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
Page 3
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~ 220-240VSK 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
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
Page 4
SK 2x5E with "PosiCon Functionality"
1 GENERAL INFORMATION ...................................................................................................... 6
1.1 Safety and installation Information ...................................................................... 7
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
Page 7
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
Page 8
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
Page 9
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
Page 10
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 encodersAssignment 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
:
Page 11
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
Page 12
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
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
Page 13
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
Page 14
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
Page 15
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".
BU 0210 GB Subject to technical amendments 15
Page 16
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
Page 17
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".
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
Page 18
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
Page 19
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
3
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.
3
Error messages are only possible of the positioning is enabled
BU 0210 GB Subject to technical amendments 19
Page 20
SK 2x5E with "PosiCon Functionality"
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.
20 Subject to technical amendments BU 0210 GB
Page 21
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
4
of the relevant rotary encoder (See b).
0.5 / -0.5
0.375-0.375
0. 25
0.125
-0.125
0
-0.25
0.375-0.375
0. 25
0.125
0.5 / -0.5
-0.25
-0. 125
0
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:
n
= 0.5 * Üb / Un Üb: Speed Ratio (P607[02])
n
max
: Maximum value of motor rotation
max
: Reduction Ratio (P608[02])
U
n
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.
n
=0.5 * 263 / 10= 13.15 rev.
max
4
The overflow point corresponds to 1/2 of a rotation of the encoder
BU 0210 GB Subject to technical amendments 21
Page 22
SK 2x5E with "PosiCon Functionality"
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
5
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
0
-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
0
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:
n
= 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
The overflow point corresponds to 1/2 of a rotation of the encoder
22 Subject to technical amendments BU 0210 GB
Page 23
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
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
BU 0210 GB Subject to technical amendments 23
Page 24
SK 2x5E with "PosiCon Functionality"
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
.
24 Subject to technical amendments BU 0210 GB
Page 25
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".
BU 0210 GB Subject to technical amendments 25
Page 26
SK 2x5E with "PosiCon Functionality"
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.
cm
5,50
3,26
10065,158
1003,26
15865
2630
cm
6
rotation
26 Subject to technical amendments BU 0210 GB
Page 27
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.
BU 0210 GB Subject to technical amendments 27
Page 28
SK 2x5E with "PosiCon Functionality"
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"
28 Subject to technical amendments BU 0210 GB
Page 29
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])
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 on if |(|p
NOTE:The digital output functions are also available if the position control is switched off (P600
"Position Control" = 0).
vergl
ist
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
]
BU 0210 GB Subject to technical amendments 29
Page 30
SK 2x5E with "PosiCon Functionality"
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".
30 Subject to technical amendments BU 0210 GB
Page 31
4 Parameter settings
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
P
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.
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 3.2.1.1 High
See Section 3.4 High
See Section 3.4 High
See Section 3.3 High
See Section 3.3 High
See Section 3.3 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.
32 Subject to technical amendments BU 0210 GB
Page 33
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.
P
Digital Output ...
for limit value or
function
(see also P435)
Closes
Closes
Closes
Closes
Closes
Closes
Closes
BU 0210 GB Subject to technical amendments 33
Page 34
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
34 Subject to technical amendments BU 0210 GB
Page 35
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)
BU 0210 GB Subject to technical amendments 35
Page 36
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.
S
36 Subject to technical amendments BU 0210 GB
Page 37
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
S
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
S
(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 .
BU 0210 GB Subject to technical amendments 37
Page 38
SK 2x5E with "PosiCon Functionality"
R
Parameters
[factory setting]
Setting value / Description / Note Device Supervisor
Parameter
set
P605 [-01]
…
[-02]
0 ... 16
[ 10 ]
Absolute encoder
S
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
Here, the offset position for absolute and incremental encoders can be
specified separately for both types of encoder.
P610Setpoint 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.
P611P 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.
S
6
7
S
P612Pos. window
S
6
Any setpoint present from the bus (if 509, 546[01]…[02] are programmed accordingly) will be added!
7
Any programmed position increment via the digital inputs or bus IO In bits will be added!
BU 0210 GB Subject to technical amendments 39
Page 40
SK 2x5E with "PosiCon Functionality"
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.
P615Maximum 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".
S
S
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.
P616Minimum 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".
P625Output 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
S
S
40 Subject to technical amendments BU 0210 GB
Page 41
Parameters
[factory setting]
4 Parameter settings
Setting value / Description / Note Device Supervisor
Parameter
set
P626Comparative 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
P630Position 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.
P631Abs/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.
S
S
S
With a setting of "0" the slip error monitoring is disabled.
P640Unit 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)
S
NOTE:
For further information please refer to Section 3.5
BU 0210 GB Subject to technical amendments 41
Page 42
SK 2x5E with "PosiCon Functionality"
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:
00
01
02
03
hex
hex
hex
hex
No extension
Encoder
Posicon
---
P748 System bus status
0000 ... FFFF (hex)
or
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
CANopen NMT State
00
01
02
03
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
42 Subject to technical amendments BU 0210 GB
Page 43
5 Commissioning
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 andsafety 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.
BU 0210 GB Subject to technical amendments 43
Page 44
SK 2x5E with "PosiCon Functionality"
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.
44 Subject to technical amendments BU 0210 GB
Page 45
6 Synchronous control
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
8
8
Both variants are possible, as with synchronous operation the maximum positioning speed is always F
BU 0210 GB Subject to technical amendments 45
.
max
Page 46
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.
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]).
N
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:
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 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
Page 50
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
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)
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
Page 54
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 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
A
Absolute rotary encoders
Absolute encoders ..... 12, 16, 38
B
Baud rate ........................ 12, 17, 35
C
CANopen .............................. 16, 38
CE ................................................ 9
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