NORD BU0210 User Manual
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
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!
2 Subject to technical amendments BU 0210 GB
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
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
4 Subject to technical amendments BU 0210 GB
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
BU 0210 GB Subject to technical amendments 5
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/
6 Subject to technical amendments BU 0210 GB
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 100H 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
2
..
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.
!
BU 0210 GB Subject to technical amendments 7
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.
8 Subject to technical amendments BU 0210 GB
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
BU 0210 GB Subject to technical amendments 9
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
10 Subject to technical amendments BU 0210 GB
:
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).
BU 0210 GB Subject to technical amendments 11
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
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-)
12 Subject to technical amendments BU 0210 GB
3 Function description
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".
n
n
= nG * Üb / Un nG:: Incremental encoder rotations
M
Ü
: Motor rotations
M
: Speed ratio (P607[01])
b
U
: Reduction ratio (P608[01])
n
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".
BU 0210 GB Subject to technical amendments 13
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.
14 Subject to technical amendments BU 0210 GB
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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SK 2x5E with "PosiCon Functionality"
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".
n
n
= nG * Üb / Un nG:: Absolute encoder rotations
M
Ü
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
M
: Speed Ratio (P607[02])
b
U
: Reduction Ratio (P608[02])
n
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.
16 Subject to technical amendments BU 0210 GB
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
1
"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
1
Alternatively, the baud rate and the address can also be set with DIP switches (See BU 0200)
2
Only for testing purposes. Reliable operation is not guaranteed.
BU 0210 GB Subject to technical amendments 17
SK 2x5E with "PosiCon Functionality"
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
18 Subject to technical amendments BU 0210 GB
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