" and the current frequency is lower than the frequency parameterised in parameter P104 "Minimum Frequency" + 2Hz.

Comparative position (setting [22])

This output switches on if the actual position is greater or equal to that set in parameter P626 "Comparative Position Output". The output switches off again if the actual position is smaller than the "Comparative Position Output" - "Output Hysteresis". The sign of the value is taken into account.

[Output switches on if p

Comparative position value (setting [23])

The function "Comparative Position Value" corresponds to the function "Comparative Position" with the difference that the position is processed as an absolute value (without sign). The output is switched if the actual position exceeds the value parameterised in P626 "Comparative Position Output" or undershoots the same negative amount.

[Output switches on if |p

Position Array Value (setting [24])

This output always switches on if a position parameterised in parameter P613 "Position" is reached or passed over. This function is always available if the position setpoint mode in parameter P610 "Setpoint Mode" is not set to "Position Array" i.e. the function is available for all functions which can be set.

Comparative position reached (setting [25])

The output switches on if the difference between the actual position and the value parameterised in P626 "Comparative Position Output" is less than the value set in parameter P625 "Output Hysteresis".

[/output switches of if

Comparative position value reached (setting [26])

[output switches on if |(|p

NOTE: The digital output functions are also available if the position control is switched off (P600

"Position Control" = 0).

vergl

ist

≥ p

| ≥ |p

- p

vergl

and switches off if

vergl

| and switches off if |p

vergl

)| < p

ist

| - |p

hyst

|)| < p

ist

]

hyst

ist

< p

vergl

| < |p

ist

– p

vergl

hyst

]

| – p

hyst

]

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3.8.2 Output messages via BUS I/O Out Bits (P481)

All output messages can also be read out via the serial interface or field bus by means of the Bus I/O Out Bits. For this, an actual bus value (P543[01] ...[02] "Function Bus - Actual Value") must be set in the setting "Bus Out Bits 0...7" and the functions assigned to the corresponding bits under P481 "Function Bus I/O In Bits".

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4 Parameter settings

For a detailed overview of all available parameters, please refer to Manual SK 2x5E, BU0200 The following only lists selected parameters and parameters specific to the function of PosiCon.

Operating display:

Parameters [factory setting]

Setting value / Description / Note Device Supervisor Parameter set

P001 Selection display

0 ... 63 [ 0 ]

Caution: Only the functions relevant to PosiCon are listed here.

16 = Position setpoint 17 = Actual position 50 = Actual position increments. Actual position value of the incremental encoder 51 = Absolute actual position. Actual position of the absolute encoder 52 = Actual position difference. Actual position difference 53 = Actual position difference abs/inc Actual position difference (P631) between absolute

54 = Actual position difference calc/measured Actual position difference (P630) between the calculated

encoder and incremental encoder

and measured difference of an encoder

Control parameters:

Only available in SK 2x5E with the use of an incremental encoder. For connections, please see Section 2.1.1 Colour and contact assignments for the incremental encoders.

Parameters [factory setting]

P300 Servo mode

Setting value / Description / Note Device Supervisor Parameter set

0 ... 1

[ 0 ]

This parameter activates speed control with speed measurement via an incremental encoder. This leads to a very stable speed behaviour down to motor standstill.

0 = Off 1 = On

NOTE: For correct function, an incremental encoder must be connected (see control

connections, Section 2.1 Incremental encoder connection ) and the correct pulse number must be entered in parameter P301.

P301 Incremental encoder pulse number

0 ... 17

[ 6 ]

Input of the pulse-count per rotation of the connected incremental encoder.

Corresponds to the direction of rotation of the encoder -not that of the frequency inverter (depending on installation and wiring), this can be compensated for by selecting the corresponding negative pulse numbers 8..to.16.

0 = 500 pulses 1 = 512 pulses 2 = 1000 pulses 3 = 1024 pulses 4 = 2000 pulses 5 = 2048 pulses 6 = 4096 pulses 7 = 5000 pulses

17 = 8192 pulses

8 = -500 pulses

9 = -512 pulses 10 = -1000 pulses 11 = - 1024 pulses 12 = - 2000 pulses 13 = -2048 pulses 14 = -4096 pulses 15 = -5000 pulses 16 = -8192 pulses

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SK 2x5E with "PosiCon Functionality"

Control terminals:

Parameters [factory setting]

Setting value / Description / Note Device Supervisor Parameter set

P420 [-01]

… [-03]

0 ... 72

[-01 = 1 ]

[-02 = 2 ]

[-03 = 4 ]

[-04 = 5 ]

Function of digital inputs 1 to 4

In the SK 200E, up to 4 freely programmable digital inputs are available. The only restriction is with the versions SK 215E and SK 235E. Here, the fourth digital input is always the input for the function “Safe Stop”.

[-01] = Digital input 1 (DIN1), Enable right as factory setting, control terminal 21 [-02] = Digital input 2 (DIN2), Enable left as factory setting, Control terminal 22 [-03] = Digital input 3 (DIN3), Fixed frequency 1 (P465 [-01]) as factory setting,

control terminal 23

[-04] = Digital input 4 (DIN4), Fixed frequency 2 (P465 [-02]) as factory setting,

not with SK 215/235E  "Safe Stop", control terminal 24

Various functions can be programmed. These can be seen in the following table.

Table of possible functions of the digital inputs P420 [01]...[03] Caution: Only the functions relevant to PosiCon are listed here.

Value Function Description Signal 22 23 24 25

55 56 57 58

61 62 63

Reference point run

Reference point

Teach-In

Quit Teach -In

Bit 0 position (increment) array

Bit 1 position (increment) array

Bit 2 position (increment) array

Bit 3 position (increment) array

Reset position

Sync for position array pointer

Switch off synchronous running See Section 6 High

See Section 3.2.1.1 High

See Section 3.4 High

See Section 3.3 High

See Section 3.2.1.2 High

See Section 3.3.1 High

NOTE: For further information please refer to Manual SK 200E, BU0200.

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Parameters [factory setting]

4 Parameter settings

Setting value / Description / Note Device Supervisor

Parameter set

P434 Digital output function

0 ... 39

[ 7 ]

Control terminals 1/40: The settings 3 to 5 and 11 work with a 10% hysteresis, i.e. the relay contact closes (Function 11 opens) when the limit value is reached and opens (function 11 closes) when a 10% smaller value is undershot. This behaviour can be inverted with a negative value in P435.

Setting / Function

20: Reference point 21: Position reached 22: Comparative position 23: Comparative position value 24: Position array value 25: Comparative position reached 26: Comparative position value reached

Caution: The standardisation allocated to the output in parameter P435 is disabled for

functions relevant to PosiCon (20 – 26, see parameterisation of output function, output 1, P434).

The hysteresis allocated to the output in parameter P436 is disabled for functions

relevant to PosiCon (20 – 26, see parameterisation of output function, output 1, P434). With regard to the functions relevant to PosiCon, the joint parameterisation of the hysteresis can be performed for all outputs via parameter P625.

Digital Output ... for limit value or

function

(see also P435)

Closes

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SK 2x5E with "PosiCon Functionality"

Parameters [factory setting]

Setting value / Description / Note Device Supervisor

Parameter set

P420 [-01] Function Bus I/O In Bits

0 ... 72

[ 0 ]

The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420[01]…[03]).

[-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 [-05] = Bus I/O In Bit 4 [-06] = Bus I/O In Bit 5

Caution: Only the functions relevant to PosiCon are listed here.

22 = Reference point run 23 = Reference point

24 = Teach-In 25 = Quit Teach-In

P481 [-01] Function Bus I/O Out Bits

0 ... 38

[ 0 ]

The Bus I/O Out Bits are perceived in the same way as for those of the digital outputs. They can be set to the same functions (P434 / P624...629).

[-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 [-06] = Bus I/O Out Bit 5

Caution: Only the functions relevant to PosiCon are listed here.

20 = Reference point 21 = Position reached 22 = Comparative position 23 = Comparative position value

24 = Position array value 25 = Comparative position reached 26 = Comparative position value Reached

Attention: The standardisation assigned to the bus IO Out bits in parameter P482 is disabled

for functions relevant to PosiCon (20 – 26, see parameterisation of function of Bus IO Out Bits, P481 disabled).

The hysteresis assigned to the bus IO Out bits in parameter P483 is disabled for

functions relevant to PosiCon (20 – 26, see parameterisation of function of Bus IO Out Bits, P481 disabled). With regard to the functions relevant to PosiCon, the joint parameterisation of the hysteresis can be performed for all outputs via parameter P625.

[-07] = Bus I/O In Bit 6 [-08] = Bus I/O In Bit 7 [-09] = Bit 8 BUS control word [-10] = Bit 9 BUS control word

55 = Bit 0 position (increment) array 56 = Bit 1 position (increment) array 57 = Bit 2 position (increment) array 58 = Bit 3 position (increment) array

61 = Reset Position 62 = Sync for position array pointer 63 = Switch off synchronous running

[-07] = Flag 1 [-08] = Flag 2 [-09] = Bit 10 BUS status word [-10] = Bit 13 BUS status word

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Additional parameters:

Parameter [factory setting]

4 Parameter settings

Setting value / Description / Note Device Supervisor

Parameter set

P502 [-01] Master function value

0 ... 21

[ -01 = 0 ]

[ -02 = 0 ]

[ -03 = 0 ]

Selection of up to 3 master values: [-01] = Master value 1 [-02] = Master value 2 [-03] = Master value 3

Selection of possible master value settings relevant to PosiCon:

6 = Actual position Low-word 7 = Setpoint position Low-word 10 = Actual position in incremental Low-word 11 = Setpoint position in incremental Low-word 12 = Bus IO Out Bits 0...7

P503 Master function output

0 ... 1

[ 0 ]

The output of the master function via the system bus is activated with this parameter.

The control words and setpoint values to be output refer to the P509 source of the FI control. The master value to be transmitted via the system bus is determined in parameter P502.

Off System bus

P514 CAN baud rate

0 ... 7

[ 4 ]

Setting of the transfer rate (transfer speed) via the system bus interface. All bus participants must have the same baud rate setting.

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

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

S P

13 = Actual position High-word 14 = Setpoint position High-word 15 = Actual position in incremental

High-word

16 = Setpoint position in incremental

High-word

6 = 500kBaud 7 = 1Mbaud *

*) Safe operation cannot be guaranteed

P515 [-01]

... [-02]

0 ... 255

[ 50 ]

CAN address (system bus)

Setting of the system bus address.

P543 [- 01] Actual bus value 1 3

0 ... 22

[ -01 = 1 ]

[ -02 = 4 ]

[ -03 = 9 ]

The return value can be selected for bus actuation in this parameter. NOTE: For further details please refer to the relevant Bus Manual BU 0250 or the

description for P418.

[-01] = Actual bus value 1 [-02] = Actual bus value 2 (only for PPO Type 2 or 4) [-03] = Actual bus value 3 (only for PPO Type 2 or 4)

Possible values which can be set: 6 = Actual position Low-word

7 = Setpoint position Low-word 10 = Actual position in incremental

Low-word

11 = Setpoint position in incremental

Low-word

12 = Bus IO Out Bits 0...7 13 = Actual position High-word

S P

14 = Setpoint position High-word 15 = Actual position in incremental High-word 16 = Setpoint position in incremental High-word 22 = Speed from rotary encoder (only possible with

rotary encoder feedback)

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SK 2x5E with "PosiCon Functionality"

Parameter [factory setting]

Setting value / Description / Note Device Supervisor

Parameter set

P546 [- 01]

... [- 03]

0 ... 24

[ -01 = 1 ]

[ -02 = 0 ]

[ -03 = 0 ]

Function Bus setpoint 1 ... 3

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

NOTE: For further details please refer to the relevant Bus Manual BU 0250 or the

[-01] = Bus setpoint value 1 [-02] = Setpoint bus value 2 (only for PPO Type 2 or 4) [-03] = Setpoint bus value 3 (only for PPO Type 2 or 4)

Possible values which can be set: 20 = Bus IO In Bits 0…7

21 = Setpoint position Low-word 22 = Setpoint position High-word 23 = Setpoint position in incremental Low-word 24 = Setpoint position in incremental High-word

P552 [-01]

… [-02]

0 / 0.1 … 100.0 ms

[ 0 ]

System bus master cycle time

In this parameter, the cycle time for the system bus master mode and the CAN open encoder is set (see P503/514/515):

[01] = Cycle time for system bus master functions [02] = Cycle time for system absolute value encoder

With the setting 0 = "Auto" the default value (see table) is used.

According to the Baud rate set, there are different minimum values for the actual cycle time:

Baudrate Minimum value tZ Default system bus master Default system bus abs.

10kBaud 10ms 50ms 20ms

20kBaud 10ms 25ms 20ms

50kBaud 5ms 10ms 10ms

100kBaud 2ms 5ms 5ms

125kBaud 2ms 5ms 5ms

250kBaud 1ms 5ms 2ms

500kBaud 1ms 5ms 2ms

1000kBaud 1ms 5ms 2ms

NOTE: For further details, please refer to Section 3.2.2.2.

S P

description for P400.

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Positioning:

Parameters [factory setting]

4 Parameter settings

Setting value / Description / Note Device Supervisor

Parameter set

P600 Position control

0 ... 4

[ 0 ]

Enabling the position control

0 =

Off

1 = Linear Ramp (Max. freq.) linear ramp with maximum frequency 2 = Linear Ramp (setpoint freq.) linear ramp with setpoint frequency 3 = S Ramp (Max. freq.) S ramps with maximum frequency 4 = S Ramp (Setpoint freq.) S ramps with setpoint frequency

NOTE: For further information please refer to Section 3.6

P601 Actual position

-50000...50000,000 rev

Shows the actual position.

P602 Actual setpoint position

-50000...50000,000 rev

Shows the actual setpoint position.

P603 Actual Pos. diff.

-50000...50000,000 rev

Shows the actual difference between the setpoint and actual position.

S P

P604 Encoder type

0 ... 7

[ 0 ]

Type of actual position determination or type of rotary encoder used.

Incremental Incremental encoder

0 = 1 = CANopen absolute CANopen absolute encoder (Auto) 2 = Incr. + Save pos. Incremental encoder with saving of position 3 = Incremental absolute Absolute incremental encoder 4 = Incr. Abs. + Save pos. Absolute incremental encoder with saving of position 5 = CANopen path optimised CANopen absolute encoder with path optimisation Auto) 6 = CANopen absolute man. CANopen absolute encoder (Manual) 7 = CANopen opt. path absolute man. CANopen absolute encoder with path optimisation

NOTE: For further information regarding the "Auto" and "Manual"

Further information about the functions "absolute" and "save" is

(Manual)

functions of the CANopen absolute encoder, please refer to Sections 3.2.2.3 and 3.2.2.4.

provided in Section 3.2.4.2 and 3.2.1 .

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Parameters [factory setting]

Setting value / Description / Note Device Supervisor

Parameter set

P605 [-01]

… [-02]

0 ... 16 [ 10 ]

Absolute encoder

Resolution of CANopen absolute encoder

[-01] = Multi-turn resolution - number of possible encoder rotations [-02] = Single-turn resolution - resolution per encoder rotation

The array [01] describes the number of possible rotations depending on the encoder resolution / multi-turn resolution. On the other hand, array [02] describes the resolution of a singe rotation /single-turn resolution. Both resolutions are given in bits.

NOTE: If a single-turn encoder is used, a 0 must be parameterised in

Array [01] for the multi-turn resolution.

Resolution [dec.] Resolution [Bit] Resolution [dec.] Resolution [Bit]

1 2 3 4

512

1024

2048

4096

9 10 11 12

Example: Resolution = 2^12[Bit] = 4096

For a single-turn encoder with 12 bit resolution the following

Array [01] = 0 Array [02] = 12

P607 [-01]

… [-03]

-65000...65000 [ 1 ]

Speed ratio

[01] = Incremental encoder [02] = Absolute encoder [03] = Setpoint and actual values

The speed ratio is set for incremental and absolute encoders. This is also effective for synchronous control (Master- Slave, P610).

128

256

5 6 7 8

parameterisation must be carried out:

8192

16384

32768

65536

13 14 15 16



eduction

oSpeed rati

ratio

NOTE: For further details please refer to Section 3.5

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Parameters [factory setting]

4 Parameter settings

Setting value / Description / Note Device Supervisor

Parameter set

P608 [-01]

… [-03]

1...65000 [ 1 ]

P609 ... - 01

... - 02

-50000...50000,000 rev [ 0 ]

Reduction ratio

[01] = Incremental encoder [02] = Absolute encoder [03] = Setpoint and actual values

The speed ratio is set for incremental and absolute encoders.

NOTE: For further details please refer to Section 3.5

Offset Position

Offset for absolute and relative position specifications

[01] = Incremental encoder [02] = Absolute encoder

Here, the offset position for absolute and incremental encoders can be specified separately for both types of encoder.

P610 Setpoint Mode

0 ... 4 [ 0 ]

Various methods are available for the specification of the setpoint position. The position can be specified either as an absolute or a relative position.

0 =

Position Array Position array - specification of absolute position6

1 = Pos. Inc. Array Incremental position array - specification of relative position 2 = Synchronous Specification of position by master drive unit (note P509) 3 = Bus Specification of absolute position via bus (note P509) 4 = Bus Increment Specification of relative position via bus, adoption with

synchronisation command

5 =

NOTE: For further information, please refer to Sections 3.3.1 pr. 3.3.2 etc.

P611 P position control

0,1...100,0 % [5 ]

The P amplification of the positioning control can be adjusted. Values which are too large cause overshooting. Values which are too low cause imprecise positioning. The rigidity of the axis when at a standstill increases with increasing values of P.

P612 Pos. window

Any setpoint present from the bus (if 509, 546[01]…[02] are programmed accordingly) will be added!

Any programmed position increment via the digital inputs or bus IO In bits will be added!

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Parameters [factory setting]

Setting value / Description / Note Device Supervisor

Parameter set

0,0...100,0 rev [ 0 ]

Slow travel at the end of the positioning process can be enabled by the size of the positioning window. The positioning window corresponds to the start of slow travel.

In the positioning window or with slow travel, the speed of movement is determined by parameter P104 (minimum frequency) and not by the maximum or setpoint frequency.

P613 ... - 01

… ... - 15

-50000...50000,000 rev [ 0 ]

Position

Position array element [01 … 15] Position increment array element [01 … 04]

Arrays for up to 15 different setpoint values, which can be selected via the digital inputs or a field bus. With the position setpoint mode "Position Array" these values correspond to the absolute setpoint positions.

With the position setpoint mode "Position Increment Array" only arrays [01] – [04] are used. These values correspond to the position increments. With each change of signal from "0" to "1" at the relevant digital input, the value allocated to the digital input is added to the position setpoint value. This also applies to control via the bus.

P615 Maximum Position

-50000...50000,000 rev [ 0 ]

The setpoint values are limited to the value set here. If the actual position value exceeds the set value, the error message "E14.7 maximum position exceeded" is triggered. The position monitoring is disabled if the value is set to "0".

If the functions "Absolute Increment with Saving" or "CANopen Path Optimised" are selected in parameter P604 (Encoder Type), the value of the overflow point must be set in this parameter.

P616 Minimum Position

-50000...50000,000 rev [ 0 ]

The setpoint values are limited to the value set here. If the actual position value undershoots the set value, the error message "E14.8 minimum position exceeded" is triggered. The position monitoring is disabled if the value is set to "0".

P625 Output Hysteresis

0.00...99.99 rev [ 1 ]

Difference between switch-on and switch-off point to prevent oscillation of the output signal. Relevant for functions 20 - 26 of the digital output and for the Bus IO Out Bits.

Attention: The hysteresis parameter assigned to the output, parameter

(P436) and the hysteresis for the Bus IO Out Bits (P483) are not enabled for functions relevant to PosiCon (20…26), see parameterisation of output functions P434). The output standardisation parameter assigned to the relays or outputs (P435) is also not enabled for functions relevant to PosiCon (20...26, see parameterisation of output function P434).

NOTE: For further information please refer to Sections 3.8.1 and 3.8.2

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Parameters [factory setting]

4 Parameter settings

Setting value / Description / Note Device Supervisor

Parameter set

P626 Comparative Position Output

-50000...50000,000 rev [ 0 ]

Comparative position for the settings 22, 23 and 25, 26 of relays 1 and 2 or outputs DOUT 1 and DOUT 2, as well as for the Bus IO Out Bits.

NOTE: For further information please refer to Sections 3.8.1 and 3.8.2

P630 Position slip error

0.00...99.99 rev [ 0 ]

The permissible deviation between the estimated and the actual position can be adjusted. As soon as a target position is reached, the estimated position is set to the current actual position.

If a value which is too low is selected, the error message "E14.5" "position change and number of rotations do not match" can occur for the slip position monitoring.

With a setting of "0" the slip error monitoring is disabled.

P631 Abs/Inc slip error

0.00...99.99 rev [ 0 ]

The permissible deviation /slip error between the absolute encoder and the incremental encoder can be adjusted.

If a value which is too low is selected, the error message "E14.6" position change for absolute and incremental encoder does not match" can occur for the slip error monitoring.

With a setting of "0" the slip error monitoring is disabled.

P640 Unit of pos. value

0 ... 9 [ 0 ]

Setting the measurement units:

1 = Rev (Rotations) 2 = ° (Degrees) 3 = rad (Radians) 4 = mm (Millimetres) 5 = cm (Centimetres) 6 = dm (Decimetres) 7 = m (Metres) 8 = in (Inch) 9 = ft (Feet) 10 = (no unit)

NOTE:

For further information please refer to Section 3.5

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Information:

Parameters Setting value / Description / Note Device Supervisor

Parameter set

P744 Configuration

0000 ... FFFF (hex)

This parameter displays the special devices integrated in the FI. Display is in hexadecimal code (SimpleBox, ControlBox, Bus System).

The display is in plain text when the ParameterBox is used.

High byte: Low byte:

hex

No extension

Encoder

Posicon

---

P748 System bus status

0000 ... FFFF (hex)

0 ... 65535 (dec)

Shows the status of the system bus.

Bit 0

Bit 1

Bit 2

Bit 3 ... 5:

Bit 6

Bit 7

Bit 8

Bit 9

Bit 10

24V Bus supply voltage

CANbus in "Bus Warning" status

CANbus in "Bus Off" status

Vacant

The protocol of the CAN module is 0 = CAN / 1 = CANopen

Vacant

"Bootsup Message" sent

CANopen NMT State

Standard I/O (SK 205E)

hex

STO (SK 215E)

hex

AS-i (SK 225E)

hex

STO and AS-i (SK 235E)

hex

CANopen NMT State Bit 10 Bit 9

Stopped Pre-Operational Operational

0 0 1

0 1 0

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5 Commissioning

When commissioning the PosiCon applications, it is recommended that a specific sequence is adhered to. The individual steps are described in the following sections. Information concerning individual error symptoms can also be found in Section 7 , Troubleshooting.

1. Step: commissioning the axis without closed loop speed or position control

After the input of all parameters the axis should first be commissioned without control of the position or speed. For this the position control in the parameter group "Positioning" under parameter P600 "Position Control" and the Servo mode in the parameter group "Control Parameters" under parameter P300 "Servo Mode" are switched off.

NOTE: Ensure that the Emergency Stop and safety circuits are functional!

For lifting gear, prior to switching on for the first time measures must be taken to prevent the load from falling.

For lifting gear applications, when lifting loads with speed control, the parameter P107 "Brake Application Time" and P114 "Brake Release Time" should be optimised after setting the speed control.

2. Step: Commissioning the speed control

If no speed control is required or an incremental encoder is not available, this step can be skipped. Otherwise the Servo Mode is switched on. For operation in Servo Mode, the exact motor data (parameter P200 and following) and the correct encoder resolution / pulse number of the incremental encoder (parameter P301, "Incremental Encoder Pulse Number") must be parameterised.

If the motor only runs at a slow speed with a high current consumption after the Servo Mode is switched on, there is usually an error in the wiring or the parameterisation of the incremental encoder connection. The most frequent cause is an incorrect assignment of the direction of rotation of the motor to the counting direction of the encoder. The optimisation of the speed control is optimised after commissioning of the position control, as the behaviour of the position control circuit can be influenced by changes to the speed control parameters.

3. Step: Commissioning the position control

After setting parameter P604 "Encoder Type" and P605 "Absolute Encoder" it must be checked whether the actual position is correctly detected. The actual position is shown in parameter P601 "Actual Position". The value must be stable and become larger if the motor is switched on with rotation to the right enabled. If the value does not change when the axis is moved, the parameterisation and the encoder connection must be checked. The same applies if the displayed value for the actual position jumps although the axis has not moved.

After this a setpoint position in the vicinity of the actual position should be parameterised. If after being enabled, the axis moves away form the position instead of towards it, the assignment between the direction of rotation of the motor and the direction of rotation os the encoder is incorrect. The sign for the speed ratio should then be changed.

If the detection of the actual position operates correctly, the position control can be optimised. In principle, with an increase of the P amplification the axis becomes "harder", i.e. the deviation from the setpoint position becomes smaller than with smaller amplifications.

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The size of the P amplification which is set in P310 of the position control depends on the dynamic characteristics of the system as a whole. In principle: the greater the masses and the smaller the friction if the system, the greater is the tendency of the system to oscillate and the smaller is the maximum possible P amplification. To determine the critical value, the amplification is increased until the drive unit oscillates about the position (leaves the position and then approaches it again). The amplification should then be set to 0.5x to

0.7x this value.

For positioning applications with a subordinate speed control (P300 "Servo Mode"), for applications involving large masses a setting which deviates from the standard setting of the speed control is usually to be recommended. To parameterise the speed control - I - amplification in parameter P311, a value between 3% and 5% has proved effective. In parameter P310 a speed control P amplification value of between 100% and 150% can be selected.

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6 Synchronous control

6.1 General information

The implementation of synchronous positioning with the SK 2X5E is possible by coupling the devices via the system bus. The master device transmits its "Actual Position" and its "Actual Setpoint Speed After the Frequency Ramp" to the slave device(s). The slave devices use the speed as specified and compensate the remainder via the position control. The transmission time for the actual speed and position from the master to the slave devices generates an angular or positional deviation which is proportional to the speed of travel.

ΔP = n[rpm] / 60 * T

[ms] / 1000

zyklus

With 1500 rpm and a transmission time of approx. 5ms, a deviation of 0.125 rotations or 45° results. This deviation is to some extent adjusted for by an appropriate compensation by the slave. However, there is still a jitter of approx. 1ms in the cycle time, which cannot be compensated for. In the case selected, there remains an angular error of approx 9°. This only applies if a system bus connection with a baud rate of at least 100kBaud is used to couple the two drive units. For couplings with a lower baud rate, the deviation can be considerably greater.

NOTE: A coupling with low baud rates is therefore not advisable.

With a system bus coupling, operation with CANopen absolute encoders and the simultaneous coupling of several drive units is possible. For large numbers or slave inverters, it should be noted that the maximum number of inverters should not exceed 5, in order that the bus load remains below 50% and therefore a deterministic behaviour is ensured.

6.2 Communication settings

In order to set up a communication between the master and the slave via the system bus the following settings are necessary.

Master device settings:

P502[01] = 20 Setpoint frequency after the frequency ramp P502[02] = 15 Actual position in incremental High word P502[03] = 10 Actual position in incremental Low word P503 = 1 CANopen P505 = 0 0.0 Hz P514 = 5 250 kBaud (at least 100 kBaud should be set) P515[02] = P515

Slave device settings:

P510[01] = 10 Main setpoint value of CANopen - Broadcast P510[02] = 10 Subsidiary setpoint value of CANopen - Broadcast P505 = 0 0.0 Hz P514 = 5 250 kBaud (at least 100 kBaud should be set) P515[01] = P515 P546 = 4 Frequency addition P547 = 24 Setpoint position in incremental High word P548 = 23 Setpoint position in incremental Low word P600 = 1, 2 Position control ON with maximum frequency or ON with setpoint frequency P610 = 2 Synchronous operation

NOTE: The actual position of the master must always be transmitted to the slave in the setting "In

Increments" and be evaluated by the slave, as otherwise an additional transmission time error would be created.

[01] Broadcast – Master – Address

Slave

[02] Broadcast - Slave - Address

Master

Both variants are possible, as with synchronous operation the maximum positioning speed is always F

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SK 2x5E with "PosiCon Functionality"

6.3 Settings for slave ramp time and maximum frequency

In order for the slave to be able to perform the control, the ramp times should be selected somewhat smaller than for the master and the maximum frequency should be selected somewhat higher.

Slave device settings:

P102 P103 P105 P410 P411

Slave Slave Slave Slave Slave

= 0.5 ... 0.95 * P102 = 0.5 ... 0.95 * P103 = 1.05 ... 1.5 * P105 = P104 = P105

Master Master

Master Master Master

For the slave, frequency addition (instead of setpoint frequency) is set in parameter P546 "Function Bus Setpoint Value 1". Otherwise the problem would occur that the for the slave the maximum frequency could only be set slightly higher than for the master in order prevent the specification from being falsified too much. However, this removes the possibility for the slave drive to "catch up" at speeds close to the maximum frequency.

6.4 Setting the speed and position controls

The speed and position controls are set as would be the case if there was no synchronous operation. Therefore, if possible, the speed control should first be set in parameter P300 "Servo Mode", then the position control in parameter P600 "Position Control" and then the synchronisation control should be commissioned. The dynamic results are improved, the more sharply the controls can be set. From experience however, the position control functions better if the I component in the speed control is not too large. The speed control should therefore be set for a slight overshoot. This results in a P component which is as high as possible (until noises occur at low speeds), and a rather moderate I- component. The setting of the torque limits and the selected ramps must be made so that the drive can always follow the ramp.

6.5 Taking a speed ratio between master and slave into account

A speed ratio between the master and the slave can be taken into account via the parameters P607 "Speed Ratio" and P608 "Reduction Ratio". The speed ratio is entered into the values of the unused encoder. Therefore in general, for absolute encoders (P607 [02] and P608 [02]).

Slave

P105

Slave

P410

Slave

P411

Slave

There is also the possibility of changing the speed ratio between the master and the slave via an analog input of the optional IO extension module. The speed ratio can then be continuously varied between -200% and a maximum of 200% of the master speed. The analog input can be scaled via the parameters P402 and P403 (see Manual BU 0200) according to requirements. For negative values there is a change of direction of rotation. The function of the analog inputs (P400) should be set to Function 25 = Speed Ratio Gearing. It is possible to adjust the speed ratio "online", however, it should be noted that the "Position slip error" in parameter P630 "Position Slip Error" can take on considerably larger values during the adaptation than for normal synchronous operation, as acceleration or braking to the new speed must be performed.

= P607 [xx] / P608 [xx] * N

Master

= P607 [xx] / P608 [xx] * P105 = P104 = P105

Master Master

* 1.05 ... 1,5

Master

46 Subject to technical amendments BU 0210 GB

Page 47

6 Synchronous control

6.6 Achievable precision / Position monitoring

The achievable precision, i.e. the deviation of the master and slave drives depends on several factors. Here, in addition to the settings of the speed control and the position control, the path, i.e. the drive or the mechanics of the system,play a decisive role. The minimum value of the achievable precision is however determined by the type of transmission. A deviation of at least 0.1 rotations should be expected. In practice, a value of more than

0.25 motor rotations should b planned for. The deviation between the master and the slave can be monitored by the relay function "Position Reached" with the slave. The relay switches off if the set value in P625 "Output Hysteresis" is exceeded or the difference between the specified and the actual speed 2Hz + the set value in P104 "Minimum Frequency" is exceeded. The minimum frequency for the slave can be calculated with the following formula:

P104 = 0.25 ... 1,0 * (P625 [Rotation] * 4.0Hz * P611 [%]) – 2Hz

For a permissible deviation of one rotation and a position control P of 5% this results in a speed component for the position control of 20Hz. If P104 "Minimum Frequency" is set to a considerably lower value, the relay message is determined by the exceeding of the speed by the slave and not by the maximum deviation in position. This especially applies, the shorter the ramp times are set for the slave.

6.7 Significance of P630 for synchronous operation

Alternatively, the slip error monitoring P630 "Slip Error Pos" can also be enabled for the slave device. If the synchronous control is enabled, the error between the position estimated from the speed and the actual position will not be compared, but rather the difference between the setpoint position and the actual position as long as synchronous operation is enabled.

The monitoring is only valid if the device is enabled and the position control is activated. If the slave is not enabled, the position of the master may deviate from the position of the slave.

6.8 Notes on reference point runs with synchronous operation

If the slave axis is to be referenced independently from the master axis, the following must be noted: The slave receives its setpoint speed as a specification from the master. If the master is not running, the slave does not have a setpoint value for the reference point run. For a reference point run of the slave, an independent parameter set must be used, in which the speed during the reference point run is determined by Fmin (P104) and Fmax (P105) [Fmin = Fmax = Fref]. The frequency addition in P546 "Function Bus Setpoint" should be switched off. The slave must always be referenced after the master.

For synchronous systems, where the master and the slave cannot be operated separately, a different strategy must be developed for the case of a deviation. With incremental position detection the actual position cannot be used in order to detect a deviation. If there is no deviation, the entire system is referenced, i.e. the slave in synchronous operation. The reference point run should therefor be performed via the external control unit according to the following sequence (all steps with a minimum time difference of 20ms):

4. Move entire system to reference point

5. Remove enablement for the master

6. Remove enablement for the slave

7. Perform "Reset Position" for the master (P601

8. Perform "Reset Position" for the slave (P602

Master

= 0, P601

Slave

= 0, P602

jumps by P601

Slave

= 0)

Slave

-P601

alt

neu

)

BU 0210 GB Subject to technical amendments 47

Page 48

SK 2x5E with "PosiCon Functionality"

For position detection with an absolute measuring system a reference point run is not necessary. Absolute position detection should be always given preference for systems, e.g. portal lifting gear, in which no deviation may occur.

6.9 Offset switching in synchronous operation

In addition to the position setpoint, which can be transmitted from the master to the slave device via the CAN bus, a relative position offset can be applied to the slave device via the "increment array". With each 0  1 flank at the relevant input, the position setpoint value can be offset by the value set in parameter P613 "Position" [01]...[04]. The offset cannot be transmitted via a field bus using a "Process Data Word". Control can only be performed via one of the 7 digital inputs or the Bus IO In Bits.

48 Subject to technical amendments BU 0210 GB

Page 49

7 Troubleshooting

7.1 Error messages

The majority of frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the inverter reacts with a warning or an error message.

Basic information on this topic is contained in the operating instructions for the basic device, Manual SK 2X5E, BU0200.

The following table shows all the faults which are attributable to the PosiCon function. In the operating display of the optional "ControlBox" only error E013 is displayed. A finer categorisation of errors can be obtained from the information parameters P700 "Current Faults" or P701 "Last Fault 1...5".

Display in the ControlBox

E013 / E13.1 Speed slip error

E013 / E13.2 Shut-down monitoring

E013 / E14.2 Reference point error

E013 / E14.4 Abs. encoder error

Fault text in the ParameterBox

Cause

 Remedy

Speed slip error

 Slip error reached (P327), increase value.

"Safe stop" was carried out.

 Torque limit (P112) was reached, switch-off or

increase as necessary.

 Current limit (P536) was reached, switch-off or

increase as necessary.

 Check motor data (motor circuit, stator

resistance)

The reference point run was cancelled without a reference point being found.

 Check the reference point switch and the control

unit

Absolute encoder defective or connection faulty (Error message is only possible with positioning enabled)

 Check absolute encoder and wiring

 Check parameterisation in SK 2X5E

 five seconds after switching on the SK 2X5E

there is no contact with the encoder

 the encoder does not respond to an SDO

command from the SK 2X5E

 The parameters set in the SK 2X5E do not

correspond to the possibilities for the encoder (e.g. resolution in parameter P605)

 the SK 2X5E does not receive a position value

over a period of 50ms

BU 0210 GB Subject to technical amendments 49

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SK 2x5E with "PosiCon Functionality"

Display in the ControlBox

E013 / E14.5 Pos. diff. <> Speed

E013 / E14.6 Diff. between Abs. and Inc.

E013 / E14.7 Max. Pos. Exceeded

E013 / E14.8 Mon. Pos. Undershot

Fault text in the ParameterBox

Cause

 Remedy

Change of position and speed do not match

 Check the position detection and the control

setting in P630

Difference between absolute and incremental encoders

 Check the position detection and the control

setting in P631

 Position change for the absolute and incremental

encoders do not match

Maximum position exceeded

 Check the specified setpoint and the control

setting in P615

Minimum position undershot

 Check the specified setpoint and the control

setting in P616

7.2 Troubleshooting table

The following table contains the most frequent sources of faults and the associated symptoms. It is recommended that the same sequence as for commissioning is used for troubleshooting. I.e. first check if the axis runs without control and then test the speed and position controls.

7.2.1 Sources of faults in servo mode operation (without position control)

Symptom Additional te st Possible cause

Motor only runs slowly, motor vibrates

Motor rotates correctly, but vibrates at low speeds

Switch-off of overcurrent at higher speeds

Change sign in P301

Problem disappears when the servo mode is switched off

 incorrect assignment of motor direction

to the incremental encoder direction

 Incorrect incremental encoder type  Encoder cable interrupted  Encoder voltage supply missing  Incorrect pulse number parameterised  Incorrect motor parameters  Encoder track missing  Incremental encoder incorrectly

mounted

 Interference in encoder signals

Overcurrent switch-off when braking

50 Subject to technical amendments BU 0210 GB

Motor in field weakening operation

 For field weakening operation in servo

mode, the torque limit must not exceed 200%

Page 51

7 Troubleshooting

7.2.2 General causes of faults

Symptom Additional test Possible cause

Position exceeded Position control P amplification considerably too large

Speed control (servo mode) not optimally adjusted (Set I-amp. to approx. 3%/ms, P-amp. to approx. 120%)

Drive oscillates at the position

Drive moves in the wrong direction (away from the setpoint position)

Position control P amplification considerably too large

The direction of rotation of the absolute encoder does

not match the direction of rotation of the motor => parameterise an negative value for the speed ratio (P607)

Drive unit sags away after enabling is removed (lifting gear)

Setpoint delay missing (control parameter);

for servo mode = "OFF" the control must be locked immediately by the event "End Point Reached"

7.2.3 Special sources of faults for position control with incremental encoders

Symptom Additional test Possible cause

Position drifts away

No reproducible precision when approaching the position,

even at low speeds (n < 1000 1/min) only at high speeds (n > 1000 1/min)

 Interference pulse in the encoder cable

 Pulse number in combination with the encoder

cable length / Cable type too large (Pulse frequency too large)

 Loose encoder / Installation fault

7.2.4 Special sources of faults for position control with absolute encoders

Symptom Additional test Possible cause

Actual position value always runs to the same value and then no longer changes

Position not always found at the same place, axis sometimes jumps backwards and forwards.

if the position value does not match the encoder rotation or jumps

BU 0210 GB Subject to technical amendments 51

Mechanical unevenness?

Check absolute encoder (remove, set parameter speed

and reduction ratio to 1, rotate encoder manually: the displayed position must match the rotations of the encoder)

 Encoder connection faulty

 Axis stiff, axis jams etc.  Loose encoder / Installation fault

 Encoder defective

Page 52

SK 2x5E with "PosiCon Functionality"

8 Repairs

The device must be sent to the following address if it needs repairing:

Nord Electronic Drivesystems GmbH

Tjüchkampstr. 37

26605 Aurich, Germany

For queries about repairs, please contact:

Getriebebau NORD GmbH & Co. KG

Tel.: 04532 / 401-515 Fax: 04532 / 401-555

If a frequency inverter or accessories are sent in for repair, no liability can be accepted for any added components, e.g. such as line cables, potentiometer, external displays, etc.!

Please remove all non-original parts from the frequency inverter.

In order to speed up repairs, please provide a precise description of the fault. For this, a repair/service form is available on the Getriebebau NORD Internet page repair processing department (telephone number above) on request.

Please send the filled in repair/service form together with the device and the options directly to our repair department Nord Electronic Drivesystems GmbH in Aurich.

http://www.nord.com/. You can also obtain the form from our

52 Subject to technical amendments BU 0210 GB

Page 53

9 Keyword Index / Abbreviations

Keyword Index:

9 Keyword Index / Abbreviations

Absolute (rotary) encoder, single-turn

Absolute (rotary) encoder, multi-turn

Resolution For single-turn rotary encoders, the resolution indicates the number of

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

Bit / Byte A bit (binary digit) is the smallest unit of information in the binary system. A byte

Broadcast In a network, all slave participants are addressed simultaneously by the master.

CAN Bus (Controller Area Network) designates a multi-master bus system with twin

CANopen Designates a communications protocol based on CAN

Encoder Electrical or opto-mechanical device for the detection of rotary movements.

Rotary encoder, which outputs coded information for each measurement step within a rotation. The data is retained even after a power failure. The data continues to be recorded even without power.

Rotary encoder, as for absolute single-turn (rotary) encoder, however, the number of rotations are additionally recorded.

measurement steps per rotation.

For multi-turn rotary encoders the resolution indicates the number of measurement steps per rotation multiplied by the number of rotations.

"1" signals.

has 8 bits.

conductor wiring. It operation is orientated to events or messages. At present, standard CAN protocols are specified under CANopen.

These are categorised as absolute (rotary) encoders and incremental (rotary) encoders.

Precision Deviation between the actual and the measured position.

Total resolution For single-turn rotary encoders, the resolution indicates the number of

measurement steps per rotation.

For multi-turn rotary encoders the resolution indicates the number of measurement steps per rotation multiplied by the number of rotations.

Incremental (rotary) encoder Encoders which output an electrical pulse (High/Low) for each measurement

step.

Jitter Designates a slight fluctuation in precision in the transmission pulse, or the

variation in the transmission time of data packages.

Multi-turn (rotary) encoder See "Absolute (rotary) encoder, multi-turn"

Reset position Function for setting a zero point (or offset) at any position of the resolution

range of an encoder without mechanical adjustment.

Single-turn (rotary) encoder See "Absolute (rotary) encoder, single-turn"

Pulse number A number of light/dark segments are applied to a glass pulse disk. These

segments are scanned by a light beam in the encoder and therefore determine the possible resolution of a rotary encoder.

BU 0210 GB Subject to technical amendments 53

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SK 2x5E with "PosiCon Functionality"

Abbreviations used:

Abs. Absolute

DIN: Digital IN

DOUT Digital OUT

FI Frequency inverter

GND Earth

Inc Incremental

IO IN / OUT

P In Section 4: parameter which depends on a parameter set

Pos. Position

S Supervisor parameter

SW Software

54 Subject to technical amendments BU 0210 GB

Page 55

10 Additional information

10.1 Maintenance and servicing information

In normal use, NORDAC SK 200E frequency inverters are maintenance free. Please note the "general data" in Section 7.1.

If the frequency converter is being used in a dusty environment, then the cooling-vane surfaces should be regularly cleaned with compressed air. If air intake filters have been built into the control cabinet, then these should also be regularly cleaned or replaced.

If you contact our technical support, please have the precise device type (rating plate/display), accessories and/or options, the software version used (P707) and the serial number (rating plate) at hand.

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 / 401-515 Fax: 04532 / 401-555

If a frequency inverter is sent in for repair, no liability 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.

NOTE

If possible, the reason for returning the component/device should be stated. If necessary, at least one contact for 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.

BU 0210 GB Subject to technical amendments 55

Page 56

SK 2x5E with "PosiCon Functionality"

Internet information

You can also find the comprehensive manuals in German and in English on our Internet site.

www.nord.com

56 Subject to technical amendments BU 0210 GB

Page 57

11 Index

Fehler! Verweisquelle konnte nicht gefunden werden.Index

Absolute rotary encoders

Absolute encoders ..... 12, 16, 38

Baud rate ........................ 12, 17, 35

CANopen .............................. 16, 38

CE ................................................ 9

Commissioning ........................... 44

Connection ........................... 10, 12

Detection of actual position

Position detection ............. 13, 16

Digital inputs ............................... 32

EMC Directive .............................. 9

Encoder monitoring .................... 20

Error message ...................... 19, 50

Fault ..................................... 19, 50

FI circuit breaker .......................... 7

I- amplification ............................ 45

IEC 61800-3 ................................. 8

Installation information.................. 7

Internet ....................................... 57

Low voltage directive .................... 2

Master .................................. 17, 46

Master function ........................... 35

Offset .............................. 14, 40, 49

Optimised path ..................... 21, 38

Overflow point ................ 19, 21, 41

P amplification ...................... 40, 44

Parameter settings ..................... 31

Position Array ....................... 23, 32

Position control ............... 28, 38, 48

Position monitoring ......... 20, 41, 48

Positioning .................................. 21

Pulse number ................. 10, 31, 44

Queries ....................................... 56

Ramp .................................... 27, 38

Ramp time .................................. 47

Reduction ratio ........................... 13

Reference point .............. 15, 29, 32

Reference point run ......... 14, 32, 48

Relay/Output messages ............. 30

Repairs ....................................... 53

Reset .................................... 17, 32

Resolution ............................. 13, 39

RoHS compliant ............................ 9

Rotary incremental encoders

Incremental encoders . 10, 13, 31

Safety information ......................... 2

Servo .............................. 13, 31, 44

Slave ..................................... 46, 47

Slip error ......................... 20, 42, 48

Speed ratio ..................... 13, 16, 39

Sync ............................................ 23

Synchronous control ................... 46

System bus ................................. 35

Teach-in ................................ 25, 32

BU 0210 GB Subject to technical amendments 57

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SK 2x5E with "PosiCon Functionality"

12 Agencies / Branches

N O R D Subsidiaries Worldwide:

Brazil

NORD Motoredutores do Brasil Ltda.

Rua Dr. Moacyr Antonio de Morais, 700 Parque Santo Agostinho Guarulhos – São Paulo CEP 07140-285

Tel.: +55-11-6402 88 55 Fax: +55-11-6402 88 30

info@nord-br.com

Mexico

NORD DRIVE SYSTEMS SA DE CV Mexico Regional Office Av. Lázaro Cárdenas 1007 Pte. San Pedro Garza Garcia, N.L. México, C.P. 66266

Tel.: +52-81-8220 91 65 Fax: +52-81-8220 90 44

HGonzalez@nord-mx.com

P.R. China

NORD (Beijing) Power Transmission Co. Ltd. No. 5, Tangjiacun, Guangqudonglu, Chaoyangqu CN - Beijing 100022

Tel.: +86-10-67 70 43 05 Fax: +86-10-67 70 43 30

nordac@nord-cn.com

Canada

NORD Gear Limited 41 West Drive Brampton, Ontario L6T 4A1

Tel.: +1-905-796 36 06 Tel.: +1-800-668 43 78 Fax: +1-905-796 81 30

info@nord-ca.com

India

NORD Drivesystems Pvt. Ltd.

282/ 2, 283/2, Plot No. 15 Mauje, Village Mann Tal Mulshi, Adj. Hinjewadi Phase- II Pune Maharashtra - 411 057

Tel.: +91-20-398 012 00 Fax: +91-20-398 012 16

info@nord-in.com

Australia

NORD Drivesystems 18 Stoney Way 3030 Derrimut Vic

Phone: +61 (0) 488 588 200

mark.alexander@nord.com

Indonesia

PT NORD Indonesia Jln. Raya Serpong KM7, Kompleks Rumah Multi Guna Blok D-No. 1 Pakulonan, Serpong 15310 - Tangerang West Java

Tel.: +62-21-53 12 22 22 Fax: +62-21-53 12 22 88

info@nord-id.com

P.R. China

NORD (Suzhou) Power Transmission Co.Ltd. No. 510 Changyang Street, Suzhou Ind. Park CN - Jiangsu 215021

Tel.: +86-512-85 18 02 77 Fax: +86-512-85 18 02 78

Kweng@nord-cn.com

Singapore

NORD Gear Pte. Ltd. 33 Kian Teck Drive SGP – Jurong, Singapore 628850

Tel.: +65-6265-91 18 Fax: +65-6265-68 41

info@nord-sg.com

United States / USA

NORD Gear Corporation 800 Nord Drive, P.O. Box 367 USA - Waunakee, WI 53597

Tel.: +1-888-314-66 67 Tel.: +1-608-849 73 00 Fax: +1-608-849 73 67 Fax: +1-800-373-NORD (6673)

info@nord-us.com

Vietnam

NORD Gear Pte. Ltd Representative office Unit 401, 4F, An Dinh Building, 18 Nam Quoc Cang Street Pham Ngu Lao Ward District 1, Ho Chi Minh City, Vietnam

Tel.: +84-8 925 7270 Fax: +84-8 925 7271

info@vn.nord.com

58 Subject to technical amendments BU 0210 GB

Page 59

12 Agencies / Branches

N O R D Branches in Europe:

Austria

Getriebebau NORD GmbH Deggendorfstr. 8 A - 4030 Linz

Tel.: +43-732-318 920 Fax: +43-732-318 920 85

info@nord-at.com

Czech. Republic

NORD Pohánèci Technika s.r.o Palackého 359 CZ - 50003 Hradec Králové

Tel.: +420-495 5803 -10 (-11) Fax: +420-495 5803 -12

hzubr@nord-cz.com

France

NORD Réducteurs sarl. 17 Avenue Georges Clémenceau FR - 93421 Villepinte Cedex

Tel.: +33-1-49 63 01 89 Fax: +33-1-49 63 08 11

info@nord-fr.com

Belgium

NORD Aandrijvingen Belgie N.V. Boutersem Dreef 24 B - 2240 Zandhoven

Tel.: +32-3-4845 921 Fax: +32-3-4845 924

info@nord-be.com

Denmark

NORD Gear Danmark A/S Kliplev Erhvervspark 28 – Kliplev DK - 6200 Aabenraa

Tel.: +45 73 68 78 00 Fax: +45 73 68 78 10

info@nord-dk.com

Great Britain

NORD Gear Limited 11, Barton Lane Abingdon Science Park GB - Abingdon, Oxfordshire OX 14 3NB

Tel.: +44-1235-5344 04 Fax: +44-1235-5344 14

info@nord-uk.com

Croatia

NORD Pogoni d.o.o. Obrtnicka 9 HR - 48260 Krizevci

Tel.: +385-48 711 900 Fax: +385-48 270 494

info@nord-hr.com

Finland

NORD Gear Oy Aunankorvenkatu 7 FIN - 33840 Tampere

Tel.: +358-3-254 1800 Fax: +358-3-254 1820

info@nord-fi.com

Hungary

NORD Hajtastechnika Kft. Törökkö u. 5-7 H - 1037 Budapest

Tel.: +36-1-437-0127 Fax: +36-1-250-5549

info@nord-hu.com

Italy

NORD Motoriduttori s.r.l. Via Newton 22 IT - 40017 San Giovanni in Persiceto (BO)

Tel.: +39-051-6870 711 Fax: +39-051-6870 793

info@nord-it.com

Poland

NORD Napedy Sp. z.o.o. Ul. Grottgera 30 PL - 32-020 Wieliczka

Tel.: +48-12-288 99 00 Fax: +48-12-288 99 11

biuro@nord-pl.com

Slowakia

NORD Pohony, s.r.o Stromová 13 SK - 83101 Bratislava

Tel.: +421-2-54791317 Fax: +421-2-54791402

info@nord-sk.com

Switzerland

Getriebebau NORD AG Bächigenstr. 18 CH - 9212 Arnegg

Tel.: +41-71-388 99 11 Fax: +41-71-388 99 15

info@nord-ch.com

Netherlands

NORD Aandrijvingen Nederland B.V. Voltstraat 12 NL - 2181 HA Hillegom

Tel.: +31-2525-29544 Fax: +31-2525-22222

info@nord-nl.com

Portugal

NORD Drivesystems PTP, Lda. Zona Industial de Oiã, Lote n° 8 PT - 3770-059 Oiã Aveiro

Phone: +351 234 727 090 Telefax: +351 234 727 099

info@pt.nord.com

Spain

NORD Motorreductores Ctra. de Sabadell a Prats de Llucanès Aptdo. de Correos 166 ES - 08200 Sabadell

Tel.: +34-93-7235322 Fax: +34-93-7233147

info@nord-es.com

Turkey

NORD Drivesystems Güç Aktarma Sistemleri San. Tic. Ltd. Þti.

Tuzla Mermerciler San. Bölg.

1.Sok. No:6 TR - 34959 Tuzla – ÝST

Tel.: +90-216-593 32 45 Fax: +90-216-593 33 68

info@nord-tr.com

Norway

Nord Gear Norge A/S Solgaard Skog 7, PB 85 NO - 1501 Moss

Tel.: +47-69-206 990 Fax: +47-69-206 993

info@nord-no.com

Russian Federation

OOO NORD PRIVODY Ul. A. Nevsky 9 RU - 191167 St.Petersburg

Tel.: +7-812-327 0192 Fax: +7-812-327 0192

info@nord-ru.com

Sweden

NORD Drivsystem AB Ryttargatan 277Box 2097 SE - 19402 Upplands Väsby

Tel.: +46-8-594 114 00 Fax: +46-8-594 114 14

info@nord-se.com

Ukraine

GETRIEBEBAU NORD GmbH Repräsentanz Vasilkovskaja, 1 office 306 03040 KIEW

Tel.: +380-44-537 0615 Fax: +380-44-537 0615

vtsoka@nord-ukr.com

BU 0210 GB Subject to technical amendments 59

Page 60

NORD offices in Germany

Getriebebau NORD GmbH & Co. KG

Rudolf-Diesel-Str. 1  22941 Bargteheide Telefon 04532 / 401 - 0

Telefax 04532 / 401 - 253

info@nord-de.com www.nord.com

North Branch South Branch

Getriebebau NORD GmbH & Co. KG

Rudolf-Diesel-Str. 1

Telefon 04532 / 401 – 0 Telefax 04532 / 401 - 253

NL-Nord@nord-de.com

Sales office Bremen

Getriebebau NORD GmbH & Co. KG

Stührener Weg 27

Tel.: 04249 / 9616 – 0 Fax 04249 / 9616 - 76

NL-Nord@nord-de.com

Representatives:

Hans-Hermann Wohlers

Handelsgesellschaft mbH

Ellerbuscher Str. 179

Tel.: +49 5732 / 40 72 Fax +49 5732 / 123 18

NL-Nord@nord-de.com

 22941 Bargteheide

 27211 Bassum

 32584 Löhne

Getriebebau NORD GmbH & Co. KG

Katharinenstr. 2-6  70794 Filderstadt-Sielmingen

Tel.: +49 7158 / 95608 – 0 Fax +49 7158 / 95608 - 20

NL-Stuttgart@nord-de.com

Sales Office Nuremberg

Getriebebau NORD GmbH & Co. KG

Schillerstr. 3  90547 Stein

Tel.: +49 911 / 68 93 11 Fax +49 911 / 67 24 71

NL-Nuernberg@nord-de.com

Sales Office Munich

Getriebebau NORD GmbH & Co. KG

Untere Bahnhofstr. 29a

Tel.: +49 89 / 840 794 - 0 Fax +49 89 / 840 794 - 20

NL-Muenchen@nord-de.com

 82110 Germering

West Branch East Branch

Getriebebau NORD GmbH & Co. KG

Großenbaumer Weg 10

Tel.: +49 211 / 99 555 – 0 Fax +49 211 / 99 555 -45

NL-Duesseldorf@nord-de.com

Sales Office Butzbach

Getriebebau NORD GmbH & Co. KG

Marie-Curie-Str. 2

Tel.: +49 6033 / 9623 – 0 Fax +49 6033 / 9623 - 30

NL-Frankfurt@nord-de.com

 40472 Düsseldorf

 35510 Butzbach

Getriebebau NORD GmbH & Co. KG

Leipzigerstr. 58

Tel.: +49 371 / 33 407 – 0 Fax +49 371 / 33 407 - 20

NL-Chemnitz@nord-de.com

Sales Office Berlin

Getriebebau NORD GmbH & Co. KG

Heinrich-Mann-Str. 8

Tel.: +49 371 / 639 79,413 – 0 Fax +49 371 / 639 79 - 414

NL-Chemnitz@nord-de.com

 09113 Chemnitz

 15566 Schöneiche

Part. No. 607 2102 / 2509