NORD BU0260 User Manual

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.

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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

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