NORD BU0260 User Manual

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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.: [phone] / 401-0  Fax [phone] / 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

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

2

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

44

40

77

78

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

58

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.

1

(usually the

1

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

v

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

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

IN

GND B

IN

SHLD 24V 24V

CAO

GND GND DIN 1 GND 24V

(as 11)

DIN 2 GND 24V

(as 11)

(as 11)

24V O

DO

DO 1 GND O

DO

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

DO 2 GND O

DO

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)

2

3 CANopen+

(incoming)

4

(outgoing)

5 CANopen-

(incoming)

6

(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)

12

13

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

i

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

P174

21 GND

Reference potential
for digital signals

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

-

22

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

i

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

P174

27 GND

28
29 24V

30

31 24V o

32 GND o

33 DO1 Digital output 1

34 DO2 Digital output 2

35 GND o

36

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

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.

8

7

6

5

4

No. 647

DIP switch

3

2

1

2

2

2

2

2

2

2

2

5

4

3

2

1

0

1

0

DIP Switch

ON - OFF

Configuration

example

0

0

8

4

2

0

0

0

Example address =

14

Baud rate =

125kBaud

3

2

No. 802

1

-

-

OFF

ON

BUS

termination

No significance

CANopen

System bus

DIP switch

28 Subject to technical amendments BU 0260 GB

3 Displays and diagnosis

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