NORD BU0260 User Manual

Download

Intelligent Drivesystems, Worldwide Services

SUPPLEMENTARY MANUAL BU 0260 GB

CAN OPEN FOR

FREQUENCY INVERTER NORDAC SK 200E

Illustration of devices with options

Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Straße 1

D-22941 Bargteheide, Germany Tel.: +49 45 32 - 40 10

Fax: +49 45 32 - 40 12 53

BU 0260 GB

Supplementary Manual CANopen for NORDAC SK 200E

2 BU 0260 GB

Supplementary Manual CANopen for NORDAC SK 200E Safety information

NORDAC 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 89/392/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 (89/336/EEC) is complied with.

The drive power converters meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised standards in prEN 50178/DIN VDE 0160, in association with EN 60439-1/VDE 0660 Part 500 and EN 60146/VDE 0558 were used for the drive power converter.

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

3. Transport, storage

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

(as per: Low Voltage Directive 73/23/EEC )

4. Installation

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

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. 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. Modifications to the drive power converter using the operating software are permitted.

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.

All covers must be kept closed during operation.

7. Maintenance and repairs

The manufacturer documentation must be complied with.

These safety instructions must be kept in a safe place!

BU 0260 GB 3

Supplementary Manual CANopen for NORDAC SK 200E About this document

Documentation

Designation: BU 0260 GB Part No.: 607 26 01 Device series: CANopen for SK 200E Device types: SK CU4-CAO SK TU4-CAO(-C) with SK TI4-TU BUS SK TU4-CAO-M12(-C) with SK TI4-TU BUS

Version list

Designation of previous issues

BU 0260 GB, September 2009

Part. No. 607 2601 / 3809

Publisher

Software version

V 2.0 R3 First issue

Comments

Getriebebau NORD GmbH & Co. KG

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

NOTE

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

4 BU 0260 GB

Supplementary Manual CANopen for NORDAC SK 200E About this document

Intended use of the frequency inverter

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 device.

The field bus technology options described here are intended for use in combination with SK 200 E series frequency inverters. Use with other series is only possible with the SK TU4CAO(-C) and SK TU4-CAO-M12(-C) technology modules for the SK 500E. The use of these technology options with other devices is not permitted and can lead to their destruction.

The field bus technology options and the associated 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 (implementation of the intended use) is not permitted until it has been ensured that the machine complies with the EMC directive 89/336/EEC and that the conformity of the end product meets the machine directive 89/392/EEC (note EN 60204).

 Getriebebau NORD GmbH & Co. KG, 2009

BU 0260 GB 5

Supplementary Manual CANopen for NORDAC SK 200E

1 GENERAL INFORMATION ...................................................................................................... 9

1.1 Overview ............................................................................................................ 10

1.2 Delivery .............................................................................................................. 10

1.3 Scope of supply ................................................................................................. 11

1.4 Certifications ...................................................................................................... 11

1.4.1 European EMC Directive ........................................................................................ 11

1.4.2 RoHS compliance ................................................................................................... 11

1.5 Type code / Optional BUS modules .................................................................. 12

1.6 Version with protection class IP55 / IP66 .......................................................... 13

2 ASSEMBLY AND INSTALLATION ....................................................................................... 14

2.1 Installation and assembly .................................................................................. 14

2.1.1 Overview of the CANopen modules ........................................................................ 16

2.1.2 Installing the Customer Unit SK CU4-CAO ............................................................. 17

2.1.3 Installing the SK TU4-CAO Technology Unit .......................................................... 18

2.2 Electrical connection .......................................................................................... 20

2.2.1 Cable glands ........................................................................................................... 20

2.2.2 Control connections ................................................................................................ 21

2.2.3 Configuration .......................................................................................................... 27

3 DISPLAYS AND DIAGNOSIS ................................................................................................ 29

3.1 LED displays ...................................................................................................... 29

3.1.1 Device-specific display versions ............................................................................. 29

3.1.2 Signal status LEDs ................................................................................................. 31

3.2 RJ12 Diagnostic socket ..................................................................................... 34

4 COMMISSIONING .................................................................................................................. 36

4.1 Quick commissioning ......................................................................................... 36

4.2 EDS file .............................................................................................................. 38

4.3 Hardware configuration of the CANopen bus modules ..................................... 38

4.4 Gateway function ............................................................................................... 39

4.5 Communication .................................................................................................. 39

4.5.1 Network Management (NMT).................................................................................. 39

4.5.2 PDO communication ............................................................................................... 39

4.5.3 PDO communication in drive profile DS 402 ("Velocity Mode") .............................. 44

4.5.4 SDO communication ............................................................................................... 45

4.6 Timeout monitoring ............................................................................................ 47

4.7 Saving the parameters ...................................................................................... 47

4.8 Special features of CANopen communication ................................................... 47

4.9 Object dictionary ................................................................................................ 48

4.9.1 Predefined Connection Set ..................................................................................... 49

4.9.2 CANopen profile DS301 ......................................................................................... 50

4.9.3 CANopen objects DSP402 – drive profile ............................................................... 53

4.9.4 Frequency inverter objects (2000

4.9.5 Error codes – cancellation of parameter communication ........................................ 56

4.9.6 Error messages (EMCY message) ......................................................................... 56

hex

- 3005

) ...................................................... 55

hex

5 PARAMETERISATION .......................................................................................................... 58

5.1 Parameterising the SK 200E frequency inverter ............................................... 58

5.1.1 Basic parameters (P100) ........................................................................................ 58

5.1.2 Control terminal parameters (P400) ........................................................................ 59

5.1.3 Supplementary parameter (P500) ........................................................................... 61

5.1.4 Information parameters (P700) ............................................................................... 65

5.2 Parameterisation of the bus module (SK CU4-… or SK TU4-…) ...................... 67

5.2.1 BUS module standard parameters (P150) .............................................................. 67

5.2.2 CANopen parameter (P160) ................................................................................... 68

5.2.3 BUS module information parameters, general (P170) ............................................ 72

5.2.4 Module information parameters specific to the bus (P180) ..................................... 75

6 BU 0260 GB

Table of Contents

6 ERROR MONITORING AND ERROR MESSAGES ............................................................... 76

6.1 Error monitoring .................................................................................................. 76

6.1.1 Error monitoring details ........................................................................................... 76

6.1.2 EMCY message ..................................................................................................... 78

6.2 Error messages .................................................................................................. 79

6.2.1 Table of possible error messages (caused by the bus) in the frequency inverter ... 79

6.2.2 Table of possible error messages in the bus module .............................................. 80

7 CANOPEN DATA TRANSFER ............................................................................................... 81

7.1 Protocol .............................................................................................................. 81

7.2 Structure of reference data in USS standard ..................................................... 81

7.2.1 Process data (PZD) in USS standard ..................................................................... 83

7.2.2 The status machine ................................................................................................. 87

7.3 Structure of reference data in the standard drive profile (DS402) ..................... 89

7.4 Examples ............................................................................................................ 89

7.4.1 Configuration examples .......................................................................................... 89

7.4.2 Example telegrams ................................................................................................. 93

8 ADDITIONAL INFORMATION ................................................................................................ 98

8.1 Bus configuration ................................................................................................ 98

8.1.1 Laying of the CAN/CANopen bus cables ................................................................ 98

8.1.2 Cable material ......................................................................................................... 98

8.1.3 Cable layout and shielding (EMC measures) .......................................................... 99

8.1.4 CiA (CAN in Automation) recommendations ........................................................... 99

8.2 Cable glands and shielding connections .......................................................... 100

8.2.1 Fixed connection (cable gland) ............................................................................. 100

8.2.2 Connection with M12 round plug connectors ........................................................ 101

8.2.3 Round plug connector ........................................................................................... 101

8.3 CANopen technology and protocol .................................................................. 105

8.3.1 Overview /Protocol architecture ............................................................................ 105

8.3.2 Overview /Communication possibilities ................................................................. 106

8.4 System bus ....................................................................................................... 107

8.5 Repairs ............................................................................................................. 108

9 INDEX .................................................................................................................................... 109

10 KEYWORD INDEX .............................................................................................................. 112

11 REPRESENTATIVES / BRANCHES .................................................................................. 114

BU 0260 GB 7

Supplementary Manual CANopen for NORDAC SK 200E

8 BU 0260 GB

1 General information

Various technology options are available for Getriebebau Nord frequency inverters. General information regarding these can be found in the relevant main manual of the frequency inverter series (e.g. Manual BU0200 for the SK 200E frequency inverter series). Further information concerning special technology options (e.g. the field bus module) is included in the relevant supplementary operating instructions.

This CANopen documentation contains supplementary descriptions concerning the CANopen options for the SK 200E frequency inverter series.

The description of other optional modules (e.g. PROFIBUS DP) is dealt with in other supplementary documentation.

In order to set up communication with CANopen, either an internal Customer Unit or an external CANopen Technology Unit (according to the particular application) must be installed and connected.

The CAN bus system

The CAN bus (Controller Area Network), developed by Bosch enables the implementation of powerful automation systems with distributed intelligence. The widespread use of the CAN bus protocol is mainly due to the availability of very economical protocol modules.

CAN Bus is based on a linear topology. Branch-like topologies are possible by using repeaters. In addition to the use of twin conductor cables, there are also solutions based on optic fibres. The collision recognition and resolution, as well as error recognition, integrated in the CAN bus protocol, enables high bus utilisation and data security.

Bus access rights are not issued by a higher-level control unit. Instead, each subscriber can start transmitting a message as soon as the bus is free (multi-master capability). With simultaneous access by several participants, access is granted to the subscriber with the highest priority. The priority is assigned according to the identifier of the messenger in the CAN bus.

CANopen

CANopen is an open communications profile for various industrial automation systems. It is based on the CAN bus system and describes the layers 1 (physical layer) and 2 (data transfer) of the OSI reference model (ISO 11898). CANopen was specified by the international CAN-in-Automation (CiA) organisation and defines the communication mechanisms (process data, parameterisation, monitoring etc.) via the CANopen bus.

CANopen can be used for data exchange between devices from different manufacturers. As well as the communication profile, CANopen defines device profiles for the most important types of

device used in industrial automation technology, e.g. digital and analog I/Os, drives, etc. Getriebebau Nord GmbH supports the CiA CANopen specification DS-301 and DS-402.

BU 0260 GB Subject to technical amendments 9

Supplementary Manual CANopen for NORDAC SK 20E

1.1 Overview

Features of the CANopen Modules

 Electrically isolated bus interface  Data transfer rate from 10kbit/sec to 1 Mbit/sec  Easy connection, optionally via M12 round plugs or screw terminals  Integrated bus terminating resistor (switchable)  CAN bus-specific status indication with 2 LEDs on the internal (Customer Unit) and external

(Technology Unit) technology option

 DEVICE or FI-specific status indication with 2 LEDs on the internal (Customer Unit) and external

(Technology Unit) technology option

 CAN interface as per specifications 2.0A and 2.0B  Up to four 24V inputs and two 24V outputs are integrated into the bus module  Direct connection of up to 4 sensors and 2 activators via M12 round plug connectors on the SK TU4-

CAO-M12(-C) version. Visualisation of signal status via LEDs

 Transmission and selection of process and parameter data  CAN Bus gateway solution → up to 4 frequency inverters can be connected to a CANopen bus

module. Each FI is allocated its own SDO channel

 Up to 63 nodes (e.g. CANopen bus modules) on a single bus. With this, up to 252 frequency inverters

can be operated on a single bus by means of gateway.

 Support of 11 bit and 29 bit identifiers by the technology modules  Supports DS-301 communications profile and DS-402 drive profile for “Velocity Mode” (with

Technology Units)

 Programming of all frequency inverter parameters using SDO  Dynamic PDO mapping (5 TxPDOs and 5 RxPDOs) for great reduction in the number of parameters  Heartbeat and node-guarding monitoring functionality  Interface (RS232/RS485) for parameter access by means of the SK PAR-3H manual control unit or

NORDCON software via RJ12 connector (Except for SK CU4-CAO. Here parameter access via the SK 200E frequency inverter is possible)

 Integrated EEPROM with extensive bus-specific parameter database with parameter editing facilities via:

- ParameterBox and Nordcon: direct access / direct saving

- CANopen Bus Saving via - Index 0x1010 sub0 Store Parameters,

- Index 0x1011 sub0 Restore default Parameters

 Available as versions for installation in the inverter (IP20) or in a separate housing (optionally IP55 / IP66)

1.2 Delivery

Check the equipment immediately after delivery/unpacking for transport damage such as deformation or loose parts.

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

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

10 Subject to technical amendments BU 0260 GB

1 General information

1.3 Scope of supply

Standard version: SK CU4-CAO IP20 or SK TU4-CAO(-M12)(-C) Operating instructions as PDF file on CD ROM

including NORD CON, (Windows PC-based parameterisation software)

Available accessories SK TIE4-WMK-TU, wall-mounting kit TU4 M12 round plug connector (Section 8.2 "Cable glands and shielding connections") Matching RJ12 to SUB-D9 adapter cable to connection to a PC ParameterBox: SK PAR-3H, plain text LCD display

: SK TI4-TU-BUS(-C) (bus connection unit, required for SK TU4…)

IP55 (optionally IP66)

1.4 Certifications

1.4.1 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 8.1.3 , "Cable layout and shielding (EMC measures)")

1.4.2 RoHS compliance

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

BU 0260 GB Subject to technical amendments 11

Supplementary Manual CANopen for NORDAC SK 20E

1.5 Type code / Optional BUS modules

BUS = Bus module or I/O extension

SK TU4-CAO (-C-M12-WMK-TU)

Wall-mounting kit: for external technology units TU4 M12 system connectors: only TU4, alternative to terminals IP protection class: Standard = IP55, C = “coated” IP66 Option type: CAO = CANopen, PBR = Profibus,

DEV = DeviceNet, IOE = I/O-extension Option series: TU4 = external Technology Unit CU4 = internal customer unit

(...) Options, only implemented if required

Optional external

technology unit, SK TU4-...

Optional internal

customer unit, SK CU4-…

12 Subject to technical amendments BU 0260 GB

1 General information

1.6 Version with protection class IP55 / IP66

NORDAC SK 200E frequency inverters and the external additional modules are available in all sizes

and powers in the protection classes IP55 (standard) or IP66 (optional). The protection class IP66 must There are no restrictions or differences to the scope of functions in either protection class. In order to

differentiate the protection classes, modules with protection class IP66 are given an extra “-C” (coated coated PCBs) in their type designation.

IP55 version

The IP55 version of the external technology units is the standard version. Both versions (inverter-mounted – as a supplement to the frequency inverter or wall mounted on the wall bracket) are available.

IP66 version

In contrast to the IP55 version the IP66 version is a modified option. With this design, both versions (inverter-mounted or wall-mounted) are also available. The modules available for the IP66 version (adapter units, technology units and customer units) have the same functionalities as the corresponding modules for the IP55 version.

NOTE

always be stated when ordering!

e.g. SK TU4-CAO-C

The modules for the IP66 design are identified by an additional "-C" and are modified according to the following special measures!

Special measures:

Impregnated PCBs, painted housing Diaphragm valve for pressure compensation on temperature changes. Low pressure test

 A free M12 screw connection is required for low pressure testing. After successful testing, a

diaphragm valve is inserted here. This screw connections is therefore no longer available for a cable gland.

NOTE

For all versions, care must be taken that the cable and the cable gland are carefully matched. This is essential to ensure that the required protection class is maintained.

BU 0260 GB Subject to technical amendments 13

Supplementary Manual CANopen for NORDAC SK 20E

2 Assembly and installation

2.1 Installation and assembly

Internal and external technology modules designed for NORDAC SK 200E series are available for CANopen. Except for the number of digital inputs and outputs, the functionalities of the various CANopen modules are identical.

These are used to connect SK 200E series speed regulated drive units to overriding automation systems via the CANopen field bus. Both the SK 200E frequency inverters and the external technology units are available in the protection classes IP55 (standard) and IP66 (optional). The type designation for the IP 66 protection class of the SK 200E and its modules is given an additional code "-C" (coated → coated board) to differentiate the IP55 and IP66 protection classes.

SK TI4-… with integrated technology unit SK CU4-…

SK 200E with external technology unit SK TU4-… and BUS connection module SK TI4-TU-BUS

SK TIE4-WMK-TU with BUS connection module SK TI4-TU-BUS and external technology unit SK TU4-… or SK TU4-…-M12

The internal

technology modules (Customer Unit, SK CU4-...) – designated as the customer unit – are integrated into the connection unit of the SK 200E. The electrical connection to the SK 200E is made via the internal system bus. The connection to external peripheral devices is made via screw terminals. The use of the optionally available 4 or 5 pin M12 round plug connector, installed in the connection unit of the SK 200E, provides a possible interface for connection to the field bus. A maximum of one customer interface (including any 24V module) can be installed in the SK 200E frequency inverter.

Optional internal

customer units, SK CU4-…

14 Subject to technical amendments BU 0260 GB

2 Assembly and installation

The external technology modules (Technology Unit, SK TU4-...) – designated as the technology unit – are externally attached to the SK 200E connection unit and are therefore easy to access. Mounting of the SK TU4... separate from the frequency inverter is possible by means of the wall mounting kit SK TIE4-WMK-TU. The electrical connection to the SK 200E is made via the internal system bus. 4 or 5 pin M12 round plug connectors (for installation in the BUS connection unit SK TI4-TU-BUS) are available as an option for connection of the field bus cable. The external modules are also available as a version with integrated M12 round plug connectors (SK TU4-xxx-M12). These enable the connection of up to 4 digital inputs and 2 digital outputs.

Optional external

technology unit, SK TU4-…

NOTE

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

Mounting of the external technology unit remote from the frequency inverter is possible with the additional wall-mounting kit (SK TIE4-WMK-TU). However, a maximum cable length of 30m should not be exceeded.

The external technology units (SK TU4-...(-M12) cannot be operated without the BUS connection unit (SK T14-TU-BUS)!

be used for the intended modules.

NOTE

Only one technology unit (SK CU4-... or SK TU4-...) can be connected to a system bus.

BU 0260 GB Subject to technical amendments 15

Supplementary Manual CANopen for NORDAC SK 20E

2.1.1 Overview of the CANopen modules

Bus Module Description Data

Supported profiles: CiA DS-301 and CiA DSP-402

CANopen Module

SK CU4-CAO

Part No. 275271001 (IP20)

CANopen module*)

SK TU4-CAO(-C)

Part No. 275281101 (IP55) Part No. 275281151 (IP66)

Similar to illustration

This option enables control of the NORDAC SK 200E via CANopen.

This option is integrated into the connection unit of the frequency inverter.

This option enables control of the NORDAC SK 200E via CANopen.

This option is installed externally to the frequency inverter.

According to the installation location, at least one "BUS connection unit"* is required.

baud rate:

up to 1 MBaud

Connection:

16-terminal screw terminal bar

2x digital inputs:

Low: 0-5V, High: 11-30V

System bus

Supported profiles: CiA DS-301 and CiA DSP-402 baud rate:

up to 1 MBaud

Connection:

36 pin spring terminal bar of the “BUS connection unit”*

4x digital inputs:

Low: 0-5V, High: 11-30V

2x Digital outputs:

0/24V

System bus

CANopen module with

M12

SK TU4-CAO-M12(-C)

Part No. 275281201 (IP55) Part No. 275281251 (IP66)

This option enables control of the NORDAC SK 200E via CANopen.

This option is installed externally to the frequency

As for SK TU4-CAO, but with additional:

6x M12 socket for the connection of up to 4 sensors and 2 actuators via 5 pin M12 round plug connectors (A coded)

inverter. According to the installation location, at least one

"BUS connection unit"* is required.

Connection unit for TU4

SK TI4-TU-BUS

Part No. 275280000 (IP55) Part No. 275280500 (IP66)

The connection unit is always required in order to use an external technology unit (SK TU4-...). This

Connection:

36 pin spring terminal bar

36x 2,5mm

AWG 26-14 spring terminals

implements the connection of the technology unit to the SK 200E or the wall-mounting kit.

TU4 Wall-mounting kit

SK TIE4-WMK-TU

Part. No. 275274002

With the wall mounting kit, a technology unit can be used/installed separately from the SK 200E.

in order to use the TU4 modules, a suitable SK TI4-TU-BUS connection unit must always be available!

16 Subject to technical amendments BU 0260 GB

2 Assembly and installation

2.1.2 Installing the Customer Unit SK CU4-CAO

WARNING

The installation of customer units is carried out in the connection unit SK T14-… SK 200E underneath the control terminal bar. Fastening is by means of the terminal bar of the frequency inverter and two M4x20 screws (bag enclosed with the customer unit). Only one customer unit per FI is possible!

The pre-assembled cables for connection to the frequency inverter (SK 200E) are also included in the bag enclosed with the customer unit. Connections are made according to the following table:

Installation must be carried out by qualified personnel only, paying particular attention to safety and warning instructions.

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

Installation of the SK CU4-... customer unit remote from the frequency inverter is not permitted. This must be installed in the immediate vicinity of the SK 200E frequency inverter.

be used for the intended modules.

SK TI4-… with integrated technology unit SK CU4-CAO

Function Terminal label Cable colour

Power supply

(between frequency inverter and customer unit)

System bus

NOTE

Similar to illustration

Customer unit SK CU4-CAO Bag enclosed with internal customer unit

Set the termination resistors of the system bus!

(See Section 2.2.3 "Configuration")

24V brown

GND blue

SYS+ black

SYS- grey

BU 0260 GB Subject to technical amendments 17

Supplementary Manual CANopen for NORDAC SK 20E

2.1.3 Installing the SK TU4-CAO Technology Unit

WARNING

Together with the BUS connection unit SK TI4-TU-BUS(-C) the technology unit SK TU4-CAO-…(-C) forms a stand-alone functional unit. This can be attached to the SK 200E frequency inverter or installed separately by means of the optional SK TIE4-WMK-TU wall-mounting kit.

2.1.3.1 Dimensions of the SK TI4-WMK-TU wall-mounting kit

The optional wall-mounting kit has the following dimensions.

Installation must be carried out by qualified personnel only, paying particular attention to safety and warning instructions.

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

Mounting of the external technology unit remote from the frequency inverter is possible with the additional wall-mounting kit

be used for the intended modules.

(SK TIE4-WMK-TU).

136

Wall-mounting kit SK TI4-WMK-TU

2.1.3.2 BUS connection unit SK T14-TU-BUS(-C)

Various cable glands closed by caps are located on the sides of the BUS connection unit.

The following holes are available as cable inlets:

 2 x 1 M20 x 1.5 (on sides)

 4 M20 x 1.5 (underside)

 2 M25 x 1.5 (rear side, without caps)

External BUS connection unit = SK TI4-TU-BUS

The transparent screw-on cover (M20 x 1.5) on the upper right serves as access to the diagnostic interface (RJ12 socket, interface RS232/RS485). The upper left screw-on cover is not used.

18 Subject to technical amendments BU 0260 GB

2 Assembly and installation

2.1.3.3 Mounting the SK T14-TU-BUS on the SK 200E

The screw fittings and seals required for installation are enclosed with the modules or are fitted to the intended locations.

Mounting of the technology unit on the SK 200E must be carried out as follows:

1. Switch off the mains.

2. Remove the two M25 caps on the required side of the frequency inverter (right / left).

3. Remove the printed circuit board (with terminal bar) from the BUS connection unit.

4. Install the SK T14-TU-BUS (with adhered seal) on the SK 200E using the 4 enclosed bolts.

5. Replace the printed circuit board (See point 3) and carry out the electrical connections.

6. Fit and screw on the SK TU4 module.

Mounting the external technology unit on the SK 200E

Wall-mounting kit SK TI4-WMK-TU

2.1.3.4 Wall-mounting the SK TI4-TU-BUS

The screw fittings (except for anchoring screws) and seals required for installation are enclosed with the modules or are fitted to the intended locations.

The connecting cable between the technology unit and the SK 200E should not be longer than 30m.

1. Mount the SK T14-TU-BUS connecting unit with adhered seal

on the wall-mounting kit. To do this: Insert the 2 x cheese-head screws (enclosed with wall-mounting kit) into the (countersunk) holes from the outside and with the 2 x bolts (enclosed with the wall-mounting kit) securely screw both components together from the inside (BUS connection unit).

Wall-mounting kit SK TI4-WMK-TU with field bus technology unit

2. Make a suitable cable connection between the technology unit and the frequency inverter. Take care that there is appropriate screw fitting and sealing of the modules. The cable sets enclosed with the BUS connection unit are not used.

3. Fit and screw on the SK TU4 module.

BU 0260 GB Subject to technical amendments 19

Supplementary Manual CANopen for NORDAC SK 20E

2.2 Electrical connection

WARNING

THE DEVICES MUST BE EARTHED.

Safe operation of the devices presupposes that qualified personnel install and commission it in compliance with the instructions provided in these operating instructions.

In particular, the general and regional mounting and safety regulations for work on high voltage systems (e.g. VDE) must be complied with as must the regulations concerning professional use of tools and the use of personal protection equipment.

Dangerous voltages can be present at the motor connection terminals of the frequency inverter even when the inverter is switched off. Always use insulated screwdrivers on these terminal fields.

Ensure that the input voltage source is not live before setting up or changing connections to the unit.

Make sure that the inverter and motor are specified for the correct supply voltage.

2.2.1 Cable glands

Both the SK 200E connection unit and the bus module provide extensive facilities for the connection of all the required cables. The cables may enter the housing via cable glands and be connected to the terminal bar. However, appropriate round plug connections (e.g.: M12 round plug connectors in M16 cable glands) may be fitted in order to provide a plug-in solution.

Incoming cable, fixed connection e.g. for system bus or 24V supply

Cable gland for system bus cable pair and 24V supply for direct attachment to SK 200E

No function, do not use

M16 cable gland or installation of M12 round plug connection for:

 incoming and outgoing CANopen cables

 24V and 24V (for DO) supply

 System bus

 I/O peripherals: sensors and actuators

Diagnostic access RJ 12 socket

Outgoing cable, fixed connection e.g. for system bus or 24V supply

Cable gland for system bus cable pair and 24V supply for direct attachment to SK 200E

Example:

cable gland on BUS connection unit SK TI4-TU-BUS

20 Subject to technical amendments BU 0260 GB

2 Assembly and installation

2.2.2 Control connections

The CANopen modules must be provided with a 24V DC (±20%, 100mA) control voltage. Wire end sleeves must be used for flexible cables.

Designation Data

Rigid cable cross-section 0.14 … 2.5mm²

Flexible cable cross-section 0.14 … 1.5mm²

AWG standard AWG 26-14

Tightening torque (for screw terminals) 0.5…0.6Nm

Within the terminal box (unshielded cable section) the data cables (e.g. CANopen, system bus) must be installed as short as possible and of equal length. Associated data cables (e.g.: Sys+ and Sys-) must be twisted.

NOTE

Due to the separated potential levels of the system bus and the field bus (CANopen), both bus systems must have a separate supply (24V).

NOTE

In the customer unit, the CAN open is already installed with voltage isolation from the other signal connections.

In case of EMC problems, voltage separation of the field bus supply, the digital inputs and system bus interface and for the external technology unit also for the two additional digital outputs should be provided.

NOTE

The cable shielding must be connected to the functional earthing

electrically conducting mounting plate) in order to prevent EMC interference in the device.

In order to achieve this, for CANopen connections it is mandatory that the metallic metric EMC screws are used for the connection of the CANopen shielding lead to the frequency inverter or the housing of the technology unit. This ensures a wide area connection of the functional earthing.

(usually the

In systems, electrical equipment is usually connected to a functional earth. This serves as a means to dissipate leakage

and interference currents in order to ensure EMC characteristics and must therefore be implemented according to high frequency technology aspects.

BU 0260 GB Subject to technical amendments 21

Supplementary Manual CANopen for NORDAC SK 20E

2.2.2.1 Control connections SK CU4-CAO

The terminal bar of the customer unit SK CU4-CAO is divided into two potential levels.

24V

GND

Connection of the 24V power supply from the SK 200E

Sys +

Sys -

System bus connection from the SK 200E

Potential level: System bus

CANopen+

CANopen-

GND B

SHLD

24V B

CANopen-

GND B

Potential le

Incoming CANopen cable

Outgoing CANopen cable

Connection to terminal bar of SK CU4-CAO

Connection of up to 2 sensors is made on the terminal bar (terminals C1 and C2).

NOTE

In principle, looping of the 24V supply voltage (terminals 45/46) or also (terminals 44/40) is possible, however a maximum permissible current of 2A must not be exceeded with the

SK CU4-CAO

el: Field bus

22 Subject to technical amendments BU 0260 GB

Control connection details

Terminal/

Designation

4424V External 24V supply

40 GND

Function

(system bus)

Reference potential for digital signals

2 Assembly and installation

Data Description / wiring suggestion Parameter

24VDC ±20% ≈ 50mA

reverse polarity protected

max. permissible current load: 2A

External supply voltage of the system bus and supply of the digital inputs (DIN1 and DIN2)

C1 DIN1 Digital input 1

[I/O CANopen DIN1]

C2 DIN2 Digital input 2

[I/O CANopen DIN2]

77 Sys+

System bus data cable +

78 Sys-

40 GND

System bus data cable -

Reference potential for digital signals

45 24V Bus

24V bus supply voltage

(field bus)

75 CANopen+

(incoming)

76 CANopen-

(incoming)

Bus +

CAN H Bus -

CAN L

46 GND Bus Data ground bus

90 SHLD Bus shield

Low 0V ... 5V High 15V ... 30V Ri = 8.1k Input capacitance 10nF Scan rate 1 ms

Each digital input has a reaction time of 1ms.

Inputs as per EN 61131-2 Type 1

P174

System bus interface

Potential isolation

For CANopen - Bus 24VDC ±20% ≈ 50mA, reverse polarity protected

Version to terminal 44 electrically insulated. CANopen bus supply essential

The use of twisted, shielded two-

RS485 transfer

conductor cable is highly recommended

Bus reference potential Version to terminal 40 electrically

isolated.

45 24V Bus

24V bus supply voltage

See above (Terminal 45).

Version to terminal 44 electrically insulated.

CANopen bus supply essential

75 CANopen+

(outgoing)

76 CANopen-

(outgoing)

46 GND Bus Data ground bus

Bus +

CAN H Bus -

CAN L

RS485 transfer

The use of twisted, shielded twoconductor cable is highly recommended

BUS reference potential Version to terminal 40 electrically

isolated.

BU 0260 GB Subject to technical amendments 23

Supplementary Manual CANopen for NORDAC SK 20E

2.2.2.2 Control connections of the SK CU4-CAO(-...)

The double spring-loaded terminal bar of the technology unit is colour coded, and therefore indicates the three different potential levels.

A separate power source should be used particularly for the supply of the DOs. However, by bridging the 24V o

and GND o to one of the terminals of the system bus level (24V and GND) it is possible to implement the supply of the DOs. However, in this case it should be noted that there is an increased risk of introducing interference into the bus cables.

Connection of up to 4 sensors and 2 actuators is made via the terminal bar. Alternatively

, the SK TU4-CAO-M12 enables the connection of these I/Os via the M12 round plug connector (5 pin socket, A-coded) mounted on the front.

Double use of the inputs via the terminal bar and

Potential level: field bus Potential level: system bus Potential level: DOs

field bus level

System bus level and digital inputs Digital outputs

the M12 round plug connector must be avoided.

CANopen

24V-B

CAO+

CAO-

CAO

GND B

SHLD 24V 24V

CAO

GND GND DIN 1 GND 24V

(as 11)

DIN 2 GND 24V

(as 11)

24V O

DO 1 GND O

1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35

2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36

24V-B

CAO+

CAO-

CAO

OUT

GND B

CAO

OUT

PE 24V

(as 11)

Sys + Sys - GND DIN 3 GND 24V

(as 11)

DIN 4 GND 24V

Illustration of the terminal bar of the bus connection unit SK T14-TU-BUS with allocation of functions

(as 11)

GND O

DO 2 GND O

Connection example: SK TU4-CAO to SK 200E

Voltage

source

24V DC

CANopen

subscriber

X-1

SK205E… - connection unit (SK TI4...)

SK TU4-CAO… - connection unit (SK TI4-TU-BUS)

Voltage

source

24V DC

CANopen

subscriber

X+1

NOTE

In principle, looping of the 24V supply voltage (terminals 1/2) or also e.g.: (terminals 11/15) is possible, however a maximum permissible current load of 3A for the SK TU4-CAO(-…)must not be exceeded.

24 Subject to technical amendments BU 0260 GB

Control connection details

Terminal/

Designation

1 24V BUS (CAO)

3 CANopen+

(incoming)

(outgoing)

5 CANopen-

(incoming)

(outgoing)

7 GND BUS

8 9 SHLD Bus shield

Function

External 24V bus supply (field bus)

Bus +

CAN H

Bus -

CAN L

Data ground bus

2 Assembly and installation

Data Description / wiring suggestion Parameter

24VDC -/+20% ≈ 50 mA

reverse polarity protected

Max. permissible current

Supply voltage for the CANopen controller / field bus

load: 3A

The use of twisted, shielded two-

RS485 transfer

conductor cable is highly recommended

10 PE PE bus

1124V

External 24V supply (system bus)

14 Sys+

System bus data cable +

15 GND

16 Sys-

17 GND

Reference potential for digital signals

System bus data cable -

Reference potential for digital signals

18 19 DIN1 Digital input 1

[I/O CANopen DIN1]

20 DIN3 Digital input 3

[I/O CANopen DIN3]

Potential isolation 24VDC -/+20% ≈ 50 mA

reverse polarity protected

Version to terminal 1 electrically insulated. CANopen bus supply (essential)

Max. permissible current load: 3A

System bus interface

External supply voltage for system bus and digital inputs (DIN1 to DIN4)

System bus interface

External supply voltage for system bus and digital inputs (DIN1 to DIN4)

Low 0V ... 5V High 15V ... 30V R

= 8.1k

Input capacitance 10nF Scan rate 1 ms

Each digital input has a reaction time of 1ms.

Inputs as per EN 61131-2 Type 1

P174

21 GND

Reference potential for digital signals

External supply voltage for system bus and digital inputs (DIN1 to DIN4)

BU 0260 GB Subject to technical amendments 25

Supplementary Manual CANopen for NORDAC SK 20E

Terminal/

Designation

23 24V

24 25 DIN2 Digital input 2

26 DIN4 Digital input 4

Function

External 24V supply

[I/O CANopen DIN2]

[I/O CANopen DIN4]

Data Description / wiring suggestion Parameter

As for terminal 11 -

Low 0V ... 5V High 15V ... 30V R

= 8.1k

Input capacitance 10nF Scan rate 1 ms

Each digital input has a reaction time of 1ms.

Inputs as per EN 61131-2 Type 1

P174

27 GND

28 29 24V

31 24V o

32 GND o

33 DO1 Digital output 1

34 DO2 Digital output 2

35 GND o

Reference potential for digital signals

External 24V supply

External 24V supply for the DOs

Reference potential for digital signals

[I/O CANopen DO1]

[I/O CANopen DO2]

Reference potential for digital signals

As for terminal 11 -

Potential isolation 24VDC -/+20% Up to 1A, according to

load reverse polarity protected

Low = 0V High: 24V

Rated current: 500mA each

Details of the M12 connections of the SK TU4-CAO-M12

The special wiring of the M12 round plug connector enables the connection of both single and double sensors, which are equipped with normal M12 system connectors in the standard sensor/actuator configuration.

With the use of M12 round plug connectors, the terminal bar connectors

for the digital inputs

(Terminals 19, 20, 25, 26) must not be used.

External supply voltage for system bus and digital inputs (DIN1 to DIN4)

External supply voltage for digital outputs (DO1 and DO2)

If necessary, bridge to 24V terminal

External supply voltage for digital outputs (DO1 and DO2)

If necessary, bridge to GND terminal

The digital outputs should be used with a separate 24V supply

External supply voltage for digital outputs (DO1 and DO2)

If necessary, bridge to GND terminal

P150 P175

Illustration of wiring of M12 connector to SK TU4-...-M12

26 Subject to technical amendments BU 0260 GB

2 Assembly and installation

2.2.3 Configuration

The configuration for all CANopen module versions is identical. All necessary settings are made using the hardware via a DIP- switch element (3+8- part switching block).

Similar to illustration

Customer unit SK CU4-CAO Technology unit SK TU4-CAO

BUS termination Addressing

DIP switch 3 + 8 part

Addressing

Note:

 CANopen address: setting only

via DIP switch in binary code

 Address range: 1 … 63  Address changes: only become effective after switching the BUS module off and on again

NOTE

If an application-specific configuration has been saved (memory object 1010 initialisation is not active after default mapping. In order to apply the new module ID settings, the configuration must be reset to the factory settings (Parameter (P152) or (Object 1011

)) (See Section 4.7 “Saving the parameters”).

hex

), the

hex

Termination resistor

The termination of the BUS system at both of its physical ends is carried out by connecting the relevant termination resistors (DIP switch).

CANopenmodule(viewofDIPswitch) SK 200E(internalview)

     

termination resistor

 

System bus



e.g.:SKCU4‐CAO e.g.:SK200E

BU 0260 GB Subject to technical amendments 27

Field bus (CANopen) termination resistor

System bus

termination resistor

Supplementary Manual CANopen for NORDAC SK 20E

Baud rate

The baud rate is set in binary code via two DIP switches (only applies to field bus level).

Setting Baud rate DIP2 DIP1 1 125 kBaud OFF OFF 2 250 kBaud OFF ON 3 500 kBaud ON OFF 4 1 MBaud ON ON

     

CANopen baud rate

  

E.g.:SKCU4‐CA O

Configuration example

A CANopen subscriber SK TU4-CAO is connected to an SK 200E series frequency inverter via a BUS



connection unit SK T14-TU-BUS. The field bus address (CANopen address / identifier) is to be "14". The CANopen subscriber is not a final subscriber. The system bus only includes the frequency inverter and the CANopen module. The termination resistor for the system bus is to be set at the frequency inverter. The DIP switches on the CANopen module must be set as follows:

Area Significance

Identifier-bit 5

Identifier-bit 4

Identifier-bit 3

Identifier-bit 2

Addressing

rate

Baud

Identifier-bit 1

Identifier-bit 0

Baud rate-bit 1

Baud rate-bit 0

DIP switch

No.

No. 647

DIP switch

DIP Switch

ON - OFF

Configuration

example

Example address =

Baud rate =

125kBaud

No. 802

OFF

BUS

termination

No significance

CANopen

System bus

DIP switch

28 Subject to technical amendments BU 0260 GB

3 Displays and diagnosis

Various diagnosis possibilities are available, depending on the device. Operating conditions or errors are visualised by means of LEDs. PC-based communication or the connection of a parameterisation unit is possible via an RS232 interface (RJ12 diagnostic socket).

RJ12

LEDs Potentiometer

Similar to illustration

CANopen module SK CU4-CAO status LEDs

CANopen module unit SK TU4-CAO-M12 with SK TI4-TU-BUS and SK TIE4-WMK-TU

Status LEDs and viewing window (transparent screw-on cover) for RJ12 diagnostic interface

Similar to illustration

Frequency inverterSK 200E viewing window (transparent screw-on cover) for diagnostic interface RJ12, status LEDs,

potentiometer

3.1 LED displays

Both the SK 200E frequency inverter and the CANopen modules provide LED status and diagnostic displays to indicate the various statuses.

A differentiation into 3 categories is made

 Module or module-specific displays (S and E or DS and DE)

 CANopen-specific displays (CR and CE)

 Status displays for the additional digital I/Os of the module (D1/2 or DI1...4 and DO1/2)

The possible displays differ according to the device.

3.1.1 Device-specific display versions

3.1.1.1 SK 200E frequency inverter

LED S/E The double LED S/E

frequency inverter by change of colour and different flashing frequencies. A device error is indicated by cyclic red flashing of the LED. The frequency of the flashing signals corresponds to the error number (Manual BU 0200).

LEDs BS and BE The dual LEDs BS

indicate the status of the system bus communication module. Various bus communication errors are indicated by means of different flashing frequencies.

A detailed description of the LED displays of the frequency inverter can be found in the main manual (BU0200).

BU 0260 GB Subject to technical amendments 29

RJ12

indicates the operating status of the

LEDs Potentiometers

(BUS State) and BE (BUS Error)

Supplementary Manual CANopen for NORDAC SK 20E

3.1.1.2 Customer unit SK CU4-CAO

LEDs CR and CE The single-colour LEDs CR

(CANopen RUN) and CE

(CANopen ERROR) indicate the CANopen communication

status.

LEDs DS and DE The dual colour LEDs DS

Error) indicate the status of the module and the status of the

(Device State) and DE (Device

Similar to illustration

system bus.

LEDs D1 and D2 The single colour LEDs D1

(DIN 1 (Digital input 1)) and D2 (DIN 2 (Digital input 2)) indicate the signal status of

the digital inputs of the CANopen module. The corresponding LED lights up in case of a High signal.

A detailed description of the LED displays for this module can be found in Section 3.1.2 "Signal status LEDs".

3.1.1.3 Technology unit SK TU4CAO(-M12)

LEDs CR and CE The single-colour LEDs CR

(CANopen RUN) and CE

(CANopen ERROR) indicate the CANopen communication

status.

LEDs DS and DE The dual colour LEDs DS

(Device State) and DE (Device

Error) indicate the status of the module and the status of the

system bus.

LEDs DI1 to DI4 and DO1 and DO2 The single colour LEDs DI1

(DIN 1 (digital input 1)) to DI4 (DIN 4 (digital input 2)) and DO1 (DOUT 1 (digital output 1) and DO2 (DOUT 2 (digital output 2)) indicate the signal status of the digital inputs- or outputs of the CANopen module. The corresponding LED lights up in case of a High signal.

These LEDs are only available in the CANopen module SK TU4-CAO-M12

A detailed description of the LED displays for this module can be found in Section 3.1.2 "Signal status LEDs".

30 Subject to technical amendments BU 0260 GB

3 Displays and diagnosis

3.1.2 Signal status LEDs

This manual only describes the LED signal statuses of the CANopen modules. Information for the frequency inverter LEDs (SK 200E) can be found in the relevant manual (BU0200).

The statuses indicated by the LED can be read out with the aid of a parameterisation tool from Getriebebau Nord (NORDCON software ParameterBox) and also of course via the information parameter (P173) “Module Status” (See Section 5.2.3 "BUS module information parameters, general (P170)").

3.1.2.1 Module-specific displays

The status of the technology unit or the system bus is indicated by the LEDs DS and DE.

LED (green)

 Device State

OFF OFF Technology unit not ready, no control voltage

Flashing 0.5s OFF Technology unit ready and at least one further subscriber is connected

Flashing 0.5s Flashing 0.25s

OFF Flashing 0.25s

LED (red)

 Device Error

OFF Technology unit ready, no error, at least one frequency inverter is

Flashing 0.25s

Flash interval 1 x - 1s pause

Flash interval 2 x - 1s pause

Flash interval 3 x - 1s pause

Flash interval 4 x - 1s pause

Flash interval

1…7 x - 1s pause

Significance

... Slow flashing = 2Hz (0.5s cycle)

… Rapid flashing= 4Hz (0.25s cycle)

communicating via the system bus

Technology unit ready, however

 one or more of the connected frequency inverters has a fault status

(see frequency inverter manual)

to the system bus, but

 No frequency inverter on the system bus (or connection interrupted)

 Address error for one or more system bus subscribers

System bus is in status "Bus Warning"

 Communication on system bus interrupted or

 no other subscriber present on the system bus

 System bus is in status "Bus off" or

 the system bus 24V power supply was interrupted during operation

 No system bus 24V power supply

(system bus is in status "Bus off")

 CANopen error of the technology unit

Details: LED flashing code: CR and CE (Section 3.1.2.2 „CANopen displays“)

System error, internal program sequence interrupted

 EMC interference (observe wiring guidelines!)

 Module faulty

BU 0260 GB Subject to technical amendments 31

Supplementary Manual CANopen for NORDAC SK 20E

3.1.2.2 CANopen displays

The status of the CANopen module is indicated by the CR and CE LEDs. CR (CANopen RUN) indicates the status of the CANopen bus status machine. CR (CANopen ERROR) indicates the status of the CANopen bus state.

Displays of the CANopen bus status machine

LED (green)

 CANopen RUN

OFF Module not in operation

Flashing

(simple)

Flashing

(double)

Significance

... Single flashing = (0.2s cycle)

... Double flashing (1.6s cycle, flashing interval 0.2s)

OPERATIONAL

"Normal operation" → complete reference data communication

(PDO communication is "on")

STOPPED

 Only NMT communication possible (monitoring and initialisation functions)

PRE-OPERATIONAL

Restricted reference data communication → SDO communication is "on" → PDO mapping possible → PDO communication is "off"

CANopen bus status display

LED (red)

 CANopen ERROR

OFF No error

Flashing

(simple)

Flashing

(double)

Significance

... Single flashing = (0.2s cycle)

... Double flashing (1.6s cycle, flashing interval 0.2s)

Bus OFF

Bus Warning

 No other subscribers present

No valid ID (DIP switch = 0) (See Section 2.2.3 "Configuration")

 Bus error

Wiring faulty

→ Check cable length → Avoid spur cables

Timeout

A process data monitoring function has triggered → Node-guarding or → The time set in parameter (P151) has expired without new process data being received

Note: The "node-guarding" error is reset by restarting the monitoring (remote).

32 Subject to technical amendments BU 0260 GB

3 Displays and diagnosis

3.1.2.3 I/O Displays

The status of additional digital inputs and outputs on the BUS module is indicated by corresponding LEDs (except for SK TU4-CAO(-C)).

I/O Channel

Customer unit SK CU4-CAO

LED (green)

Digital input 1

Digital input 2

Technology unit SK TU4-CAO-M12(-C)

LED (yellow)

Digital input 1

DI1

Digital input 2

DI2

Digital input 3

DI3

Digital input 4

DI4

Digital output 1

DO1

Digital output 2

DO2

Status display Significance

ON High potential on terminal C1

OFF ON High potential on terminal C2

OFF

ON High potential on terminal 19 or on M12 socket

OFF ON High potential on terminal 25 or on M12 socket

OFF ON High potential on terminal 20 or on M12 socket

OFF ON High potential on terminal 26 or on M12 socket

OFF ON High potential on terminal 33 or on M12 socket

OFF ON High potential on terminal 34 or on M12 socket

OFF

Low potential on terminal C1

Low potential on terminal C2

Low potential on terminal 19 or on M12 socket

Low potential on terminal 25 or on M12 socket

Low potential on terminal 20 or on M12 socket

Low potential on terminal 26 or on M12 socket

Low potential on terminal 33 or on M12 socket

Low potential on terminal 34 or on M12 socket

DI1

DI2

DI3

DI4

DO1

BU 0260 GB Subject to technical amendments 33

Supplementary Manual CANopen for NORDAC SK 20E

3.2 RJ12 Diagnostic socket

All participants which are coupled via a common system bus (field bus module / frequency inverter (up to 4 devices)) can be read out and edited/parameterised via an RJ12 diagnostic socket. This can be either the diagnostic socket of the frequency inverter or that of the BUS connection units. This provides users with a convenient facility to perform diagnosis and parameterisation from a central point, without having to access the particular frequency inverter at its location.

Although the customer unit SK CU4-CAO does not have an RJ12 connection, it can be accessed from any other subscriber (frequency inverter) on the same system bus.

Terminal/

Designation

Diagnostic access / RJ12, RS485/RS232

Function

Data Description / wiring suggestion Parameter

1 RS485 A

2 RS485 B

Data cable RS485

Baud rate 9600…38400Baud

Termination resistorR=120  to be set by customer at the final subscriber.

3 GND

4 232 TXD

5 232 RXD

Reference potential for BUS signals

Data cable RS232

0V digital

Baud rate 9600…38400Baud

RS48 5_A

RS48 5_B

GND

TXD

RXD

+5V

+24V

RJ12: Pin No. 1 … 6

1: RS485_A

P502 ...P513

2: RS485_B 3: GND

6 +24V

24V voltage supply from FI

24V  20%

4: RS232_TxD 5: RS232_RxD 6: +24V

The bus speed of the diagnostic interface is 38400 baud. Communication is carried out according to the USS protocol.

NOTE

Simultaneous use of several diagnostic sockets with several diagnostic tools may lead to errors during communication. Therefore, only one diagnostic socket within a system bus network should be used.

The ParameterBox SK PAR-3H is available as a diagnostic tool. The necessary connecting cables are included in the scope of

delivery of the ParameterBox. For a detailed description of use, please refer to Manual BU0040.

ParameterBox SK PAR-3H

34 Subject to technical amendments BU 0260 GB

3 Displays and diagnosis

Alternatively, diagnosis can be performed via a Windows PC with the aid of NORD CON software (available free of charge from www.nord.com). The necessary connection cable (RJ12 - SUB D9) is available from Getriebebau Nord GmbH as part number 278910240. If necessary, an interface converter from SUB D9 to USB2.0 is commercially available.

Terminal/

Designation

Accessory cable (optional) for PC connection

Adapter cable RJ12 to SUB-D9

Function

... for direct connection to a PC with NORD CON software

Data Description / wiring suggestion Parameter

n.c. n.c. GND TxD RxT +24V

Assignment of SUB-D9 connector:

Length 3m Assignment RS 232 

(RxD, TxD, GND)

Part. No. 278910240

Pin2: RS232_TxD Pin3: RS232_RxD Pin5: GND

RxD

GND TxD

1 5

No special settings are required to set up communication with the individual diagnostic tools. The allocation of addresses is defined via the system bus addressing. The display of the diagnostic tool is

according to the following table, whereby the frequency inverter which is directly connected to the diagnostic tool is automatically assigned the address “0”

Device

External

technology unit

Frequency inverter

with address 36

(system bus)

Frequency inverter

with address 36

(system bus)

Frequency inverter

with address 36

(system bus)

Frequency inverter

with address 36

(system bus)

USS

address

30 1 2 3 4

Note:

Setting of the system bus address is carried out via two DIP switches (DIP 1 and 2) on the underside of the SK 200Efrequency inverter. For further details, please refer to the frequency inverter manual (BU 0220). The address of the BUS module is defined as “30”.

8x DIP switch

Underside of SK 200E

BU 0260 GB Subject to technical amendments 35

Supplementary Manual CANopen for NORDAC SK 20E

4 Commissioning

In addition to the electrical connection to the BUS system and the hardware configuration of the nodes, operation of a frequency inverter in a CANopen network also requires the definition of the various monitoring functions. For the operation of an SK 200E frequency inverter or the relevant BUS modules (SK xU4-CAO) in a CANopen network managed by an NMT master, the available objects are saved in an EDS file.

For the devices described in this manual, in addition to various freely configurable monitoring functions, Getriebebau Nord GmbH also enables pure process data communication (PDO) and communication via SDOs. With the aid of various parameters of the bus modules, participants can be individually adapted to a CANopen network. However, for reasons of compatibility the default settings should be retained as far as possible. For more simple applications the drive profile "Velocity Mode" from device profile DSP402 is available.

Sections 4.2 to 4.8 contain detailed explanations for the individual commissioning steps. Explanations for process data and examples are summarised in Section 7 "CANopen data transfer".

4.1 Quick commissioning

The bus modules SK xU4-CAO are designed so that for normal applications no software settings (mapping) on the BUS module are required for basic operation.

Commissioning therefore comprises the following steps

 Installation

 Connection

NOTE

(see Section2.1.2 "Installing the Customer Unit SK CU4-CAO" and Section 2.1.3 "Installing the SK TU4-CAO

(see Section 2.2 "Electrical connection")

Technology Unit")

If possible, a separate 24V power supply should be used for each potential level (system bus, field bus, DOs) in order to minimise interference on the bus cables.

 Configuration (addressing and bus termination - via DIP switches) -

(see Section 2.2.3 "Configuration")

 Integration of the EDS file into the control unit.  After connection of the 24V supply voltage and a brief initialisation phase, the BUS module switches to

"Pre-Operational" mode. Via the bus module, up to 4 frequency inverters can be accessed, each with one control word and up to 3 setpoints (in exchange with the status word and up to 3 actual values).

 The allocation of the functions for the setpoints and actual values is carried out on the relevant frequency

inverter (e.g. SK 200E series). Here, the settings are made via parameter (P546) or (P543) (see frequency inverter manual BU0200).

The following optimisations are recommended

 Disabling of the transmission and reception channels for PDOs which are not required (reduces bus load)

((P160) or objects 0x1400 ... 0x1414 or 0x1800 ... 0x1804)

36 Subject to technical amendments BU 0260 GB

4 Commissioning

The following mapping (or re-parameterisation) is possible

 Enabling of PDO 5, in order to ensure access to the digital I/Os of the bus module.

((P160) or objects 0x1404 or 0x1804)

 Switching on the "Velocity Mode" to DS402 if control is to be carried out in Profile Mode.

((P168) or objects 0x6048, 0x6049)

 Adaptation of the inhibit and event time to optimise transmission by the PDOs

((P163) and (P164) or objects 0x1800 ... 0x1804)

 Setup of monitoring functions (Node monitoring - Guarding and Heartbeat)

((P166) and (P167) or objects 0x100C, 0x100D, 0x1017)

The following mapping (or re-parameterisation) is possible, but should only be carried out in exceptional cases

Change of the COB-ID of individual SDO and PDO objects ((P161) or objects 0x1005, 0x1200 … 0x1203, 0x1400 … 0x1404, 1800 … 1804)

NOTE

As there is a deviation from the CiA standard on changing the default settings, special care is required in order to prevent conflicts in the operation of the bus.

Access to the objects can be obtained by two methods.

 On the field bus level: Dynamic mapping (PDO mapping via SDOs)  On the parameter level of the BUS module: ((P160)…(P168)) via NORDAC control elements

(NORDCON software, ParameterBox SK PAR-3H)

NOTE

Changes are only permissible in "Pre-Operational" mode.

BU 0260 GB Subject to technical amendments 37

Supplementary Manual CANopen for NORDAC SK 20E

The following check list provides and overview for the commissioning of a relevant network.

Description Designation Relevant parameter Comments

Necessary / required settings Hardware address

Bus node

Frequency inverter

Baud rate

Bus node

Frequency inverter

PDO pause time Inhibit time (P163) PDO transmission interval Event time (P164) Definition of process data (PZD) STW / ZSW / SW / IW

Additional settings PDO transmission type PDO transmission type (P162) CAN node monitoring Guard-time and Heartbeat (P166) and (P167) Validity of PDO/SDO COB-ID On/Off (P160) Setting only in special cases (if possible leave at factory setting) Definition of COB-ID COB-ID (P161) Definition of PZD mapping PDO mapping (P165)

CANopen identifier DIP switch System bus address (CAN) DIP switch (SK 200E) alternative (P515)

CANopen baud rate DIP switch System bus baud rate

Fixed at 250kBaud

(SK 200E)

(P502), (P503), (P509), (P510), (P546) (… or (P548))

Different for each subscriber (node)

Same for each subscriber (node)

Alternative (P514)

(leave at 250kBaud!)

alternative (P168) (profile DSP 402)

For a description of the individual objects please refer to Section 4.9 "Object dictionary".

4.2 EDS file

For CANopen masters which can be configured with a PC, Getriebebau Nord GmbH provides the necessary EDS file (Electronic Data Sheet) with the relevant CANopen objects for all relevant Nord products. These files are contained on the documentation CD, which is provided with the hardware. Updates on a daily basis are available on www.nord.com

4.3 Hardware configuration of the CANopen bus modules

Configuration of the bus module is carried out exclusively via a DIP switch element attached to the module (see Section 2.2.3 "Configuration"). In addition to the baud rate and the node addresses (node identifiers) the termination resistors for the bus system and the CANopen bus must be set.

Software configuration if these items is not provided.

NOTE

The coding of the DIP switches (Identifier, address and baud rate) are only read out during the initialisation phase, i.e. after switching on the 24V power supply to the bus module. Changes to the DIP switches are therefore only recognised if the module has been switched off for a sufficient period (all LEDs out) after a change of addressing.

38 Subject to technical amendments BU 0260 GB

4 Commissioning

4.4 Gateway function

Up to four frequency inverters can be controlled via the bus module (see also Section 8.4 "System bus"). Each FI is allocated its own PDO channel for the process data. For parameterisation, each FI in the bus module has a separate allocated SDO channel. The allocation of the individual channels can be seen in the table in Section 4.9.1 "Predefined Connection Set".

4.5 Communication

After conclusion of the individual initialisation phase, all participants in a CANopen network can be set to one of three operational states.

According to the operational state:

 Subscribers can be configured via SDO messages  Can exchange process data via PDO messages  Are disconnected from communication (Stopped), to the extent that only NMT messages

communicated.

The coordination of the operating states is carried out on the basis of a very simple network management by an NMT master.

(Pre-Operational),

(Operational) or

can be

4.5.1 Network Management (NMT)

The individual states can be activated with the following commands:

Set network to Operational (Start Remote Node): Identifier = 0x00 // data byte 0 = 0x01 // data byte 1 = 0x** (relevant node address)

Set network to Stopped (Stop Remote Node): Identifier = 0x00 // data byte 0 = 0x02 // data byte 1 = 0x** (relevant node address)

Set network to Pre- Operational (Enter Pre - Operational): Identifier = 0x00 // data byte 0 = 0x80 // data byte 1 = 0x** (relevant node address)

Reset Node : Identifier = 0x00 // data byte 0 = 0x81 // data byte 1 = 0x** (relevant node address)

Reset Communication: Identifier = 0x00 // data byte 0 = 0x82 // data byte 1 = 0x** (relevant node address)

4.5.2 PDO communication

If a subscriber is in an "Operational" state, it is able to exchange process data via PDO messages. A differentiation is made between Transmit PDOs (Tx), in which the bus module transmits the status data of up

to 4 connected frequency inverters, and Receive PDOs (Rx) in which it receives the relevant control data. The 4 Transmit and Receive PDOs are identified by different identifiers.

Transfer of PDOs is made without confirmation. The significance of the data transferred is determined by the CAN identifiers being used and the PDO mapping. A maximum of 8 bytes of data are transferred.

NOTE

In principle, no settings are required to ensure the correct functioning of communication, however various adaptations are possible if these are necessary for the communication sequence required by the customer.

All PDO settings can be made via the relevant parameter. However, parameterisation via the SDO parameter channel of the CANopen bus is also possible.

The settings which are made are permanently stored in the device.

BU 0260 GB Subject to technical amendments 39

Supplementary Manual CANopen for NORDAC SK 20E

4.5.2.1 Changing the COB-ID (address) of a PDO

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

Setting of the COB-ID of a PDO is made via the parameters (P160) and (P161) (and therefore in the objects 0x1400-0x1404 Sub. 1 or 0x1800-0x1804 Sub. 1). If possible, the default settings of these parameters should be retained.

Alternatively, the settings can also be realised via the SDO parameter channel. Each Transmit and Receive PDO has its own parameter for this setting (see the following table).

PDO Receive PDO Transmit PDO

PDO for FI 1 0x1400 Sub 1 0x1800 Sub 1 PDO for FI 2 0x1401 Sub 1 0x1801 Sub 1 PDO for FI 3 0x1402 Sub 1 0x1802 Sub 1 PDO for FI 4 0x1403 Sub 1 0x1803 Sub 1

PDO for bus module 0x1404 Sub 1 0x1804 Sub 1

Index table for inverter Transmit and Receive PDOs

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

Bit number Value Significance

30 1

29 to 11 0

10 to 0 X PDO identifier ( COB-ID )

0 PDO is active 1 PDO is switched off

Values cannot be changed

Description of PDO COB-ID entry

The PDO identifier is stored in bits 0 to 10. Bit 31 must be set to null, otherwise the PDO will be deactivated. If, e.g. the identifier for a Transmit PDO is changed to 0x201, the value 0x40000201 must be entered in the appropriate parameter.

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

40 Subject to technical amendments BU 0260 GB

4 Commissioning

4.5.2.2 PDO operating modes (transmission type)

The "transmission type" determines when a transmit PDO is transmitted and when the data from a receive PDO is processed (see also Section 8.3.2.1 "PDO (Process Data Object)"). These settings are made in parameter (P162) (and therefore in objects 0x1400-0x1404 Sub. 2 for Rx -PDOs or 0x1800-0x1804 Sub. 2 for Tx -PDOs). The following settings can be made with NORDAC frequency inverters:

Transmission type Value

Transmit PDO (Tx)

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

since the last SYNC command.

1-240 PDO is transmitted if 1..240 SYNC commands have been received, whether the data (status)

has changed or not.

252-253 Reserved

254, 255 PDO is transmitted immediately if the data (status) has changed (standard setting).

Receive PDO (Rx)

0-240 Data from the Receive PDO is only processed after the next SYNC command has been

received.

252-253 Reserved

254, 255 Data from Receive PDO is processed immediately (standard setting)

4.5.2.3 Inhibit time

For each Transmit PDO an individual "Inhibit time" can be defined in (P163) (and therefore in objects 0x18000x1804 Sub. 3). This can be used to set a minimum transmission interval between two PDO messages. In networks with a large number of participants, the bus load can be influenced with this value. The standard setting is 10ms.

4.5.2.4 Event time

The Parameter "Event time" (P164) (and therefore objects 0x1800 – 0x1803 Subindex 5) can be used for all Transmit PDOs. Cyclical transmission of the PDOs is achieved via this value. The standard setting is 250ms.

4.5.2.5 PDO mapping

The sequence of the process data (PZD) in the PDOs is defined by the PDO mapping in parameter (P165) (and therefore in the objects 0x1600 - 0x1604 or 0x1A00 - 0x1A04). Changes to the PDO mapping are only permissible in the "Pre-Operational" state. The PDOs shown here correspond to the default setting.

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

Control word Setpoint 1 Setpoint 2 Setpoint 3

16 bit 32 bit (e.g. position setpoint) 16 bit

Low byte High byte Low Low byte Low High byte High Low byte High High byte Low byte High byte

The 16 and 32 bit process data must be transmitted in "Little Endian" format (Low byte - High byte).

NOTE

The PDO structure for a frequency inverter is pre-defined. With the use of the associated EDS file, no adaptation for the exchange of data is necessary.

Due to mapping of the PDO with 16 bit width, so-called dummy mapping is not necessary.

BU 0260 GB Subject to technical amendments 41

Supplementary Manual CANopen for NORDAC SK 20E

4.5.2.6 PDO transmission / access in USS Protocol Mode

The internal status machine of the frequency inverter (USS) applies for the transfer of process data. Access to the individual frequency inverters is according to the following pattern (see Section 4.9.4 "Frequency inverter objects (2000hex - 3005hex )").

PDO setpoint

Gateway

mode

2nd frequency inverter Sequence in CAN telegram Indication in word 0 0x3000 2 Control word (STW)

3rd frequency inverter Sequence in CAN telegram Indication in word 0 0x3000 3 Control word (STW)

4th frequency inverter Sequence in CAN telegram Indication in word 0 0x3000 4 Control word (STW) 1 0x3002 10 Setpoint 1 (SW1) 2 0x3002 11 Setpoint 2 (SW2) 3 0x3002 12 Setpoint 3 (SW3)

1 0x3002 7 Setpoint 1 (SW1) 2 0x3002 8 Setpoint 2 (SW2) 3 0x3002 9 Setpoint 3 (SW3)

1 0x3002 4 Setpoint 1 (SW1) 2 0x3002 5 Setpoint 2 (SW2) 3 0x3002 6 Setpoint 3 (SW3)

1st frequency inverter Sequence in CAN telegram Indication in word 0 0x3000 1 Control word (STW) 1 0x3002 1 Setpoint 1 (SW1) 2 0x3002 2 Setpoint 2 (SW2) 3 0x3002 3 Setpoint 3 (SW3)

Setpoint - PDO in USS Protocol Mode Index Sub-index Description

In the following example of a VIPA control, the linking of the objects (control word and setpoint) of FI 1 to those of the CANopen master is illustrated.

STW SW1 SW2 SW3

42 Subject to technical amendments BU 0260 GB

DOs

4 Commissioning

Actual PDO value

Gateway

mode

2nd frequency inverter Sequence in CAN telegram Indication in word 0 0x3001 2 Status word (ZSW)

3rd frequency inverter Sequence in CAN telegram Indication in word 0 0x3001 3 Status word (ZSW)

4th frequency inverter Sequence in CAN telegram Indication in word 0 0x3001 4 Status word (ZSW) 1 0x3003 10 Actual value 1 (IW1) 2 0x3003 11 Actual value 2 (IW2) 3 0x3003 12 Actual value 3 (IW3)

1 0x3003 7 Actual value 1 (IW1) 2 0x3003 8 Actual value 2 (IW2) 3 0x3003 9 Actual value 3 (IW3)

1 0x3003 4 Actual value 1 (IW1) 2 0x3003 5 Actual value 2 (IW2) 3 0x3003 6 Actual value 3 (IW3)

1st frequency inverter Sequence in CAN telegram Indication in word 0 0x3001 1 Status word (ZSW) 1 0x3003 1 Actual value 1 (IW1) 2 0x3003 2 Actual value 2 (IW2) 3 0x3003 3 Actual value 3 (IW3)

Actual value - PDO in USS Protocol Mode Index Sub-index Description

In the following example of a VIPA control, the linking of the objects (status word and actual value) of FI 1 to those of the CANopen master is illustrated.

STW

SW1

SW2

SW3

DIs

BU 0260 GB Subject to technical amendments 43

Supplementary Manual CANopen for NORDAC SK 20E

CANopen also enables direct access to the inputs and outputs of the BUS module. An example of the linking of the relevant objects in the control unit is shown in the illustrations above.

PDO setpoint

Actual PDO

value

BUS module

Sequence in CAN telegram Indication in word 1 0x3004 0 0 Output 1

BUS module Sequence in CAN telegram Indication in word 1 0x3005 0 0 Input 1

Setpoint - PDO in USS Protocol Mode Index

Actual value- PDO in USS Protocol Mode Index

Subindex

Bit Description

1 Output 2

Bit Description

1 Input 2 2 Input 3 3 Input 4

4.5.3 PDO communication in drive profile DS 402 ("Velocity Mode")

For more simple applications (only speed setpoints) the Velocity Mode in device profile DS 402 is available. For this, the profile must be activated in parameter (P168 [-01]) of the CANopen bus module SK xU4-CAO-… (corresponds to the default setting).

Activation of the profile affects all the frequency inverters on the system bus in the same way. The profile is only valid in parameter set 1.

The association of the objects in the drive profile Velocity Mode (Speed) can be seen from the following illustration.

Source: Velocity Mode CiA DSP 402 V1.1 page 178

For the transfer of process data in profile mode, the status engine is implemented according to the CANopen drive profile CiA DSP 402. In association with the drive profile, objects 0x6040 - 0x6044 are relevant instead of objects 0x3000 - 0x3004.

44 Subject to technical amendments BU 0260 GB









DS 402

4 Commissioning

PDO setpoint

Actual PDO

value

Frequency inverter

Sequence in CAN telegram Indication in word 0 0x6040 0 Status word 1 0x6042 0 Setpoint speed value

Frequency inverter

Sequence in CAN telegram Indication in word 0 0x6041 0 Status word 1 0x6044 1 Actual speed value

Setpoint - PDO in „Drive and Motion Control“ Index

Actual value - PDO in "Drive and Motion Control" Index

Subindex

Description

Illustration in the tables: Association with FI 1 – 4, bus modules DI/Os 0x60... parameter P168, P165, dynamic

mapping.

In this mode the digital inputs and outputs can only be mapped into the PDO via the objects 0x60FD and 0x60FE (see Section 4.9.3 "CANopen objects DSP402 – drive profile").

4.5.4 SDO communication

In order to exchange parameter data, the participants can communicate via SDOs. In order to access the various frequency inverters in Gateway mode (see Section 4.9.1 "Predefined

Connection Set") the SDOs must be enabled. Enabling of the relevant SDO channels is made via parameter (P160) of the CANopen technology unit.

4.5.4.1 Dynamic PDO mapping

The technology units SK xU4-CAO-... support so-called "Dynamic PDO mapping". This means that the information content of the PDOs can be changed. Mapping of the PDOs is not necessarily carried out by means or NORD parameterisation tools (NORDCON software or ParameterBox SK PAR-3H), but can also be performed directly via the CANopen protocol with the aid of SDOs. A detailed example of this is described in Section 7.4.2.3 "Application-specific mapping".

4.5.4.2 Structure of SDO telegrams

Access to all parameters of the frequency inverters connected to a common system bus is carried out via socalled service data objects (SDO). Access is via handshake between client and server, i.e. after a message is transmitted, the response must be waited for before a new message can be sent.

Only one TxSDO and one RxSDO are assigned to each frequency inverter in the object data set of the associated field bus module SK xU4-CAO-... As delivered, only the SDO for the frequency inverter FI 1 is enabled in the bus module. All further frequency inverters (FI 2 ... FI 4) these must be enabled as required via parameter (P160 [-03] ... [-05].

The node ID of the CANopen BUS Module is set via its DIP switch (see Section 2.2.3 "Configuration"). The Transmit and Receive IDs of the frequency inverters connected to this system bus result from the node ID and the system bus address of the frequency inverter.

Transmit and receive addresses for SDO access as seen from the PLC

6000

5800

Node IDxDTransmit I

Node IDxReceive ID

BU 0260 GB Subject to technical amendments 45

Supplementary Manual CANopen for NORDAC SK 20E

The definition of addresses is summarised in Section 4.9.1 "Predefined Connection Set".

An SDO telegram is divided into a configuration area and a data area. "Little Endian" format is also used for SDOs.

Configuration area Data area

Control byte Index Sub-index Data

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

E.g.:

"Download"

Byte Low byte High byte Byte Low Low byte Low High byte High Low byte High High byte

"Parameter number"

E.g.:

"Array"

"Parameter values"

E.g.:

4.5.4.3 Transmitting parameter data via SDO

Transmission of an SDO on the bus is as follows:

Transmit an 8 bit value (0x100d Sub 00 / Data = 10)

Control byte Index Sub-index Data

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

0x2f 0x0d 0x10 0x00 0x0a 0x00 0x00 0x00

Transmitting a 16 bit value (0x1800 Sub 03 / Data = 100)

Control byte Index Sub-index Data

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

0x2b 0x00 0x18 0x03 0x64 0x00 0x00 0x00

Transmitting a 32 bit value (0x1801 Sub 01 / Data = 0x40000282)

Control byte Index Sub-index Data

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

0x23 0x01 0x18 0x01 0x82 0x02 0x00 0x40

The response for an error-free telegram is =x60 in Byte 0. Other responses indicate an error (see Section

4.5.4.5 "Cancelling of parameter communication").

4.5.4.4 Loading parameter data via SDO

The request of an SDO via the bus is as follows.

Load a 16 bit value (0x1800 Sub 03)

Control byte Index Sub-index Data

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

0x40 0x00 0x18 0x03 0x00 0x00 0x00 0x00

Response (0x1800 Sub 3 = 1000)

Status byte Index Sub-index Data

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

0x4b 0x00 0x18 0x03 0xe8 0x03 0x00 0x00

46 Subject to technical amendments BU 0260 GB

4 Commissioning

Load a 32 bit value (0x1800 Sub 01)

Control byte Index Sub-index Data

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

0x40 0x00 0x18 0x01 0x00 0x00 0x00 0x00

Response (0x1800 Sub 1 = 0x40000182)

Status byte Index Sub-index Data

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

0x43 0x00 0x18 0x01 0x82 0x01 0x00 0x40

If the query is faulty, the response in byte 0 = 0x80.

4.5.4.5 Cancelling of parameter communication

If problems occur during parameter communication (e.g. value range overflow), a cancel telegram is sent. This can be recognised by the number 0x80 in byte 0. The cause of the cancellation is indicated in bytes 4 to 7.

Status byte Last index used Error code

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

0x80 0x00 0x18 0x01 0x02 0x00 0x01 0x06

Example of error message ( 0x06010002 = Access to read-only object)

A list of all possible error codes is contained in Section 4.9.5 "Error codes – cancellation of parameter communication"

4.6 Timeout monitoring

Various timeout monitoring modules can be defined. Details of these are described in Section 6.1.1 "Error monitoring details".

4.7 Saving the parameters

If the CANopen bus module is accessed via RS232 (e.g. via NORDCON software or the ParameterBox), the parameter changes are saved in the EEPROM immediately. Loading of the factory settings can be carried out via parameter (P152).

For changes to module parameters via the CANopen bus, 0x1010 Subindex 1 is used to save the parameter. Restoration of default values is possible via 0x1011 Subindex 1.

4.8 Special features of CANopen communication

The DSP402 drive profile is only implemented in the field bus modules (SK xU4-CAO). Broadcast operation is not possible via the CANopen field bus modules (SK xU4-CAO). This can only take

place directly between the frequency inverters at system bus level or with direct connection of the frequency inverter to the CANopen field bus.

BU 0260 GB Subject to technical amendments 47

Supplementary Manual CANopen for NORDAC SK 20E

4.9 Object dictionary

The object dictionary describes the complete functionality of the CANopen devices and is organised in the form of a table (see also the table in Section 7.2 "Structure of reference data"). In addition to standardised data types and objects of the CANopen communication profile, this dictionary also contains the device profiles of Nord product-specific objects (inverter and module parameters). Addressing is performed via a 16 bit index (row address of the table) and an 8 bit subindex (column address of the table).

Index (hex) Object

0000 Not used 0001 - 001F Statistical data types 0020 - 003F Complex data types 0040 - 005F Data types specific to manufacturer 0060 - 007F Statistical data types specific to profile 0080 - 009F Statistical data types specific to profile 00A0 - 0FFF Reserved 1000 - 1FFF Communication profile (DS-301) 2000 - 5FFF Parameters specific to manufacturer (Nord product-specific parameters) 6000 - 9FFF Parameters from standardised device profiles (DSP-402) A000 - FFFF Reserved

All available objects are contained in the “Electronic data sheet” (eds file) of the NORDAC frequency inverter or the SK xU4-CAO-...-BUS module.

48 Subject to technical amendments BU 0260 GB

4 Commissioning

4.9.1 Predefined Connection Set

The bus module is equipped with 5 Transmit and Receive PDOs and 4 SDO channels. The Predefined Connection Set of the CANopen standard DS301 does not provide so many PDO and SDO

channels. Therefore there is a danger of address conflicts with devices which use the Predefined Connection set defined in DS301. In order to keep this danger as small as possible, the additional channels are divided into the address space (Node-ID) 64 to 127.

The following table contains the Predefined Connection Set for the bus modules SK xU4-CAO-... . With these

default settings (see also parameter (P161) “COB-ID” and (P160) for the validity of the COB-ID) an exchange of process data to all 4 frequency inverters connected to the system bus (Gateway Mode) is possible.

In order to implement communication via SDOs, the relevant arrays must be enabled in parameter (P160).

Object Availability COB-ID Accessed FI

NMT Enabled 0 FI 1, FI 2, FI 3, FI 4 and bus module SYNC Enabled 0x80 FI 1, FI 2, FI 3, FI 4 and bus module

EMERGENCY Enabled 0x80 + Address FI 1, FI 2, FI 3, FI 4 and bus module PDO1 (Tx) Enabled 0x180 + Address FI 1 PDO1 (Rx) Enabled 0x200 + Address FI 1 PDO2 (Tx) Enabled 0x280 + Address FI 2 PDO1 (Rx) Enabled 0x300 + Address FI 2 PDO3 (Tx) Enabled 0x380 + Address FI 3 PDO3 (Rx) Enabled 0x400 + Address FI 3 PDO4 (Tx) Enabled 0x480 + Address FI 4 PDO4 (Rx) Enabled 0x500 + Address FI 4 PDO5 (Tx) Disabled 0x1C0 + Address Bus module PDO5 (Rx) Disabled 0x240 + Address Bus module

SDO1 (Tx) Enabled 0x580 + Address FI 1, bus module SDO1 (Rx) Enabled 0x600 + Address FI 1, bus module SDO2 (Tx) Disabled 0x2C0 + Address FI 2 SDO2 (Rx) Disabled 0x340 + Address FI 2 SDO3 (Tx) Disabled 0x3C0 + Address FI 3 SDO3 (Rx) Disabled 0x440 + Address FI 3 SDO4 (Tx) Disabled 0x4C0 + Address FI 4 SDO4 (Rx) Disabled 0x540 + Address FI 4

NMT Error Control Enabled FI 1, FI 2, FI 3, FI 4 and bus module

ATTENTION

For devices from other manufacturers, CAN addresses (Node-ID) higher than 64 should be used with caution, as they could be occupied by CANopen bus modules:

Additionally occupied Node-ID = Node-ID (bus module) + 64.

BU 0260 GB Subject to technical amendments 49

Supplementary Manual CANopen for NORDAC SK 20E

4.9.2 CANopen profile DS301

The available objects are defined according to communication profile DS301.

4.9.2.1 Communication objects (1000

Index Sub Object Description Unit Access Type

0x1000 0 Device type Device type and functionality RO U32

0x1001 0 Error register

0x1002 0 Status register Status of the module RO U32

0x1003 ARR Pre-defined error Error signaled by an emergency object U8

- 1200

hex

The Error Register is set to 1 (=generic error) if one of the connected frequency inverters is in an error state. In addition, it is monitored whether a registered inverter goes missing. In this case, this register will also be set.

hex

)

RO U8

0 Number of errors

1 Error code Error number RO U32

0x1005 0 COB-ID SYNC

0x1008 0 Device name Device name RO STR

0x1009 0 Hardware version Hardware version RO STR

0x100A 0 Software version Software version FI+CO RO STR

0x100C 0 Guard time

0x100D 0 Life time factor

0x1010 0 Store parameters

0x1011 0

Restore default

parameters

Number of errors; 0 deletes the error list

Identifier for SYNC messages (default 80h) (see parameter (P161 [-01]))

Guard time (0=off) (see parameter (P166 [-01]))

Life time = Life time factor * Guard time (see parameter (P167))

With this object it is possible to permanently save settings made by the user. To do this, the signature “Save“ (lower case letters ASCII – MSB - 0x65 76 61 73 - LSB) must be written in Index 0x1010 Sub-index

1. The saving process runs in the background and is confirmed with an SDO response telegram.

Caution switches after saving a configuration, the saved configuration will still be used. The default mapping is restored with the object 0x1011.

With this object it is possible to restore parameters saved by the user to the default settings. By writing the signature "load" (lower case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) in Index 0x1011 Subindex 1, the standard factory settings will be loaded after the following Power ON and every other Power ON (until the next SAVE command). (see parameter (P152))

: If the module ID is changed with the DIP

RW U8

RW U32

ms RW U16

RW U8

RW U32

0x1014 0

0x1015 0 Inhibit time EMCY Minimum repeat time ms RW U16

0x1017 0

0x1018 REC Identity object General device information U32

0 Largest sub-index Number of elements RO U8

1 Vendor ID CiA-listed manufacturer code RO U32

2 Product code Device version (product number) RO U32

3 Revision number Software version and revision number (2x16 bit) RO U32

50 Subject to technical amendments BU 0260 GB

COB-ID

Emergency Object

Producer Heartbeat

time

Identifier Emergency Object (80h+Node-ID)

Cycle time of the heartbeat function (see Parameter (P166 [-02]))

RO U32

ms RW U16

4 Commissioning

Index Sub Object Description Unit Access Type

4 Serial number Serial number RO U32

0x1200 REC Default server SDO Server SDO

0 Largest sub-index Number of elements RO U8

0x1200 2

0x1201-

Rec, 0 See above (0x1200)

0x1203

0x1201 1

0x1202 1

0x1203 1

COB-ID Server>Client

(rx)

COB-ID Server>Client

(tx)

COB-ID Server>Client

(rx)

COB-ID Server>Client

(tx)

COB-ID Server>Client

(rx)

COB-ID Server>Client

(tx)

COB-ID Server>Client

(rx)

Identifier of Receive SDO (600h+ID) SDO for FI 1 and the bus module (see parameter (P161 [-03]))

Identifier of Receive SDO (580+ID) SDO for FI 1 and the bus module (see parameter (P161 [-03]))

Identifier of Receive SDO (340h+ID) SDO for FI 2 (see parameter (P161 [-05]))

Identifier of Transmit SDO (2C0h+ID) SDO for FI 2 (see parameter (P161 [-04]))

Identifier of Receive SDO (440h+ID) SDO for FI 3 (see parameter (P161 [-07]))

Identifier of Transmit SDO (3C0h+ID) SDO for FI 3 (see parameter (P161 [-06]))

Identifier of Receive SDO (540h+ID) SDO for FI 4 (see parameter (P161 [-09]))

RO U32

RW U32

COB-ID Server>Client

(tx)

Identifier of Transmit SDO (4C0h+ID) SDO for FI 4 (see parameter (P161 [-08]))

RW U32

BU 0260 GB Subject to technical amendments 51

Supplementary Manual CANopen for NORDAC SK 20E

4.9.2.2 PDO objects (1400

Index* Sub Object Description Unit Access Type

- 1A04

hex

)

0x1400-

0x1404

0 Largest sub-index Number of elements RO U8

1 COB-ID used by PDO

2 Transmission type

3 Not used Not used - -

4 Reserved Reserved - -

5 Not used Not used - -

0x1600-

0x1604

0 Largest sub-index Number of elements RO U8

0x1600-

0x1603

0x1604 1 PDO mapping

Receive PDO communication

REC

1-4 PDO mapping

parameter

Receive PDO mapping

parameter

Receive PDO characteristics RW

Receive PDO identifier (see parameter (P161 [-11,-13,-15,-17,-19]))

Receive PDO type (see Section 4.5.2.2 "PDO

operating modes (transmission type)")

(see parameter (P162 [-02,-04,-06,-08,-10]))

Receive PDO mapping (see Section 4.5.2.5

PDO mapping")

Mapped objects (FI 1 … FI 4)

(see parameter (P165 [-05 … -08], (P165 [-13 … -16], (P165 [-21 … -24], (P165 [-29 … -32])

Bus module

(see parameter (P165 [-34])

RW U32

RW U8

RW U32

0x1800-

0x1804

0 Largest sub-index Number of elements RO U8

1 COB-ID used by PDO

2 Transmission type

3 Inhibit time

4 Reserved Reserved - -

5 Event timer

0x1A00-

0x1A04

0 Largest sub-index Number of elements RW U8

0x1A00-

0x1A03

Transmit PDO communication

REC

1-4 PDO mapping

parameter

Transmit PDO mapping

parameter

Transmit PDO characteristics RW

Receive PDO identifier (see parameter (P161 [-10,-12,-14,-16,-18]))

Transmit PDO type (see Section 4.5.2.2 "PDO operating modes (transmission

type)")

(see parameter (P162 [-01,-03,-05,-07,-09]))

Minimum transmission time (see parameter (P163 [-01 … -05]))

Cyclical transmission timer (see parameter (P163 [-01 … -05]))

Receive PDO mapping (see Section 4.5.2.5

PDO mapping")

Mapped objects (FI 1 ... FI 4)

(see parameter (P165 [-01 … -04], (P165 [-12 … -15], (P165 [-20 … -23], (P165 [-28 … -31])

RW U32

RW U8

100µs RW U16

ms RW U16

RW U32

Bus module

0x1A04 1 PDO mapping

* xx00 hex = FI1, xx01 hex = FI2, xx02 hex = FI3, xx03 hex = FI4, xx04 hex = Bus module

(see parameter (P165 [-33])

RW U32

52 Subject to technical amendments BU 0260 GB

4 Commissioning

4.9.3 CANopen objects DSP402 – drive profile

From the device profile DS402, the operating mode "Velocity Mode" is supported by the CANopen modules SK xU4-CAO(-...). In order to use this drive profile, the operating mode "Profile" must be switched on in parameter (P168 [-01]) and the PDOs mapped to the objects used (e.g. 0x6040 + 0x6042 RxPDO and 0x6041 + 0x6044 TxPDO) In this operating mode the digital inputs and outputs of the bus module can only be mapped in the PDO via the objects 0x60FD and 0x60FE. Direct processing of these I/Os via the connected frequency inverter(s) is not possible.

Index Sub Object Description Unit Access Type

0x603F 0 Error code Last error RO U16 0x6040 0 Control word

0x6041 0 Status word

0x6042 0 Vl_target_velocity Speed setpoint rpm RW I16 0x6043 0 Vl_velocity_demand Speed setpoint after ramp rpm RO I16 0x6044 0 Vl_control_effort Actual speed value rpm RO I16 0x6046 Vl_velocity_min_max_amount 0 Largest sub-index Number of elements RO U8 1 Vl_velocity_min_amount Min. speed rpm RW U32 2 Vl_velocity_max_amount Max. speed rpm RW U32 0x6048 Vl_velocity_acceleration Speed acceleration 0 Largest sub-index Number of elements RO U8 1 Delta_speed

2 Delta_time

Control word

0 = Standby / Shut down 1 = Disable voltage / Enable voltage 2 = Rapid stop / Enable operation 3 = Enable / Disable operation 4 = Rapid stop / No rapid stop 5 = Stop run-up encoder / Enable run-up

encoder 6 = Disable / Enable setpoint 7 = 0 / Acknowledge fault 8 = Reserved 9 = Reserved 10 = Reserved 11 = Rotation right / Rotation left 12 = Reserved 13 = Reserved 14 = Reserved 15 = Reserved

Status word

0 = Not on standby /Standby 1 = Not ready / Ready 2 = Operation disabled / Enabled 3 = No fault / Fault 4 = Voltage enabled / Voltage disabled 5 = Rapid stop active / No rapid stop 6 = No switch-on lock / Switch-on lock 7 = No warning / Warning 8 = Reserved 9 = Local control / Bus control 10 = Setpoint not reached / Setpoint reached 11 = Setpoint not limited / Setpoint limited

12 = Reserved 13 = Reserved 14 = Reserved 15 = Reserved

Delta speed

(see Parameter (P168 [-02, -06, -10, -14]))

Delta time

(see Parameter (P168 [-03, -07, -11, -15]))

RW U16

RO U16

rpm RW U32

S RW U16

BU 0260 GB Subject to technical amendments 53

Supplementary Manual CANopen for NORDAC SK 20E

Index Sub Object Description Unit Access Type

0x6049 Vl_velocity_deceleration Speed deceleration 0 Largest sub-index Number of elements RO U8 1 Delta_speed

Delta speed

rpm RW U32

(see parameter (P168 [-04, -08, -12, -16]))

2 Delta_time Delta time

(see parameter

S RW U16

(P168 [-05, -09, -13, -17]))

0x60FD Digital inputs profile

PDO data (00 0X 00 00)

0x60FE Digital outputs profile

0…15 = Reserved 16 = Digital input 1 (ext. + int. modules) 17 = Digital input 2 (ext. + int. modules) 18 = Digital input 3 (ext. modules) 19 = Digital input 4 (ext. modules) 20…31 = Reserved 0…15 = Reserved 16 = Digital output 1 (ext. modules) 17 = Digital output 2 (ext. modules) 18…31 = Reserved

RO U32

RW U32

54 Subject to technical amendments BU 0260 GB

4 Commissioning

4.9.4 Frequency inverter objects (2000

Index Sub Object Description Unit Acc Type

0x20000x23E7

0x3000 0

0x3000 1 Control word Control word (STW) FI 1 RW U16 0x3000 2 Control word Control word (STW) FI 2 RW U16 0x3000 3 Control word Control word (STW) FI 3 RW U16 0x3000 4 Control word Control word (STW) FI 4 RW U16 0x3001 0

0x3001 1 Status word Status word (ZSW) FI 1 RO U16 0x3001 2 Status word Status word (ZSW) FI 2 RO U16 0x3001 3 Status word Status word (ZSW) FI 3 RO U16 0x3001 4 Status word Status word (ZSW) FI 4 RO U16 0x3002 0

0x3002 1 Setpoint 1 Setpoint 1 (SW1) FI 1 RW U16 0x3002 2 Setpoint 2 Setpoint 2 (SW2) FI 1 RW U16 0x3002 3 Setpoint 3 Setpoint 3 (SW3) FI 1 RW U16 0x3002 4 Setpoint 1 Setpoint 1 (SW1) FI 2 RW U16 0x3002 5 Setpoint 2 Setpoint 2 (SW2) FI 2 RW U16 0x3002 6 Setpoint 3 Setpoint 3 (SW3) FI 2 RW U16 0x3002 7 Setpoint 1 Setpoint 1 (SW1) FI 3 RW U16 0x3002 8 Setpoint 2 Setpoint 2 (SW2) FI 3 RW U16 0x3002 9 Setpoint 3 Setpoint 3 (SW3) FI 3 RW U16 0x3002 10 Setpoint 1 Setpoint 1 (SW1) FI 4 RW U16 0x3002 11 Setpoint 2 Setpoint 2 (SW2) FI 4 RW U16 0x3002 12 Setpoint 3 Setpoint 3 (SW3) FI 4 RW U16 0x3003 0

0x3003 1 Actual Value 1 Actual value 1 (IW1) FI 1 RO U16 0x3003 2 Actual Value 2 Actual value 2 (IW2) FI 1 RO U16 0x3003 3 Actual Value 3 Actual value 3 (IW3) FI 1 RO U16 0x3003 4 Actual Value 1 Actual value 1 (IW1) FI 2 RO U16 0x3003 5 Actual Value 2 Actual value 2 (IW2) FI 2 RO U16 0x3003 6 Actual Value 3 Actual value 3 (IW3) FI 2 RO U16 0x3003 7 Actual Value 1 Actual value 1 (IW1) FI 3 RO U16 0x3003 8 Actual Value 2 Actual value 2 (IW2) FI 3 RO U16 0x3003 9 Actual Value 3 Actual value 3 (IW3) FI 3 RO U16 0x3003 10 Actual Value 1 Actual value 1 (IW1) FI 4 RO U16 0x3003 11 Actual Value 2 Actual value 2 (IW2) FI 4 RO U16 0x3003 12 Actual Value 3 Actual value 3 (IW3) FI 4 RO U16 0x3004 0 Digital outputs Control of digital outputs RW U16 0x3005 0 Digital inputs Status of digital inputs RO U16

- FI parameter FI parameter

Largest Subindex

- 3005

hex

(see parameter (P165)):

Number of control word elements RO U8

Number of status word elements RO U8

Number of setpoint elements RO U8

Number of actual value elements RO U8

hex

)

BU 0260 GB Subject to technical amendments 55

Supplementary Manual CANopen for NORDAC SK 20E

4.9.5 Error codes – cancellation of parameter communication

The following table gives an overview of the possible error codes which may be generated on cancellation of parameter communication.

Error code Description

0x0503 0000 Toggle bit unchanged 0x0504 0000 SDO timeout message 0x0504 0001 Client/Server command invalid / unknown 0x0504 0005 No memory 0x0601 0000 Illegal access to an object 0x0601 0001 Access to write-only parameter 0x0601 0002 Access to read-only object 0x0602 0000 Object does not exist in object dictionary 0x0604 0041 Object cannot be mapped in PDO 0x0604 0042 Object exceeds PDO length 0x0604 0043 Parameter incompatibility 0x0604 0047 Module internally incompatible 0x0606 0000 Access failure due to hardware error 0x0607 0010 Data type or parameter length do not match 0x0607 0012 Data type incorrect, parameter length too long 0x0607 0013 Data type incorrect, parameter length too short 0x0609 0011 Sub-Index of parameter does not exist 0x0609 0030 Parameter value range overflow 0x0609 0031 Parameter value range overflow 0x0609 0032 Parameter value range undershot 0x0800 0020 Data transfer or storage not possible 0x0800 0021 Data transfer or storage not possible; reason: local control

4.9.6 Error messages (EMCY message)

The following error groups are defined in the communication profile DS-301.

Error Code (hex) Significance

00xx No error 10xx Undefined error type 20xx Current error 30xx Voltage error 40xx Temperature error 50xx Hardware error 60xx Software error 70xx Additional module 80xx Communication 90xx External error FF00 Specific to device

56 Subject to technical amendments BU 0260 GB

The allocation of special error codes for Nord inverters is carried out as follows:

Error code FI error number (corresponds to (P700)) Explanation

0x1000 ---

0x4210 1.0 / 1.1 0x4310 2.0 / 2.1 / 2.2 0x2310 3.0 0x7112 3.1 0x2311 3.2 0x2312 3.3 0x2200 4.0 / 4.1 0x3210 5.0 0x3110 5.1 0x3230 6.0 0x3120 6.1 0x3130 7.0 0x6310 8.0 0x5530 8.1 / 8.2 0x8100 10.0 / 10.1 / 10.2 0x8111 10.3 / 10.4 / 10.5 / 10.6 / 10.7 / 10.9 0x5000 10.8 0x5110 11.0 0x9000 12.0 0x7305 13.0 0x8400 13.1 0x8300 13.2 0x7120 16.0 / 16.1 0x5300 17.0 0x7120 18.0 0x7120 19.0 0x5510 20.0 0x6000 20.1 / 20.2 / 20.3 / 20.4 / 20.5 / 20.6 / 20.7 0x5520 20.8 0x6000 20.9 / 21.0 / 21.1 / 21.2 / 21.3 0x8110 --- CAN reception overflow (message lost) 0x8111 --- CAN reception overflow (message lost) 0x8120 --- Passive CAN error 0x8130 --- CAN Guarding / Heartbeat error detected 0x8210 --- PDO length error 0x8220 --- PDO length error (too long)

The error number transmitted by FI is not known to the technology unit. It must be read out via (P700) or an actual value.

Meaning:

see frequency inverter manual.

4 Commissioning

BU 0260 GB Subject to technical amendments 57

Supplementary Manual CANopen for NORDAC SK 20E

5 Parameterisation

In order to enable communication via CANopen, the frequency inverter and the CANopen Technology Unit must be parameterised accordingly.

With the CANopen protocol, the inverter parameters are mapped in the range above 2000 parameterisation via the bus, 2000 → 2000

hex

+1FD

=21FD

hex

must be added to the parameter numbers (e.g. (P508): 508

hex

i.e. for

hex

= 1FD

dez

5.1 Parameterising the SK 200E frequency inverter

The following list of parameters for the frequency inverter series SK 200E are directly relevant for the operation of the frequency inverter via CANopen. A complete list of parameters for the frequency inverter LEDs (SK 200E) can be found in the relevant manual (BU0200).

5.1.1 Basic parameters (P100)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

hex

P120 … [-01]

... … [-04]

0 ... 2

{ 1 }

Option monitoring

Array levels:

… [-01] = Extension 1 (BUS-TB)

… [-02] = Extension 2 (IO-TB)

… [-03] = Extension 3 (reserved)

… [-04] = Extension 4 (reserved)

Setting value for each array:

0 = Monitoring OFF 1 = Auto, communication is only monitored if an

existing communication is interrupted. If a module which was previously present is not found when the network is switched on, this does not Monitoring only becomes active when the extension begins communication with the FI.

2 = Monitoring active immediately; the FI starts

monitoring the corresponding module immediately after it is switched on. If the module is not detected on switch-on, the FI remains in the status "not ready for switch-on" for 5 seconds and then triggers an error message.

result in an error.

58 Subject to technical amendments BU 0260 GB

5.1.2 Control terminal parameters (P400)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

5 Parameterisation

Parameter set

P420 … [-01]

... … [-04]

0 ... 72

{ [-01] = 01 }

{ [-02] = 02 }

{ [-03] = 04 }

{ [-04] = 05 }

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. For the complete list, please refer to the SK 200E frequency inverter manual (BU0200).

NOTE: The additional digital inputs of the field bus group are managed via parameter (P480).

Except...

Value Function Description Signal

No function Input switched off. ---

…

14 1

Remote control

…

Also effective for bus control (RS232, RS485, CANbus, CANopen, DeviceNet, Profibus, InterBus, AS-Interface)

With bus system control, low level switches the control to control via control terminals.

High

Parameter

{Factory setting}

P480 ... [-01]

... ... [-12]

0 ... 72

{ [-01] = 01 }

{ [-02] = 02 }

{ [-03] = 05 }

{ [-04] = 12 }

{ [-05...-12] = 00 }

Setting value / Description / Note Device Supervisor

Function bus I/O In Bits

The bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420).

These I/O bits can also be used in combination with the AS Interface (SK 225E or SK 235E) or the I/O extension (SK CU4-IOE or SK TU4-IOE).

… [-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

The possible functions for the bus In bits can be found in the table of functions for the digital inputs in parameter (P420).

… [-07] = Bus I/O In Bit 6

… [-08] = Bus I/O In Bit 7

… [-09] = Flag 1

… [-10] = Flag 2

… [-11] = Bit 8 BUS control word

… [-12] = Bit 9 BUS control word

Parameter set

BU 0260 GB Subject to technical amendments 59

Supplementary Manual CANopen for NORDAC SK 20E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

P481 ... [-01]

... ... [-10]

0 ... 39

{ all 0 }

P482 ... [-01]

... ... [-08]

-400 … 400 %

{ all 100 }

Function Bus I/O Out bits

The bus I/O Out bits are perceived as multi-function relay outputs. They can be set to the same functions (P434).

These I/O bits can also be used in combination with the AS Interface (SK 225E or SK 235E) or the I/O extension (SK CU4-IOE or SK TU4-IOE).

… [-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

The possible functions for the bus Out bits can be found in the table of functions for the relay (P434)

… [-07] =Flag 1

… [-08] = Flag 2

… [-09] = Bit 10 BUS status word

… [-10] = Bit 13 BUS status word

Standardisation of bus I/O Out bits

Adjustment of the limit values of the bus Out bits. For a negative value, the output function will be output negative.

Once the limit value is reached and positive values are delivered, the output produces a High signal, for negative setting values a Low signal.

P483 ... [-01]

... ... [-08]

1 … 100 %

{ all 10 }

Hysteresis of bus I/O Out bits

Difference between switch-on and switch-off point to prevent oscillation of the output signal.

60 Subject to technical amendments BU 0260 GB

5.1.3 Supplementary parameter (P500)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

5 Parameterisation

Parameter set

P509 Control word source

0 ... 4

{ 0 }

*) Keyboard control (SimpleBox, ParameterBox, PotentiometerBox) is disabled,

NOTE:

P510 ... [-01]

... [-02]

0 ... 4

{ [-01] = 0 }

{ [-02] = 0 }

Selection of the interface via which the FI is controlled.

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

ParameterBox or via BUS I/O Bits.

1 = Only control terminals *, the FI can only be controlled via the digital and analog input

signals or via the bus I/O bits.

2 = USS *, the control signals (enable, rotation direction, etc.) are transferred via the RS485

interface, the setpoint via the analog input or the fixed frequencies.

3 = System bus*

4 = System bus broadcast *

parameterisation is still possible.

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

FI will disable without an error message.

For details of the optional bus systems, please refer to Manual BU 0250.

As an alternative to setting the parameter, System Bus Broadcast can be selected with DIP switch 3.

- www.nord.com

Setpoint source

Selection of the setpoint source to be parameterised.

… [-01] = Main setpoint source … [-02] = Subsidiary setpoint source

Selection of the interface via which the FI receives the setpoint.

0 = Auto:the source of the auxiliary setpoint is

automatically derived from the setting in the parameter P509 >Interface<

1 = Control terminals, digital and analog inputs

control the frequency, including fixed frequencies

–

2 = USS

3 = System bus

4 = System bus broadcast

P513 Telegram downtime

-0.1 / 0.0 /

0.1 ... 100.0 s

{ 0.0 }

BU 0260 GB Subject to technical amendments 61

Monitoring function of the active bus interface. Following receipt of a valid telegram, the next one must arrive within the set period. Otherwise the FI reports an error and switches off with the error message E010 >Bus Time Out<.

0.0 = Off: Monitoring is switched off.

-0.1 = No error: Even if communication between BusBox and FI is interrupted (e.g. 24V error,

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

Note:

In BUS mode (e.g.: CANopen), monitoring is controlled via parameter (P120). Settings in parameter (P513) therefore have no effect.

Exception:

Setting {-0,1}

Supplementary Manual CANopen for NORDAC SK 20E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

P514 CAN baud rate (system bus)

0 ... 7

{ 5 }**

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

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

*) Safe operation cannot be guaranteed

**) for communication with the bus module, the parameter must be left at the factory setting (250kBaud) otherwise no communication is possible.

P515 ... [-01]

… ... [-03]

0 ... 255 dec

{ all 32 dec}

or { all 20 hex}

NOTE:

CAN address (system bus)

Setting of the system bus address.

… [-01] = Receive address for system bus

… [-02] = Broadcast – Receive address for system bus (slave)

… [-02] = Broadcast – Transmit address for system bus (master)

If up to four SK 200E are to be linked via the system bus, the addresses must be set as follows FI 1 = 32, FI 2 = 34, FI 3 = 36, FI 4 = 38.

The system bus addresses should be set via the DIP switches 1/2 (Section 2.2.3 ).

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

6 = 500kBaud 7 = 1Mbaud *

62 Subject to technical amendments BU 0260 GB

5 Parameterisation

Parameter

{Factory setting}

P543 … [-01]

... … [-03]

0 ... 22

{ [-01] = 01 }

{ [-02] = 04 }

{ [-03] = 09 }

Setting value / Description / Note Device Supervisor

Actual bus value 1 3

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

NOTE: For further details, please refer to the description for (P418).

… [-01] = Actual bus value 1

… [-02] = Actual bus value 2

… [-03] = Actual bus value 3

Possible values which can be set:

0 = Off 1 = Actual frequency 2 = Actual speed 3 = Current 4 = Torque current (100% = P112) 5 = State of digital inputs and outputs 6 = ... 7 Reserved 8 = Setpoint frequency 9 = Error number

10 = ... 11 Reserved 12 = Bus Out bits 0...7 13 = ... 16 Reserved 17 = Value analog input 1 (P400) 18 = Value analog input 2 (P405)

19 = Setpoint frequency master value (P503) 20 = Setpoint frequency after master value ramp 21 = Actual frequency without master value slip 22 = Speed from encoder

S P

Parameter set

P546 … [-01]

... … [-03]

0 ... 24

{ [-01] = 01 }

{ [-02] = 00 }

{ [-03] = 00 }

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 description for (P400).

… [-01] = Actual bus value 1

… [-02] = Actual bus value 2

… [-03] = Actual bus value 3

Possible values which can be set:

0 = Off 1 = Setpoint frequency (16 bit) 2 = Frequency addition 3 = Frequency subtraction 4 = Minimum frequency 5 = Maximum frequency 6 = PI process controller actual value 7 = PI process controller setpoint 8 = Actual frequency PID 9 = Actual PID frequency limited

10 = Actual PID frequency monitored

11 = Limiting torque current 12 = Torque current switch-off limit 13 = Limiting current 14 = Current switch-off limit 15 = Ramp time 16 = Lead torque (P214) multiplication 17 = Servo mode torque 18 = Curve travel calculator 19 = Digital In bits 0...7 20 = ...24 reserved for Posicon

S P

The assignment of the digital inputs for P543 = 5

Bit 0 = DigIn 1 Bit 1 = DigIn 2 Bit 2 = DigIn 3 Bit 3 = DigIn 4 Bit 4 = Reserved Bit 5 = Reserved Bit 6 = Reserved Bit 7 = Reserved Bit 8 = Reserved Bit 9 = Reserved Bit 10 = Reserved Bit 11 = Reserved Bit 12 = Out 1 Bit 13 = Out 2 Bit 14 = Reserved Bit 15 = Reserved

BU 0260 GB Subject to technical amendments 63

Supplementary Manual CANopen for NORDAC SK 20E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

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:

Baud rate Minimum value tZ Default system bus master Default system bus

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

P560 Save in EEPROM

0 ... 1

{ 1 }

0 = Changes to the parameter settings are no longer saved on the EEPROM. Previously

saved settings remain stored, even if the FI is disconnected from the mains; however new changes are not saved after a mains failure.

1 = All parameter changes are automatically written to the EEPROM and remain stored there

even if the FI is disconnected from the mains supply.

NOTE: If BUS communication is used to implement parameter changes, it must be

ensured that the maximum number of write cycles (100,000 x) in the EEPROM is not exceeded.

64 Subject to technical amendments BU 0260 GB

5.1.4 Information parameters (P700)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

5 Parameterisation

Parameter set

P700 Current error

0.0 ... 21.4 Current error present. Further details are described in the frequency inverter manual (BU0200).

SimpleBox: Descriptions of the individual error numbers can be found under "Error messages".

ParameterBox: Errors are displayed in plain text, further information can be found under "Error

messages".

P701 ... [-01]

... ... [-05]

0.0 ... 21.4 This parameter stores the last 5 faults. Further details are described in the frequency inverter

Last fault 1...5

manual (BU0200).

With the SimpleBox the corresponding memory location 1...5 (Array parameter), must be selected and confirmed with the ENTER key in order to read the stored error code.

P740 ... [-01]

Process data bus In

…

... [-13]

0000 ... FFFF (hex) This parameter provides information about the actual control word (STW) and the setpoints

(SW1-3) that are transferred via the bus systems.

For values to be displayed, a bus system must be selected in P509.

… [-01 ] = Control word

… [-02] = Setpoint 1 (P546 [-01])

… [-03] = Setpoint 2 (P546 [-02])

… [-04] = Setpoint 3 (P546 [-03])

… [-05 ] = Bus I/O In bits (P480)

… [-06 ] = Parameter data In 1

… [-07 ] = Parameter data In 2

… [-08 ] = Parameter data In 3

… [-09 ] = Parameter data In 4

… [-10 ] = Parameter data In 5

… [-11 ] = Setpoint 1

… [-12 ] = Setpoint 2

… [-13 ] = Setpoint 3

Control word, source from P509.

Setpoint data from main setpoint P510 - 01.

The displayed value depicts all Bus In bit sources linked with OR.

Data during parameter transfer: Order label (AK), Parameter number (PNU), Index (IND), Parameter value (PWE 1/2)

Setpoint data from master function value (Broadcast), if P509/510 = 4 (P502/P503)

BU 0260 GB Subject to technical amendments 65

Supplementary Manual CANopen for NORDAC SK 20E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

P741 ... [-01]

...

... [-10]

0000 ... FFFF (hex) This parameter provides information about the actual status word and the actual values that are

Process data bus Out

transferred via the bus systems.

… [-01 ] = Status word

... [-02] = Actual value 1 (P543 [-01])

... [-03] = Actual value 2 (P543 [-02])

... [-04] = Actual value 3 (P543 [-03])

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

… [-06 ] = Parameter data Out 1

… [-07 ] = Parameter data Out 2

… [-08 ] = Parameter data Out 3

… [-09 ] = Parameter data Out 4

… [-10 ] = Parameter data Out 5

Status word

The displayed value depicts all bus Out bit sources linked with OR.

Data during parameter transfer.

P748 System bus status

0000 ... FFFF (hex)

0 ... 65535 (dec)

Shows the status of the system bus.

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 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

Bus module is online

Additional module 1 is online

Additional module 2 is online

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

Vacant

"Bootup Message" sent

CANopen NMT state

CANopen NMT state Bit 10 Bit 9 Stopped

Pre-Operational Operational

P749 DIP switch status

0 1 0

0000 ... 00FF (hex)

0 ... 255 (dec)

This parameter shows the current setting of the FI DIP switch (Section 2.2.3 "Configuration").

Bit 0

Bit 1

Bit 2

Bit 3

DIP switch 1

DIP switch 2

DIP switch 3

DIP switch 4

Bit 4

Bit 5

Bit 6

Bit 7

DIP switch 5

DIP switch 6

DIP switch 7

DIP switch 8

66 Subject to technical amendments BU 0260 GB

5 Parameterisation

5.2 Parameterisation of the bus module (SK CU4-… or SK TU4-…)

The following parameters affect the bus modules. With access via CANopen, 0x2000 must be added to the parameter. Counting of the sub-indices begins with 1.

5.2.1 BUS module standard parameters (P150)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter set

P150 Set relays

0 ... 4

{ 0 }

0 = Via bus 1 = Outputs OFF 2 = Output 1 to (DO1) 3 = Output 2 to (DO2) 4 = Outputs 1 and 2 ON

P151 Timeout for external bus

0 ... 32767 ms { 0 }

Monitoring function of the active bus technology unit. Following receipt of a valid telegram, the next one must arrive within the set period. Otherwise the inverter reports an error and switches off with the error message E010 / E10.2 >Bus Time Out< >Bus Time Out<.

0 = OFF: Monitoring is switched off.

Behaviour is identical to parameter (P513) telegram timeout for SK 200E.

P152 Factory setting

0 ... 1

{ 0 }

By selecting the appropriate value and confirming it with the ENTER key, the selected parameter range is entered in the factory setting. Once the setting has been made, the value of the parameter returns automatically to 0.

0 = No change:Does not change the parameterisation. 1 = Load factory settings: The complete parameterisation of the FI reverts to the factory

setting. All originally parameterised data are lost.

BU 0260 GB Subject to technical amendments 67

Supplementary Manual CANopen for NORDAC SK 20E

5.2.2 CANopen parameter (P160)

This parameter reflects the 0x1xxx communication parameters of CANopen. Therefore they can be read out or set by means of NORDCON or a ParameterBox. A summary of the objects can be found in Sections 8.4.2 and

8.4.3.

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

P160 ... [-01]

...

... [-10]

0 ... 4

{ [-01] = 3 }

{ [-02] = 3 }

{ [-03] = 0 }

{ [-04] = 0 }

{ [-05] = 0 }

{ [-06] = 3 }

{ [-07] = 3 }

{ [-08] = 3 }

{ [-09] = 3 }

{ [-10] = 0 }

COB-ID ON/OFF

Sets the validity of the SDO and PDO objects. (see Objects 1200

[-01] = Sync Message*

[-02] = SDO1**

[-03] = SDO2 (FI 2)

[-04] = SDO3 (FI 3)

[-05] = SDO4 (FI 4)

Possible setting values for Array [-02] to [-10]:

0 = Transmit and Receive channel off 1 = Receive channel on 2 = Transmit channel on 3 = Transmit and Receive channel on

* Setting here 0 = "OFF" 1 - 3 = "ON" ** Read Only *** Writing access only permitted for Pre-Operational

(hex)

(FI 1)

… 1203

(hex)

, 1400

(hex)

…1404

and 1800

(hex)

…1804

(hex)

[-06] = PDO1*** (FI 1)

[-07] = PDO2*** (FI 2)

[-08] = PDO3*** (FI 3)

[-09] = PDO4*** (FI 4)

[-10] = PDO5*** (bus module)

Parameter set

, each Sub-Index 1)

P161 ... [-01]

...

... [-19]

0 ... 7FF

(hex)

{see table on right}

COB-ID

Definition of the COB Index of individual SDO and PDO objects (see objects 1005 1400

Array

[-01] = COB-ID Sync

[-02] = SDO1 TX*

[-03] = SDO1 RX* (FI 1)

[-04] = SDO2 TX (FI 2)

[-05] = SDO2 RX (FI 2)

[-06] = SDO3 TX

[-07] = SDO3 RX (FI 3)

[-08] = SDO4 TX (FI 4)

[-09] = SDO4 RX (FI 4)

* Read Only ** Writing access only permitted for Pre-Operational

…1404

(hex)

Message

und 1200

(hex)

and1800

(hex)

(FI 1)

(FI 3)

… 1203

(hex)

…1804

(hex)

Factory setting

{ 0x0080 }

{ 0x0580+Addr.}

{ 0x0600+Addr.}

{ 0x02C0+Addr.}

{ 0x0340+Addr.}

{ 0x03C0+Addr.}

{ 0x0440+Addr.}

{ 0x04C0+Addr.}

{ 0x0540+Addr.}

, Sub-index 1 - Rx, Sub-index 2 - Tx,

(hex)

, each sub-index 1)

(hex)

Array

[-10] = PDO1 TX**

(FI 1)

[-11] = PDO1 RX** (FI 1)

[-12] = PDO2 TX**

(FI 2)

[-13] = PDO2 RX** (FI 2)

[-14] = PDO3 TX** [-15] = PDO3 RX**

(FI 3)

[-16] = PDO4 TX** (FI 4)

[-17] = PDO4 RX** (FI 4)

[-18] = PDO5 TX**

(bus module)

[-19] = PDO5 RX**(bus module)

Factory setting

{ 0x0180+Addr.}

{ 0x0200+Addr.}

{ 0x0280+Addr.}

{ 0x0300+Addr.}

{ 0x0380+Addr.}

{ 0x0400+Addr.}

{ 0x0480+Addr.}

{ 0x0500+Addr.}

{ 0x01C0+Addr.}

{ 0x0240+Addr.}

68 Subject to technical amendments BU 0260 GB

5 Parameterisation

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

P162 ... [-01]

...

... [-10]

0 ... 255

{ 255 }

PDO transmission type

Setting of transmission type. (see objects 1400

[-01] = PDO1 TX (FI 1)

[-02] = PDO1 RX (FI 1)

[-03] = PDO2 TX (FI 2)

[-04] = PDO2 RX (FI 2)

[-05] = PDO3 TX (FI 3)

P163 ... [-01]

...

... [-05]

0 ... 3276.7 ms

{ 10.0 }

TxPDO Inhibit time

Determines the minimum interval between the transmission of the same COB-IDs. (see objects 1800

[-01] = PDO1 (FI 1)

[-02] = PDO2 (FI 2)

[-03] = PDO3

[-04] = PDO4 (FI 4)

[-05] = PDO5

…1404

(hex)

…1804

(hex)

(FI 3)

(bus module)

and 1800

(hex)

, each Sub-index 3)

(hex)

…1804

[-06] = PDO3 RX

, each Sub-index 2)

(hex)

(FI 3)

[-07] = PDO4 TX (FI 4)

[-08] = PDO4 RX

(FI 4)

[-09] = PDO5 TX (bus module)

[-10] = PDO5 RX

(bus module)

Parameter set

P164 ... [-01]

...

... [-05]

0 ... 32767 ms

{ 250 }

TxPDO Event time

Defines a time interval, after which the process data (PDO) are transmitted. (see objects 1800

[-01] = PDO1 (FI 1)

[-02] = PDO2

[-03] = PDO3 (FI 3)

[-04] = PDO4

[-05] = PDO5 (bus module)

0 = "OFF"

(hex)

(FI 2)

(FI 4)

…1804

, each Sub-index 5)

(hex)

BU 0260 GB Subject to technical amendments 69

Supplementary Manual CANopen for NORDAC SK 20E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

P165 ... [-01]

...

... [-34]

0 ... FFFFFFFF

(hex)

{see table on right}

PDO mapping parameter

Definition of the mapping for transmitted and received process data. (see objects 1600

(PDO1 = FI1, PDO2 = FI2, PDO3 = FI3, PDO4 = FI4 PDO5 = Bus module)

Array

[-01] = PDO1 Tx Value 1

[-02] = PDO1 Tx Value 2

[-03] = PDO1 Tx Value 3

[-04] = PDO1 Tx Value 4

[-05] = PDO1 Rx Value 1

[-06] = PDO1 Rx Value 2

[-07] = PDO1 Rx Value 3

[-08] = PDO1 Rx Value 4

[-09] = PDO2 Tx Value 1

[-10] = PDO2 Tx Value 2

[-11] = PDO2 Tx Value 3

[-12] = PDO2 Tx Value 4

[-13] = PDO2 Rx Value 1

[-14] = PDO2 Rx Value 2

[-15] = PDO2 Rx Value 3

[-16] = PDO2 Rx Value 4

Note: [-33] and [-34] (PDO5) is the device itself, therefore only 2 bytes)

… 1604

(hex)

und 1A00

(hex)

Factory setting

{ 0x30000110 }

{ 0x30020110 }

{ 0x30020210 }

{ 0x30020310 }

{ 0x30010110 }

{ 0x30030110 }

{ 0x30030210 }

{ 0x30030310 }

{ 0x30000210 }

{ 0x30020410 }

{ 0x30020510 }

{ 0x30020610 }

{ 0x30010210 }

{ 0x30030410 }

{ 0x30030510 }

{ 0x30030610 }

…1A04

(hex)

, each Sub-index 1 - 4)

(hex)

Array

[-17] = PDO3 Tx Value 1

[-18] = PDO3 Tx Value 2

[-19] = PDO3 Tx Value 3

[-20] = PDO3 Tx Value 4

[-21] = PDO3 Rx Value 1

[-22] = PDO3 Rx Value 2

[-23] = PDO3 Rx Value 3

[-24] = PDO3 Rx Value 4

[-25] = PDO4 Tx Value 1

[-26] = PDO4 Tx Value 2

[-27] = PDO4 Tx Value 3

[-28] = PDO4 Tx Value 4

[-29] = PDO4 Rx Value 1

[-30] = PDO4 Rx Value 2

[-31] = PDO4 Rx Value 3

[-32] = PDO4 Rx Value 4

[-33] = PDO5 Tx Value 1

[-34] = PDO5 Rx Value 1

Factory setting

{ 0x30000310 }

{ 0x30020710 }

{ 0x30020810 }

{ 0x30020910 }

{ 0x30010110 }

{ 0x30030710 }

{ 0x30030810 }

{ 0x30030910 }

{ 0x30000410 }

{ 0x30020A10 }

{ 0x30020B10 }

{ 0x30020C10 }

{ 0x30010410 }

{ 0x30030A10 }

{ 0x30030B10 }

{ 0x30030C10 }

{ 0x30050010 }

{ 0x30040010 }

Parameter set

P166 ... [-01]

... [-02]

0 ... 32767 ms

{ 0 }

Timeout control

Defines a time interval for the monitoring of the slave by the master (node-guarding) or . Definition of the slave transmission interval (Heartbeat). (see objects 100C

(hex)

and 1017

(hex)

)

[-01] = Guard time

[-02] = Producer Heartbeat time

0 = "OFF"

70 Subject to technical amendments BU 0260 GB

5 Parameterisation

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

P167

0 ... 255

{ 0 }

Life time factor

Factor for the monitoring of the master by the slave (see objects 100D

P168 ... [-01]

...

... [-17]

0 ... 3FFF

(hex)

{see table on right}

Profile parameters

Parameter setting for the profile parameters (Velocity Mode of the drive profile DSP 402). (see objects 6048

Acceleration and deceleration This results in the unit: rpm/s

(achieved change in [rpm] divided by the time elapsed during the change in [s])

Array

[-01] = Profile:

[-02] = ∆n for acceleration FI 1

[-03] = ∆t for acceleration FI 1

[-04] = ∆n for deceleration FI 1

[-05] = ∆t for deceleration FI 1

[-06] = ∆n for acceleration FI 2

[-07] = ∆t for acceleration FI 2

[-08] = ∆n for deceleration FI 2

[-09] = ∆t for deceleration FI 2

Units: ∆n in [rpm]

0 = "OFF"

0= "OFF" 1= "ON"

∆t in [ms]

)

(hex)

and 6049

(hex)

, each Sub-index 1 - 2)

(hex)

Factory setting

{ 0 }

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

Array

[-10] = ∆n for acceleration FI 3

[-11] = ∆t for acceleration FI 3

[-12] = ∆n for deceleration FI 3

[-13] = ∆t for deceleration FI 3

[-14] = ∆n for acceleration FI 4

[-15] = ∆t for acceleration FI 4

[-16] = ∆n for deceleration FI 4

[-17] = ∆t for deceleration FI 4

Parameter set

Factory setting

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

{ 1500 }

{ 2 }

BU 0260 GB Subject to technical amendments 71

Supplementary Manual CANopen for NORDAC SK 20E

5.2.3 BUS module information parameters, general (P170)

Parameter Setting value / Description / Note Device Supervisor

Parameter set

P170 ... [-01]

... [-02]

0 ... 9999 Current error present. Further details in Section 6.2 "Error messages".

Current error

… [-01 ] = Current module error

… [-02 ] = Last module error

Possible values:

1000 = EEPROM error

1010 = System bus 24V missing

1020 = System bus timeout (see time in P151)

1030 = System bus OFF

Specific to CANopen

5110 = CANopen bus OFF

5111 = CANopen warning

5112 = CANopen overrun

5113 = CANopen invalid address

5120 = CANopen timeout / communication error

P171 ... [-01]

...

... [-03]

0,0 ... 9999.9 This parameter shows the software and revision numbers in the module. Array 03 provides

Software version/ Revision

information about any special versions of the hardware or software A zero stands for the standard version.

… [-01] = Software version

… [-02] = Software revision

… [-03] = Special version

P172 Configuration

0 ... 2 The version can be queried in this parameter.

Possible values:

0 = Internal module 1 = External module 2 = Bus TO via SPI

72 Subject to technical amendments BU 0260 GB

5 Parameterisation

Parameter Setting value / Description / Note Device Supervisor

P173 Module status

0 ... FFFF (hex)

Possible values:

Bit 0 = Bus status “PREOPERATIONAL” (CANopen initialisation active) Bit 1 = Bus status “OPERATIONAL” (Data exchange active) Bit 2 = Timeout Node-guarding (NMT- Master Watchdog) Bit 3 = Time Out (Time in P151) Bit 4 = CANopen “WARNING” Bit 5 = CANopen “BUS OFF” Bit 6 = System bus “BUS WARNING” Bit 7 = System bus “BUS OFF” Bit 8 = Status FI 1 Bit 9 = Status FI 1 Bit 10= Status FI 2 Bit 11= Status FI 2 Bit 12= Status FI 3 Bit 13= Status FI 3 Bit 14= Status FI 4 Bit 15= Status FI 4

Status for FI x: Bit High Bit Low Status

0 0 FI is offline 0 1 unknown FI 1 0 FI is online 1 1 FI missing or switched off

Parameter set

P174 Digital inputs

0 ... 15 Instantaneous view of input level logic.

Possible values:

Bit 0= Input 1 ((DIN1) (of BUS module)) Bit 1= Input 2 ((DIN2) (of BUS module)) Bit 2= Input 3 ((DIN3) (of BUS module)) Bit 3= Input 4 ((DIN4) (of BUS module))

P175 Digital outputs

0 ... 3 Instantaneous view of output level logic.

Possible values:

Bit 1= Output 1 ((DO1) (of BUS module)) Bit 2= Output 2 ((DO2) (of BUS module))

BU 0260 GB Subject to technical amendments 73

Supplementary Manual CANopen for NORDAC SK 20E

Parameter Setting value / Description / Note Device Supervisor

Parameter set

P176 ... [-01]

...

... [-17]

-32768 ... 32767 Bus data received from CANopen "Master"

Process data bus In

… [-01] = Bus module outputs

… [-02] = Control word FI 1

… [-03] = Setpoint 1 for FI 1

… [-04] = Setpoint 2 for FI 1

… [-05] = Setpoint 3 for FI 1

… [-06] = Control word FI 2

… [-07] = Setpoint 1 for FI 2

… [-08] = Setpoint 2 for FI 2

… [-09] = Setpoint 3 for FI 2

P177 ... [-01]

...

... [-17]

-32768 ... 32767 Bus data transmitted from CANopen "Master"

Process data bus Out

… [-01] = Bus module inputs

… [-02] = Status word FI 1

… [-03] = Actual value 1 for FI 1

… [-04] = Actual value 2 for FI 1

… [-05] = Actual value 3 for FI 1

… [-06] = Status word FI 2

… [-07] = Actual value 1 for FI 2

… [-08] = Actual value 2 for FI 2

… [-09] = Actual value 3 for FI 2

… [-10] = Control word FI 3

… [-11] = Setpoint 1 for FI 3

… [-12] = Setpoint 2 for FI 3

… [-13] = Setpoint 3 for FI 3

… [-14] = Control word FI 4

… [-15] = Setpoint 1 for FI 4

… [-16] = Setpoint 2 for FI 4

… [-17] = Setpoint 3 for FI 4

… [-10] = Status word FI 3

… [-11] = Actual value 1 for FI 3

… [-12] = Actual value 2 for FI 3

… [-13] = Actual value 3 for FI 3

… [-14] = Status word FI 4

… [-15] = Actual value 1 for FI 4

… [-16] = Actual value 2 for FI 4

… [-17] = Actual value 3 for FI 4

74 Subject to technical amendments BU 0260 GB

5.2.4 Module information parameters specific to the bus (P180)

Parameter Setting value / Description / Note Device Supervisor

5 Parameterisation

Parameter set

P180 CANopen address

1 ... 63

Each module transmitting on the bus must be allocated a unique address. After the new setting of addresses, all the devices on this bus must be restarted by switching the power supply off and on again.

Setting of addresses (node address / node ID) is only made via DIP- switches (see Section

2.2.3 "Configuration").

An address in the range between 1 and 63 must be defined. The setting "0" (all DIP switches "OFF") is not permitted. In this case, the address 127 will be displayed in parameter (P180)

P181 CANopen baud rate

0 ... 3

Possible values:

0 = 125 kBaud 1 = 250 kBaud 2 = 500 kBaud 3 = 1 MBaud

Setting of addresses baud rate can only be made via DIP- switches (see Section 2.2.3 "Configuration").

Note:

The restriction of the cable legth for the set baud rate must be taken into account. (Section 8.1.2 "Cable material").

BU 0260 GB Subject to technical amendments 75

Supplementary Manual CANopen for NORDAC SK 20E

6 Error monitoring and error messages

6.1 Error monitoring

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

For detailed information, please refer to the relevant main manual of the frequency inverter.

Errors cause the frequency inverters to switch off, in order to prevent a device fault.

The following options are available to reset an fault (acknowledge):

1. switching the mains off and on again,

2. by means of a correspondingly programmed digital input (SK 200E: (P420) [-…], function {12} or SK 500E: (P420 ... P425), function {12}),

3. by switching off the “enable” on the frequency inverter (if no

digital input is programmed for acknowledgement),

4. by bus acknowledgement or

5. by P506, the automatic error acknowledgement.

Visualisation of the inverter error codes is made via the frequency inverter (see relevant manual). Errors which are attributable to bus operation are visualised via the bus module. The precise error message is

displayed in parameter P170.

NOTE

The display of a bus error is shown in the operating display of the SimpleBox SK CSX-3H by means of the error group number E1000. In order to obtain the precise error number, the module information parameter P170 must be selected. The current error is shown in Array [01] of this parameter, the last error is stored in Array [02].

6.1.1 Error monitoring details

Monitoring of bus communication is divided into the following categories:  EMERGENCY messages

The bus module sends a so-called "EMCY Message", if a connected frequency inverter becomes faulty. According to the CANopen specification DS-301 and DS-402 this message contains a detailed error code (see also 6.1.2 "EMCY message").

 Timeout monitoring

Communication problems are detected with the aid of timeout monitoring. Various versions of the timeout monitoring can be selected, which either relate to general functionalities ("no bus communication") or to specific modules ("failure of a participant"). These monitoring modules can be used in various combinations.

76 Subject to technical amendments BU 0260 GB

6 Error monitoring and error messages

… of a

relevant

General process data monitoring... Detailed monitoring of subscribers

technology

unit (TB)

… of a

frequency

inverter (FI)

Option

monitoring

Node / Life Guarding Heartbeat

(P151) (P513) (P120) (P166 [-01]) x (P167) (P166[-02])

parameters

relate to... ... basic bus communication ... Bus nodes Bus node

... of the TO ... of the FI ... to the TB

Monitoring by TB FI FI Bus nodes Bus master

Example { 500 ms}

If no further telegram is recieved within 500ms after receipt of a telegram, an error is triggered.

Error code E010 / E10.3 E010 / E10.2 E010 / E10.8

{ 0.5 s }

If no further telegram is recieved within

0.5s after receipt of a telegram, an error is triggered.

If the communication to a module is interupted, or the module cannot be found on switch-on, an error message is triggered.

{ 1 }

{ 250 }x{ 3 }

If the subscriber does not receive the expected response within 250ms of sending a data package (telegram) or it does not receive a further data package within 750ms (250 ms x

3) of receiving a data package, an error is triggered.

The slave sends a corresponding telegram every 250 ms, which can be processed by an overriding control system.

E010 / E10.2 /

{ 250 }

or E10.9

Start

Life Guarding max.

(P166) x (P167)

Master

Slave

Order

Response

Order

Response

Time

in ms Node Guarding max. (P166)

Comparison of Node Guarding / Life Guarding

General process data monitoring with a technology unit (SK xU4-…) The parameter (P152) "Timeout external bus" generally monitors the existence of bus communication. If no

process data is received within the parameterised monitoring time (The content of the process data is irrelevant) the subscriber assumes that the bus communication to this subscriber is generally faulty and reports an error.

General monitoring of frequency inverter process data SK 500E series frequency inverters offer the facility for monitoring the active bus interface by means of the

parameter (P513) "Telegram timeout". If the frequency inverter does not receive a telegram within the time entered here, it assumes that there is a general fault with the bus communication and reports an error.

Note: With SK 200E series frequency inverters, this function of this parameter is implemented by parameter (P120). All settings (except { -0.1 }) are then without effect in parameter (P153).

BU 0260 GB Subject to technical amendments 77

Supplementary Manual CANopen for NORDAC SK 20E



Option monitoring With the parameter (P120) "Option monitoring", SK 200E series frequency inverters provide the facility for

monitoring connected technology units (SK xU4-…) with regard to their current functional status. Generally, this function corresponds to monitoring via parameter (P513). Except for the setting { -0.1 } this parameter (P513) therefore has no effect.

Node Guarding The Node Guarding function enables the monitoring of the slave(s) by the master.

If after a query by the master, a response is not received from the slave after after a defined time, an error message is triggered.

The monitoring interval is defined in parameter (P166[-01]) "Timeout control" / "Guard Time".

Life Guarding The Life Guarding function enables the monitoring of the master by the slave.

If after the receipt of a protocol and the elapse of a defined time the slave does not receive a further protocol from the master, an error message is triggered.

The monitoring interval is defined by the combination of parameter (P166[-01]) "Timeout control" / "Guard time" and )P167) "Life time factor".

Heartbeat monitoring For overriding monitoring, a "Producer Heartbeat time" can be defined. Activation of the parameter (P166 [-

02]) "Timeout control" / "Producer Heartbeat time" by a value ≠ "0" prompts the slave to the cyclic transmission of a corresponding protocol

6.1.2 EMCY message

In case of faults with frequency inverters connected to the system, the bus module sends an error message via the CANopen bus. The identifier of the message is 0x80 + address of the bus module. The message is structured as follows.

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

Error code Parameter

0x1001

FI-ID

0...3

Not used

The assignment of error codes can be found in Section 4.9.6 "Error messages (EMCY message)".

After the error is reset, the Emergency Object is sent with the error message null. The Transmit ID for the error telegram is based on the following formula:

 800

Node IDxDTransmit I

78 Subject to technical amendments BU 0260 GB

6 Error monitoring and error messages

6.2 Error messages

6.2.1 Table of possible error messages (caused by the bus) in the frequency inverter

The following error messages concern bus-related messages which are indicated on the frequency inverter. A complete list of error messages for the frequency inverter (SK 200E) can be found in the relevant manual (BU0200).

Error code display on the SimpleBox

Group Details in

P700 / P701

E010

10.2 External bus module

10.3 Timeout via (P151)

10.4 External bus module

10.8 External module

10.9 Module not found

Fault

Text in the ParameterBox

telegram timeout

initialisation failure

communication failure

Cause

Remedy

Telegram transfer is faulty.

Check external connection.

Check bus protocol program process.

Check bus master.

Telegram transfer is faulty.

Check watchdog time (P151)

Check physical bus connections

Contains cyclic telegrams

Bus module cannot be accessed

Check bus module power supply

Connection fault / error in the external module to the FI

The module entered in parameter (P120) is not available.

BU 0260 GB Subject to technical amendments 79

Supplementary Manual CANopen for NORDAC SK 20E

6.2.2 Table of possible error messages in the bus module

The following error messages concern bus-related messages, which are indicated on the CANopen module (SK CU4-CAO or SK TU4-CAO(-…)).

Error number

Group Details in

P170

Fault

Text in the ParameterBox

Cause

Remedy

E1000

1000 EEPROM error

1010 System bus 24V missing

1020 System bus timeout

1030 System bus OFF

5110 CANopen bus OFF

5111 CANopen warning

5112 CANopen overrun

5113 Invalid CANopen address

5120 CANopen timeout

Module faulty

Check connections and supply cables

Ensure 24V voltage supply

Check time set in parameter (P151). Telegram transfer is faulty.

Check external connection.

Check bus protocol program process.

Check bus master. Check connections and supply cables

Ensure 24V voltage supply

Check bus master.

Subscriber is disconnected from bus

Bus error

No other subscriber present on the system bus

Wiring not correct (cable length, spur cables)

No valid ID (DIP switch)

Message box (message buffer) for the module was overwritten by a new telegram before processing

Increase master inhibit time

Reduce baud rate

Avoid double assignment of addresses

Comply with address range 1 ... 63 Telegram transfer is faulty.

Check external connection.

Check bus protocol program process.

Check bus master.

80 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7 CANopen data transfer

CAN / CANopen communication is based on a multi-master principle. Although the network can be overridden by a so-called NMT master (Network Management Master), this only takes over control of the functions of all connected nodes (subscribers) and can can change their operating statuses (initialisation / pre-operational / operational / stopped (previously: prepared)).

Communication between the individual subscribers, both as queries and responses is controlled by the participants themselves. In principle, all nodes are in a "ready" status. On request from other nodes, or according to their own requirements all peers are able to sent protocols on the bus (multi-master). Simultaneous transmission access by several nodes is resolved by a prioritisation of the messages to be sent. This ensures that the message with the highest priority receives permission for transmission. Messages which are postponed due to lower priority are then sent.

Therefore a pseudo real-time capability of the systems is ensured, in particular for telegrams with higher priority* (*with maximum bus load 40%). The priority of a telegram is defined by its identifier. The identifier of a telegram is comprised of its node address and the type of telegram (e.g.: Emergency Message). This rules out the double assignment of identifiers. The lower the identifier, the higher its priority.

Communication between subscribers largely complies with the client-server model. The producer-consumer model only comes into effect for the transfer of process data.

7.1 Protocol

Communication on the bus is carried out with the aid of telegrams on the basis of the CAN protocol. A CAN protocol consists of an overhead section (addressing, error monitoring ...) and a reference data section (for process control). CANopen is based on this structure, whereby two groups of reference data telegrams have been defined for the process.

In addition to the length of 8 bytes, the "addressing" via identifier is identical for both types of telegram. The primary differentiating features are the following:

Property SDO telegram PDO telegram

Transfer of parameter data (parameterisation) Yes No Exchange of process data Not usual (not real-time) Yes Data processing model Client - Server Producer - Consumer Response to query necessary Yes (handshake) No Data rate Low High Required node operating status Operational

Pre-Operational

Operational

7.2 Structure of reference data in USS standard

After switch-on a node runs through an initialisation phase and automatically changes to the operating status "Pre-Operational". In this state it is able to communicate via SDOs. The node only attains full operational readiness by setting into the operating status "Operational", and is then entitled to exchange data via PDOs.

The parameters of a node are stored in an object dictionary, whose structure corresponds to that of other bus systems. Therefore there is a basic compatibility between various bus systems.

As process data is also stored in the object dictionary of the node, this can also be processed via SDOs.

BU 0260 GB Subject to technical amendments 81

Supplementary Manual CANopen for NORDAC SK 20E

Example: Excerpt from the object dictionary of an SK 200E.

Object dictionary

Index Sub-index Data Comments

… 2102 - 200 Parameter (P102), setting 2.00s) 2103 - 200 Parameter (P103), setting 2.00s)

…

Structure of an SDO

Control byte Index Sub-index Data

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

E.g.:

"Download"

"Parameter number"

E.g.:

"Array"

"Parameter values"

E.g.:

SDOs (Service Data Objects) enable access to all device parameters from the object dictionary. They enable these to be changes and are used for status queries. An SDO consists of eight bytes, of which the first four are occupied with protocol information (e.g.: data request / parameter number). The remaining four bytes define the associated data content (e.g.: setting values)

If the length of four bytes is not sufficient, the data contents is divided over several SDOs (segmented). Here, for all "data SDOs" which follow the first SDO, seven of the eight bytes are available for data transfer. The last segment contains an "End code".

The exchange of SDOs is carried out by means of a handshake process, i.e. queries are always confirmed with a response. However, segmented messages are only confirmed once, after receipt of the last associated SDO. Exchange of new messages is only possible after confirmation of or response to the previous message.

Node 1 Node 2

Or der telegr am

Protocol information Object data

Processing

Protocol information Object data

Response telegram

Object de finition Obj ec t content

Diagram: Telegram traffic / structure of reference data area

On the other hand, PDOs (Process Data Objects) serve exclusively for the exchange of process data. A PDO sent by a node is received by all connected bus subscribers. Each subscriber, which recognises that the message is relevant on the basis of the identifier, processes it accordingly, however without acknowledgement. Therefore a message can also be accessed by several subscribers simultaneously (multicast).

The most important advantage of a PDO in comparison with an SDO is that due to the lack of protocol information, all 8 bytes are available for the exchange of process data. The associated increase in bandwidth increases the flow of process data by a large factor, which is an advantage for time-critical applications.

82 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

ATTENTION

If parameter changes are made, care must be taken that the maximum number of permissible writing cycles to the frequency inverter EEPROM (100,000 cycles) is not exceeded. I.e. continuous cyclical writing must be prevented.

For certain applications it is sufficient if the values are only saved in the RAM memory of the frequency inverter. The corresponding setting is made via parameter (P560) "Save in EEPROM".

Note: This does not apply to parameters which relate to the bus module ((P150) to (P199)). Here too, the EEPROM only permits a maximum of 100,000 writing cycles. However, the parameters are only written into the EEPROM if access is made via the ParameterBox or NORDCON, or if the parameter values are changed in the bus module by means of SDOs.

7.2.1 Process data (PZD) in USS standard

In the process data area PZD, control words and setpoints or status words and actual values are transferred from one node (frequency inverter) to another. The structure of the PZD area is always the same with regard to the sequence of its elements (words (= 2 bytes each)) whereby the processing of the individual bytes is carried out by the typical CAN method according to the "Little Endian" format.

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

- STW: Control Word; length 16 bit, order telegram contains control bits (e.g. enable, rapid stop, error acknowledgement)

- ZSW: Status Word; length 16 bit, response telegram contains status bits (e.g. FI running, fault)

- SW1..3: Setpoints; maximum 3 possible, 16 or 32 bit, order telegram

e.g. frequency setpoint, position setpoint, torque setpoint

- IW1..3: Actual Values; maximum 3 possible, 16 or 32 bit, response telegram e.g. actual frequency value, actual position value, actual torque value

1. Word

(Byte 0,1)

PZD area with 1x16 bit setpoint

PZD area with up to 3 16 bit setpoints

Note: 32 bit setpoints (e.g.: positions) are comprised of High or Low words (each 16 bit), whereby

according to the Little Endian format, processing starts with the Low word.

STW ZSW

2. Word

(Byte 2,3)

SW1

IW1

SW1

IW1

3. Word

(Byte 4,5)

SW2

IW2

4. Word

(Byte 6,7)

SW3

IW3

BU 0260 GB Subject to technical amendments 83

Supplementary Manual CANopen for NORDAC SK 20E

7.2.1.1 Control word (STW)

In the order telegram, in the area of the process data the control word (STW) is transferred to the frequency inverter as the first word (taking into account the "Little Endian" format). For example, a control word "ready for switch-on" corresponds to 047E

, whereby in Byte 0 the value 7E

(hex)

and in Byte 1 the value 04

(hex)

are

transferred.

PZD1 PZD2 PZD3 PZD4

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

STW SW1 SW2/3 SW2/3

Meaning of the individual bits:

Bit Value Significance Comments

0 0 OFF 1 Return with the brake ramp, at f=0Hz voltage activation 1 ON Standby

1 0 OFF 2

1 Operating condition OFF 2 is cancelled 2 0 OFF 3

1 Operating condition OFF 3 is cancelled 3 0 Disable operation

1 Enable operation Output voltage enabled, run-up to present setpoint. 4 0

1 Operating condition Run-up encoder is enabled 5 0 Stop run-up encoder Freezing of actual setpoint from run-up encoder (hold frequency).

1 Enable run-up encoder Enable setpoint on run-up encoder 6 0 Disable setpoint Selected setpoint is set to zero in the run-up encoder.

1 Enable setpoint Selected setpoint on run-up encoder is activated. 7 0 No acknowledgement With the switch from 0 to 1, errors which are no longer active are acknowledged.

1 Acknowledge

8 0 1 Bit 8 active

9 0 1 Bit 9 active

10 0 PZD invalid The transmitted process data is invalid. 1 PZD valid Valid process data is transferred from the master.

11 0 1 Rotation right Rotation right (priority) is on. 12 0 1 Rotation left Rotation left is on. 13 0/1 Reserved 14 0/1

15 0/1

Disable run-up encoder

Parameter set switch Bit 0

Parameter set switch Bit 1

Disable voltage; the inverter output voltage is switched off, the FI goes into switch-on disabled status.

Emergency stop with programmed emergency stop time; at f = 0Hz voltage enable; the FI goes into switch-on disabled status

Disable voltage; the inverter output voltage is switched off, the FI goes into standby status.

Run-up encoder is set to zero; at f = 0Hz no voltage enable; FI remains in operation enabled status.

Note: If a digital input is programmed to the function "Error ack.", this bit must not be set permanently to 1 via the bus (otherwise this will prevent edge detection).

Bus bit 8 from the control word is set. (Only for SK 200E and SK 500E) For further details of the function please refer to parameter (P480).

Bus bit 9 from the control word is set. (Only for SK 200E and SK 500E) For further details of the function please refer to parameter (P480).

Note:If setpoints only are transferred via the bus, this bit must be set so that the transferred setpoint is valid.

00 = Parameter set 1 01 = Parameter set 2

10 = Parameter set 3 11 = Parameter set 4

84 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7.2.1.2 Status word (ZSW)

In the inverter response telegram, in the area of the process data the status word (ZSW) is transferred as the first word (taking into account the "Little Endian" format. For example, a status word "ready for switch-on" corresponds to 0B31

, whereby in Byte 0 the value 31

(hex)

and in Byte 1 the value 0B

(hex)

are transferred.

(hex)

PZD1 PZD2 PZD3 PZD4

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

ZSW IW1 IW2/3 IW2/3

Meaning of the individual bits:

Bit Value Significance Comments

0 0

1 Redy for switch-on Initialisation complete, load relay on, output voltage disabled 1 0 Not operational

1 Standby

2 0 Operation disabled 1 Operation enabled Output voltage enabled, run-up to present setpoint.

3 0 No errors 1 Fault

4 0 OFF 2 OFF 2 disable voltage command active 1 No OFF 2

5 0 OFF 3 OFF 3 rapid stop command active 1 No OFF 3

6 0 No switch-on disable 1 Switch-on disabled Goes to standby status through OUT 1 command

7 0 No warning 1 Warning Drive still in operation, no acknowledgement necessary

8 0 Actual value not O.K.

1 Actual value O.K. Actual value matches the setpoint (setpoint reached)

9 0 Local guidance Local guidance active on device 1 Guidance required The master is called upon to take over the guidance.

10 0 1 Bit 10 active

11 0 1 Rotation right Inverter output voltage has right-hand rotating field

12 0 1 Rotation left Inverter output voltage has left-hand rotating field

13 0 1 Bit 13 active

14 0/1

15 0/1

Not ready for switchon

Actual active parameter set Bit 0

Actual active parameter set Bit 1

Causes: No On command, an error has occurred, OFF 2 or OFF 3 active, switchon disable status active.

ON command active, no errors. The inverter can be started with the ENABLE OPERATION command.

Drive malfunctioning therefore out of order, if acknowledgement is successful, will go to switch-on disabled status.

Actual value does not match the setpoint (with posicon: Setpoint position not reached)

(with posicon: Setpoint position reached)

Bus bit 10 from the status word is set. For further details of function, please refer to parameter P481.

Bus bit 13 from the status word is set. For further details of function, please refer to parameter P481.

00 = Parameter set 1 01 = Parameter set 2

10 = Parameter set 3 11 = Parameter set 4

BU 0260 GB Subject to technical amendments 85

Supplementary Manual CANopen for NORDAC SK 20E

7.2.1.3 Setpoint 1 (SW1)

The function of the first setpoint is set in the parameter "Function bus -setpoint 1" (SK 200E: (P546[01]) or SK 500E: (P546)) (see relevant frequency inverter manual).

In the order telegram, setpoint 1 follows immediately after the control word. Setpoint 1 is pre-set to the transfer of a setpoint frequency (16 bit value).

PZD1 PZD2 PZD3 PZD4

STW

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

SW1 SW2 SW3

The setpoint is transferred as an integer in the range -32768 to 32767 (8000 hex to 7FFF hex), whereby 16384 (4000 hex) is exactly 100% and -16383 (C000 hex) corresponds to -100%. Due to this resolution, setpoints (depending on function) of up to ± 200% can be transferred.

A setpoint of 100% corresponds to the respective nominal value:

Setting 100% is equal to

Off

Setpoint frequency, actual frequency PID, actual frequency PID limited, actual frequency PID monitored, frequency addition, frequency subtraction, maximum frequency

Torque current limit Torque current limit (P112)

Current limit Inverter nominal current

Servo mode torque Nominal torque

Lead torque Lead torque (P214)

Maximum frequency

7.2.1.4 Setpoints 2 and 3 (SW2/3)

In addition to setpoint 1, two further setpoints can be transferred in the words "PZD3" and "PZD4".

PZD1 PZD2 PZD3 PZD4

STW

SW1 SW2 SW3

The definition of these two setpoints corresponds to that of setpoint 1. If the transfer of a 32 bit setpoint is necessary (Example: position setpoint), this must be divided into two 16 bit

values, i.e. into two PZDs (Position Low and High words). It does not matter in which of the three process data words (PZD 2 ... 4) the two position words are transferred.

The definition in the frequency inverter can then, for example, be made via the parameters: PZD3: „Bus function - setpoint 2" (SK 200E: (P546[02]) or SK 500E (P547)) and PZD4: „Bus function - setpoint 3" (SK 200E: (P546[03]) or SK 500E (P548))

Example

If a position setpoint is to be transferred (Prerequisite: posicon inverter functionality) this can be performed either as a 16 bit or 32 bit value. The resolution is always 0.001 rotations/step.

As a 16 bit value, a range of +32767 (= 32, exactly one

PZD word is required in order to transfer the position.

767 revolutions) to -32768 (= -32,768 revolutions) is possible. Here,

As a 32 bit value, the full position range of +/- 50000.000 revolutions is available. Here, exactly two PZD words are required in order to transfer the position.

86 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7.2.1.5 Actual value 1 (IW1)

The function of the first setpoint is set in the parameter "Function bus -actual value 1" (SK 200E: (P543[01]) or SK 500E: (P543)) set (see relevant frequency inverter manual).

In the order telegram, actual value 1 follows immediately after the control word. Setpoint 1 is pre-set to the transfer of the current output frequency of the frequency inverter (16 bit value).

PZD1 PZD2 PZD3 PZD4

ZSW

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

IW1 IW2 IW3

The actual value is transferred as an integer in the range -32768 to 32767 (8000 hex to 7FFF hex), whereby in the settings "actual frequency", "actual speed", "current" and "torque current", the values 16384 (4000 hex) exactly correspond to 100% and -16383 (C000 hex) correspond to exactly -100%. Due to this resolution, setpoints (depending on function) of up to ± 200% can be transferred.

7.2.1.6 Actual values 2 and 3 (IW2/3)

In addition to actual value 1, two further actual values can be transferred in the words "PZD3" and "PZD4".

PZD1 PZD2 PZD3 PZD4

ZSW

IW1 IW2 IW3

The definition of these two actual values corresponds to that of actual value 1. If the transfer of a 32 bit actual value is necessary (Example: actual position), this must be divided into two 16

bit values, i.e. into two PZDs (position High and Low words). The definition in the frequency inverter can then, for example, be made via the parameters: PZD3: „Bus function - actual value 2" (SK 200E: (P543[02]) or SK 500E (P544)) and PZD4: „Bus function - actual value 3" (SK 200E: (P543[03]) or SK 500E (P545))

7.2.2 The status machine

The frequency inverter passes through a status machine. The changes between various states are triggered by the respective control commands in the process data control word. The actual status is returned in the process data status word.

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

The following bits indicate the status of the frequency inverter:

Status Bit 6

Switch-on

disable

Not ready for switch-on 0 X X 0 0 0 0

Switch-on disabled 1 X X 0 0 0 0

Redy for switch-on 0 1 1 0 0 0 1

Activated 0 1 1 0 0 1 1

Operation enabled 0 1 1 0 1 1 1

Fault 0 X X 1 0 0 0

Error active 0 X X 1 1 1 1

Emergency stop active 0 0 1 0 1 1 1

BU 0260 GB Subject to technical amendments 87

Bit 5

Emergency

stop

Bit 4

Disable voltage

Bit 3

Fault

Bit 2

Operation

enabled

Bit 1

Standby

Bit 0

Ready for

switch-on

Supplementary Manual CANopen for NORDAC SK 20E

Internal status machi ne

Sw itching on the inverter

Bit2 = 0: Fast stop

3456 8

Not on standby

Fast stop active

Bit1 = 0: Disable voltage

v Bit2 = 0: Fast stop

Sw itch-on

Bit0 = 0: Shut dow n

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

disabled

Standby

Activated

Loading relay applied

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

From all de vice s tat us e s

Error reaction

f = 0 reached (fast stop complete)

Fault

active

Error reaction complete

Fault

Bit3 = 1: Enable operation

&Bit0 = 1:Sw itch on

Control bits

0. Ready for operation / shut dow n

1. Dis able / enable voltage

2. Enable pulses / emergency stop

3. Dis able / enable operation

4. Operation condition / block RUE

5. Enable / stop RUE

6. Enable / disable setpoint

7. Error acknow ledgement (0

10. Control data valid / invalid

11. Rotation right

12. Rotation left

14. Parameter set Bit 0

15. Parameter set Bit 1

Bit3 = 1: Enable operation

364



Operation enabled

Priority of control comm ands:

1. Dis able voltage

2. Fast stop

3. Shut dow n

4. Enable operation

5. Sw itch on

6. Dis able operation

7. Reset error

Bit4 = 0: Move dow n emergency stop ramp and

remain in 'Operation enabled'

Bit5 = 0: Hold frequenc y

Bit6 = 0: Setpoint = 0%

Designation of statuses:

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

Bit7 01

Error acknow ledgement

88 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7.3 Structure of reference data in the standard drive profile (DS402)

The structure of reference data associated with the profile DSP402 is standardised by the CiA users organisation (see also Section 8.1.4 "CiA (CAN in Automation) recommendations").

7.4 Examples

7.4.1 Configuration examples

The configuration examples described here are intended as supplementary and summary support in addition to the detailed descriptions in this manual during the configuration of the system bus or field bus (CANopen).

7.4.1.1 "Velocity Mode" from profile DS 402

Via a bus module, 3 frequency inverters are to be independently controlled with a single speed.

given:

Serial No. Device type Designation Motor Other

SK 2x5E frequency inverter

SK TU4-CAO

(with connection unit SK Ti4-TU-Bus)

CANopen technology unit (external)

The bus module and FI 3 should always be the last physical subscribers on the system bus.

NOTE

FI 1 2-pole / n=2890 rpm / 50Hz Ramp time: t=6s

FI 2 4-pole / n=1390 rpm / 50Hz Ramp time: t=4s

FI 3 4-pole / n=1390 rpm / 50Hz Ramp time: t=3s

Bus module

The profile only works in parameter set 1 of the frequency inverter.

BU 0260 GB Subject to technical amendments 89

Supplementary Manual CANopen for NORDAC SK 20E



Relevant

bus system

Serial

No.

1 Set up system bus 24V supply of the system bus level necessary

Step Comments

(see Section 2.2.2.2 "Control connections

of the SK

CU4-CAO(-...)")

DIP switch "Bus termination, system bus" on CAO module "ON"

 DIP switch "Bus termination, system bus" on FI 3 "ON"

 All other DIP switches to "OFF"

Setting of FI addresses preferably via DIP switches (see manual BU0200):

 Bus module: fixed (at 5)

 FI 1: to 32

 FI 2: to 34

 FI 3: to 36

(is preset accordingly) Make settings on each FI

 (P509): { 3 } "System bus"

 (P510 [-01 … -02]): { 0 } "Auto"

 (P543 [-01]): { 1 } "Actual frequency"

 (P546 [-01]): { 1 } "setpoint frequency"

24V supply of the field bus level necessary (see Section 2.2.3 "Configuration")

 If the bus module is the last physical subscriber in the field

bus system: Set termination resistor: DIP switch "Bus termination CANopen" to "ON"

 Set baud rate

 Set node address (identifier)

Make bus module settings:

 (P168 [-01]): { 1 } "Profile ON"

 (P168 [-02]): { 3000 } „+∆n (FI 1)"

 (P168 [-03]): { 6 } „+ ∆t (FI 1)"

 (P168 [-04]): { 3000 } „- ∆n (FI 1)"

 (P168 [-05]): { 6 } „- ∆t (FI 1)"

 (P168 [-06]): { 1500 } „+∆n (FI 2)"

 (P168 [-07]): { 4 } „+ ∆t (FI 1)"

 …

 (P162 [-01,-03,-05,-09]) { 255 }

 (P162 [-02,-04,-06,-10]) { 255 }

 (P163) { 10 }

 (P164) { 250 }

 (P165), (P160), (P161) leave at factory setting

(P151): { 200 }

 (P120 [-01]) { 1 } or { 2 }

(P166 [-01]): { 250 }

 (P166 [-02]): { 400 }

 (P167): { 3 }

(P748): "System bus status"

 (P740 [-01]): "Control word"

 (P740 [-02]): "Setpoint 1"

 (P741 [-01]): "Status word"

 (P741 [-02]): "Actual value 1"

 (P173): "Module status"

(P173): "Module status"

 (P176): "PZD Bus In"

 (P177): "PZD Bus Out"

System bus

Field bus

(CANopen)

System bus

Field bus (CANopen)

System bus

Field bus (CANopen)

2 Set termination resistor

4 System bus baud rate set to 250kBaud for FI and bus module

Set system bus addresses

System bus communication

Configure bus module for field bus

Field bus communcation

Monitoring at system bus level

Monitoring at field bus level (node monitoring)

Checking system bus communication

Checking field bus communication

Note: Settings specific to the application (motor data, control parameters, control terminal functions etc.) cannot of course be described here.

90 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer



7.4.1.2 PZD exchange via PDO telegram according to CANopen DS 301

Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a single speed and a single position.

Given:

Serial No.

Device type Designation Motor Other

SK 2x5E frequency inverter

SK TU4-CAO

(with connection unit SK Ti4-TU-Bus)

CANopen technology unit (external)

FI 1 4-pole / n=1390 rpm / 50Hz

FI 2 4-pole / n=1390 rpm / 50Hz

FI 3 4-pole / n=1390 rpm / 50Hz

Bus module

Motor with CANopen absolute value encoder (AG1)

Motor with CANopen absolute value encoder (AG2)

Motor with CANopen absolute value encoder (AG3)

The bus module and FI 3 should always be the last physical subscribers on the system bus.

Relevant

bus system

Serial

No.

1 Set up system bus 24V supply of the system bus level necessary

Step Comments

(see Section 2.2.2.2 "Control connections

of the SK

CU4-CAO(-...)")

2 Set termination resistor

System bus

4 System bus baud rate set to 250kBaud for FI, AG and bus module

Set system bus addresses

System bus communication

DIP switch "Bus termination, system bus" on CAO module

"ON"

 DIP switch "Bus termination, system bus" on FI 3 "ON"  All other DIP switches to "OFF"

Setting of FI addresses preferably via DIP switches (see manual BU0200):

 Bus module: fixed (at 5)  FI 1: to 32  FI 2: to 34  FI 3: to 36  AG1: to 33  AG2: to 35  AG3: to 37

(preset accordingly for FI and bus module) Make settings on each FI

 (P509): { 3 } "System bus"  (P510 [-01 … -02]): { 0 } "Auto"  (P543 [-01]): { 1 } "Actual frequency"  (P543 [-02]): { 10 } "Actual position in inc. Low-Word"  (P543 [-03]): { 15 } "Actual position in inc. High-Word"  (P546 [-01]): { 1 } "setpoint frequency"  (P546 [-02]): { 23 } "Setpoint position in inc. Low-Word"  (P546 [-03]): { 24 } "Setpoint position in inc. High-Word"

BU 0260 GB Subject to technical amendments 91

Supplementary Manual CANopen for NORDAC SK 20E



Relevant

bus system

Field bus

(CANopen)

System bus

Field bus (CANopen)

System bus

Field bus (CANopen)

Serial

No.

Step Comments

Configure bus module for field bus

Field bus communcation

Monitoring at system bus level

Monitoring at field bus level (node monitoring)

Checking system bus communication

Checking field bus communication

24V supply of the field bus level necessary (see Section 2.2.3 "Configuration")

 If the bus module is the last physical subscriber in the field

bus system: Set termination resistor: DIP switch "Bus termination CANopen" to "ON"

 Set baud rate

 Set node address (identifier)

Make bus module settings:

 (P168 [-01]): { 0 } "Profile OFF"

 (P162 [-01,-03,-05,-09]) { 255 }

 (P162 [-02,-04,-06,-10]) { 255 }

 (P163) { 10 }

 (P164) { 250 }

 (P165), (P160), (P161) leave at factory setting

(P151): { 200 }

 (P120 [-01]) { 1 } or { 2 }

(P166 [-01]): { 250 }

 (P166 [-02]): { 400 }

 (P167): { 3 }

(P748): "System bus status"

 (P740 [-01]): "Control word"

 (P740 [-02]): "Setpoint 1"

 (P741 [-01]): "Status word"

 (P741 [-02]): "Actual value 1"

 (P173): "Module status"

(P173): "Module status"

 (P176): "PZD Bus In"

 (P177): "PZD Bus Out"

Note: Settings specific to the application (motor data, control parameters, control terminal functions etc.) cannot of course be described here.

92 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7.4.2 Example telegrams

Various example telegrams are shown below to clarify the control and parameterisation of the frequency inverter with the various field bus systems.

7.4.2.1 Example for switching the frequency inverter on and off

In this example, a FI will be operated with a setpoint (setpoint frequency) and an actual value (actual frequency). The "maximum frequency" is 50Hz.

Parameter settings:

 P105 = 50  P543 = 1  P546 = 1

Control word

- - - - - - 0000

- - - - - - xx40

047E

hex

047F

hex

The FI is enabled, the motor is supplied with current and rotates with a frequency of 25Hz.

0047E

The FI is disabled again and the motor is without current.

047F

hex

The FI is enabled, the motor is supplied with current and rotates with a frequency of 12.5Hz.

7.4.2.2 CANopen with USS process data

Setpoint 1 Status

0000

hex

2000

1000

hex

word

xx31

xx37

xx31

xx37

0000

hex

0000

hex

0000

hex

2000

hex

0000

hex

1000

hex

Actual

value 1

hex

Explanation

The mains voltage is switched on at the FI

FI is set to "Standby" status

FI is set to "Operation enabled" status and controlled with a 50% setpoint.

FI is set to "Standby" staus, the motor runs up its parameterised ramp to speed 0 and is switched off.

FI is set to "Operation enabled" status and controlled with a 25% setpoint.

The following example is designed to clarify control using PDOs. The following settings are assumed:

 FI 1 on field bus module SK xU4-CAO

 Node-ID "4"

 Parameter (P509) "Source control word"

for SK500E: Setting: {6} "CANopen control word" (object number (21FD for SK200E: Setting: {3} "System bus" (object number (21FD

hex

) = 3,

) = 6) or

hex

(P510)= {0}

 Rx-PDO1 is used for control. The device transmits its actual values via Tx-PDO1

 The drive profile is disabled

for SK 500E: Setting: (P551) = {0} or for SK200E: Setting: (P168 [-01]) = {0}

Identifier

Rx-PDO1: 0200 Tx-PDO1: 0180

+ NODE-ID  0204

hex

+ NODE-ID  0184

hex

BU 0260 GB Subject to technical amendments 93

Supplementary Manual CANopen for NORDAC SK 20E

Mapping

Byte 1 2 3 4

Rx-PDO1 Obj 0x3000 (Sub 1) (control word) 0bj. 0x3002 Sub1 (Setpoint 1)

Byte 1 2 3 4

Tx-PDO1 Obj 0x3000 (Sub 1) (status word) 0bj. 0x3003 Sub1 (Actual value 1)

NOTE

Objects 3002

and 3003

hex

can be used to specify which setpoint or actual value is to be

hex

transferred. The meaning of the setpoint or actual values is set in the frequency inverter via parameters (P543) - (P548) for SK 500E and via parameters (P543[-01]-[-03]) or (P546[-01]

- [-03]) for SK 200E.

Control data, profile DS301 with USS State Machine:

In order to be able to control the frequency inverter, the CANopen status must first be set to “Operational”

After switching on, the frequency inverter is in “Switch-on disabled” status. It has to be switched to "Ready for switch-on" status using a control command. To do so, the control word “0x047E” must be transmitted. The PDO telegram then has the following structure:

Byte 1 2 3 4

ID=204 7E

hex

The drive should then run at 50% of its maximum frequency. For this purpose, the control words “0x047F” and “0x2000” must be transmitted as setpoints:

Byte 1 2 3 4

ID=204 7F

hex

94 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

7.4.2.3 Application-specific mapping

Instead of using the default mapping, an application-specific mapping can define which data is to be transmitted by means of PDOs. For this, the module must be in "Pre-Operational" status or should be put in this status with the NMT service "Enter Pre-Operational".

The procedure for an application-specific mapping is explained on the basis of a specific example.

Example:

With the aid of a Transmit PDO, the control word and setpoint 3 are to be transferred to the frequency inverter with a data width of 16 bit.

 The CAN identifier 0x432 is to be used for the transfer.  The transfer is to be carried out sychronously with each third SYNC object.  The default CAN-IDs are used for the SDOs.

Changes to the mapping for the Transmit PDO1

Deactivation of Transmit PDO 1

Deactivation of the PDO mapping by setting "0" - Setting of the number of mapping objects in Index 0x1A00, Sub-Index 0 (Transmit PDO Mapping Parameter).

Transmit 0x0600 0x2F 00 1A 00 00 xx xx xx Receive 0x0580 0x60 00 1A 00 xx xx xx xx

CAN-ID Data

Entering the mapping objects

Entry in the Transmit PDO mapping structure (Index 0x1A00) of:

 Index  Sub-index  Object length of the application object

A maximum of 8 bytes of data can be assigned to each PDO.

Application object Index Sub-index

FI 1 control word 0x3000 1 FI 1 Setpoint 3 0x3002 3

The following structure must be achieved in the mapping parameters of the 1st Transmit PDO (Objekt 0x1A00).

Sub-index Index Sub-index Object length in bits Comments

0 2 1 0x3000 1 0x10 2 0x3002 3 0x10

 Number of mappings  FI 1 control word  FI 1 Setpoint 3

NOTE

The number of valid sub-indices are only entered into Sub-Index 0 after the mapping parameters in Sub-Index 1 ... 8 have been entered.

BU 0260 GB Subject to technical amendments 95

Supplementary Manual CANopen for NORDAC SK 20E

These objects are stored with the aid of SDO transfers:

Map object 0x3000

Transmit 0x0600 0x23 00 1A 01 10 01 00 30

CAN-ID Data

 Set object 0x1A00 Sub-index 1 to object 0x3000 Sub-index 1 and 16 bit data width

Map object 0x3002

Transmit 0x0600 0x23 00 1A 02 10 03 02 30

CAN-ID Data

 Set object 0x1A00 Sub-index 2 to object 0x3002 Sub-index 3 and 16 bit data width

Number of mapping objects = 2, enter into Sub-index 0

Transmit 0x0600 0x2F 00 1A 00 02 xx xx xx Receive 0x0580 0x60 00 1A 00 xx xx xx xx

CAN-ID Data

Change communication parameters

Deactivation of Transmit PDO 1

In order to change the communication parameters, the Transmit PDO 1 which was prepared in the example above must be deactivated.

To do this, the value 0x80000000 must be written into the communication object of the Transmit PDO1 (Transmit PDO communication parameter, Index 0x1800, Sub-index 01).

Transmit 0x0600 0x23 00 18 01 00 00 00 80 Receive 0x0580 0x60 00 18 01 xx xx xx xx

CAN-ID Data

Setting the communication parameters for Transmit PDO1

In the object with the index 0x1800, Sub-index 1 to 3 (Transmit PDO communication parameter) the communication parameters must now be written into the structure.

Here, Transmission Type 3 (synchronous transmission with each 3rd SYNC object) is defined.

TxPDO communication parameter, Index 0x1800

Sub-index Value Significance

0 3 Number of entries 1 0x0432 COB-ID used by PDO 2 3 Transmission type 3 0 Inhibit time

Sub-index 3: Inhibit time = 0

Transmit 0x0600 0x2B 00 18 03 00 00 xx xx Receive 0x0580 0x60 00 18 03 xx xx xx xx

CAN-ID Data

96 Subject to technical amendments BU 0260 GB

7 CANopen Data transfer

Sub-index 2: Transmission Type = 3

Transmit 0x0600 0x2F 00 18 02 03 xx xx xx Receive 0x0580 0x60 00 18 02 xx xx xx xx

CAN-ID Data

Sub-index 1: Set COB-ID = 432 for the PDO and set the PDO from invalid to valid

Transmit 0x0600 0x23 00 18 01 32 04 00 00 Receive 0x0580 0x60 00 18 01 xx xx xx xx

CAN-ID Data

As soon as the module is set to the status "Operational" with the command "Start Remote Node", the PDOs become active and the TxPDO object can be used for the transmission of data.

BU 0260 GB Subject to technical amendments 97

Supplementary Manual CANopen for NORDAC SK 20E

8 Additional information

8.1 Bus configuration

In an industrial environment the correct installation of the bus system is particularly important in order to reduce potential interference. The following points are designed to help prevent interference and problems right from the start. The installation guidelines are not complete and applicable safety and accident prevention guidelines must be complied with.

8.1.1 Laying of the CAN/CANopen bus cables

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

With NORDAC frequency inverters, a twisted two-wire cable (with connected shield) is used for data transfer.

8.1.2 Cable material

The frequency inverter is usually connected to the CANopen system by a twisted, shielded two-wire cable. . The guaranteed transfer speeds or transfer distances can only be achieved without errors if the specific cable parameters are complied with.

The following relationship exists between the individual cable parameters:

Bus cable length Resistance Cable cross-section Possible transfer rates

0 - 25m

25 - 50m

50 - 80m

80m - 230m

230m – 480m

480m – 1km

70 m/m  0.25 mm

< 60 m/m  0.34 mm

< 40 m/m  0.5 mm

< 26 m/m  0.75 mm

< 20 m/-  1 mm

, AWG23

, AWG21

, AWG18

, AWG…

1 Mbit/s

800 kBits/s

500 kBits/s

250 kBits/s

125 kBits/s

50 kBits/s

The interface is compliant with ISO 11898. The maximum permissible voltage on the CAN_L and CAN_H cables is -8V … +18V.

NOTE

The lower the shielding resistance of the CANopen cable, the better the EMC quality. The electromagnetic compatibility (EMC) describes the normally required state, that technical devices do not interfere with each other due to electrical or electromagnetic effects.

98 Subject to technical amendments BU 0260 GB

8 Additional information

8.1.3 Cable layout and shielding (EMC measures)

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

Appropriate shielding of the bus cable reduces electrical interference which can arise in an industrial environment.

The best shielding characteristics are achieved with the following measures:

 Avoid long connections between bus subscribers  Shield the bus cable on both ends with large-area connection to the plug housing  Avoid spur cables  Avoid extensions to bus cables via plug connectors

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

Special attention should be paid to bending radii:

Fixed cable Freely laid cable Bending radius of cable

Minimum radius 5 x cable diameter

Minimum radius 10 x cable diameter

Correct Incorrect

NOTE

If earthing potential values are different, transient current may flow through shielding which is connected on both sides. This may be a danger to electronic components. Differences in potential must be reduced by means of adequate potential equalisation.

8.1.4 CiA (CAN in Automation) recommendations

Important information about CAN and CANopen can be found in Internet under www.can-cia.org and

www.drivecom.org

BU 0260 GB Subject to technical amendments 99

Supplementary Manual CANopen for NORDAC SK 20E

8.2 Cable glands and shielding connections

Nowadays, field bus systems are a normal part of plant technology. The sensitivity of these systems to electromagnetic interference (EMC) means that it is essential to protect bus systems from outside interference by means of uninterrupted or complete screening. Therefore the use of shielded cables and metal screw couplings or plug connectors has become standard. Assuming correct installation (e.g.: 360° shielding connection - including on contacts, observance of tightening torques, bending radii, IP- protection classes (≥IP66),…), the operational reliability of the field bus system can be maximised.

The EMC effect of a cable shield is largely dependent on its contacts to the housing and its earthing on one or both ends. The shielding effect of a housing must not be influenced by incoming or outgoing screened cables. It is recommended that the shield is exposed directly at the point of entry and connection of the cable gland with the reference potential surface and the use of an EMC cable. At the same time this opening in the housing is "sealed" against the electromagnetic field. The connection from the cable shield to the housing must have a DC and and inductive resistance which is as low as possible. This depends on the frequency. This low contact resistance is achieved by the use of a ring-shaped 360° contacting of the cable shielding and short connections to the housing via the connecting thread.

8.2.1 Fixed connection (cable gland)

Metallic EMC cable glands with a shielding concept should be used to minimise EMC problems.

1 Pressure screw

2 Earthing insert

3 Inner earthing cone

4 Metric fitting

5 O-ring mounted

These special M16 x 1.5 EMC cable glands must be fitted in the relevant connection unit (SK TI4-…(-BUS)) of the frequency inverter or the CANopen module.

Installation

For the M16 x 1.5 EMC cable gland, 5 mm of the shielding of the cable /conductor is exposed and slightly spread out. The insulating foil of the Profibus cable must be cut off and must not be folded back.

Sealing ring

connection

thread

Double nipple

Cone Shileding mesh Pressure screw

Direction of assembly

Function

When the pressure screw is tightened, the sealing insert presses the shielding mesh onto the cone of the earthing insert. The entire circumference (360°) of the shielding mesh is contacted. The mesh ends in the cable gland. This produces a large area, low resistance conductive connection between the shield, the earthing insert and the screw fitting and the housing.

For further information regarding the correct installation of EMC cable glands, please refer to the relevant manufacturer´s data sheets.

100 Subject to technical amendments BU 0260 GB

Sealing insert Cable

NORD BU0260 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual