NORD BU0270 User Manual

EtherCAT® Bus module

Supplementary Manual for NORDAC SK 200E

NORDAC SK 200E Manual Safety information

N O R D A C Frequency Inverters

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 commissioning and maintenance work must be carried out by qualified personnel (compliant with IEC 364 or. CENELEC HD 384 or DIN VDE 0100 and IEC 664 or 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 must not be commissioned (i.e. commencement of the proper use) until it has been ensured that the machine meets the provisions of the EC Directive 2006/42/EEC (Machinery Directive); EN 60204 must also be complied with.

Commissioning (i.e. implementation of the proper use) is only permitted if the EMC directive (2004/108/EEC) is complied with.

Drive power converters with a CE label meet the requirements of the Low Voltage Directive 2006/95/EEC. The stated harmonized standards for drive current inverters are used in the declaration of conformity.

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

The drive power converters may only be used for safety functions which are described and explicitly approved.

3. Transport, storage

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

4. Installation

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

(as per: Low Voltage Directive 2006/95/EEC )

The drive power converter must be protected against impermissible loads. Especially during transport and handling, components must not be deformed and/or insulation distances must not be changed. Touching of electronic components and contacts must be avoided.

Drive power converters have electrostatically sensitive components, which can be easily damaged by incorrect handling. Electrical components must not be mechanically damaged or destroyed (this may cause a health hazard!).

5. Electrical connection

When working on live drive power converters, the applicable national accident prevention regulations must be complied with (e.g. BGV A3, formerly 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 in which drive power converters are installed must be equipped, where necessary, with additional monitoring and protective equipment as per the applicable safety requirements, e.g. legislation concerning technical equipment, accident prevention regulations, etc.

The parameterisation and configuration of the drive power converter must be selected so that no hazards can occur.

All covers must be kept closed during operation.

7. Maintenance and repairs

After the drive power converter is disconnected from the power supply, live equipment components and power connections should not be touched immediately, because of possible charged capacitors. Observe the applicable information signs located on the drive power converter.

Further information can be found in this documentation.

These safety instructions must be kept in a safe place!

2 BU 0270 GB

Supplementary Manual EtherCAT for NORDAC SK 200E About this document

Documentation

Designation: BU 0270 GB

Part No.: 607 27 01

Device series: EtherCAT for SK 200E

Device types: SK TU4-ECT(-C) with SK TI4-TU-BUS

Version list

Designation of previous issues

BU 0270 GB, July 2010

Part. No. 607 2701 / 2610

Publisher

NOTE

Software Version

V 1.2 R0 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

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

BU 0270 GB 3

Supplementary Manual EtherCAT 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 any 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 d ev i c e.

The field bus technology options described here are intended for use in combination with SK 200 E series frequency inverters. Use of SK TU4-ECT(-C) technology units is also possible with the SK 500E series. 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 correct use) is not permitted until it has been ensured that the machine complies with the EMC directive 204/108/EEC and that the conformity of the end product meets the machine directive 2006/42/EEC (note EN 60204).

4 BU 0270 GB

Table of Contents

1 GENERAL INFORMATION ......................................................................................................7

1.1 Overview...............................................................................................................8

1.2 Delivery.................................................................................................................8

1.3 Scope of supply....................................................................................................9

1.4 Certifications.........................................................................................................9

1.4.1 European EMC Directive...........................................................................................9

1.4.2 RoHS compliance .....................................................................................................9

1.5 Type code / Optional BUS modules ...................................................................10

1.6 Version with protection class IP55 / IP66...........................................................11

2 ASSEMBLY AND INSTALLATION........................................................................................12

2.1 Installation and assembly ...................................................................................12

2.1.1 Overview of the EtherCAT modules........................................................................ 13

2.1.2 Installing the SK TU4-ECT Technology Unit... ........................................................14

2.2 Electrical connection ..........................................................................................16

2.2.1 Cable glands ........................................................................................................... 16

2.2.2 Control connections ................................................................................................17

2.2.3 Configuration and addressing ................................................................................. 21

3 DISPLAYS AND DIAGNOSIS ................................................................................................23

3.1 LED displays.......................................................................................................23

3.1.1 Device-specific display versions .............................................................................23

3.1.2 Signal status LEDs.................................................................................................. 25

3.2 RJ12 Diagnostic socket......................................................................................28

4 COMMISSIONING...................................................................................................................30

4.1 Cable runs: topology ..........................................................................................30

4.2 Parameter settings of the frequency inverter .....................................................30

4.2.1 Parameter settings of the SK 200E frequency inverter ........................................... 30

4.2.2 Parameterisation of the SK 500E frequency inverter ..............................................31

4.3 Integration into TwinCAT System Manager (Example) / Gateway mode...........31

4.4 XML File ............................................................................................................33

5 ETHERCAT DATA TRANSMISSION.....................................................................................34

5.1 NMT State Machine............................................................................................34

5.2 Process data (PDO communication) ..................................................................35

5.2.1 Process data (PZD) in USS standard .....................................................................37

5.2.2 The status machine................................................................................................. 41

5.3 Parameter data (SDO communication) ..............................................................43

5.3.1 Parameters according to EtherCAT ........................................................................43

5.3.2 Error codes – cancellation of parameter communication ........................................44

5.4 Examples............................................................................................................45

5.4.1 Configuration examples ..........................................................................................45

5.4.2 Example for switching the frequency inverter on and off.........................................46

5.5 Timeout monitoring.............................................................................................46

6 PARAMETERISATION...........................................................................................................47

6.1 Parameterising the SK 200E frequency inverter ................................................47

6.1.1 Basic parameters (P100) ........................................................................................47

6.1.2 Control terminal parameters (P400) ........................................................................ 48

6.1.3 Supplementary parameters (P500) ......................................................................... 50

6.1.4 Information parameters (P700) ...............................................................................54

6.2 Parameterisation of the bus module (SK TU4-…)..............................................56

6.2.1 BUS module standard parameters (P150) ..............................................................56

6.2.2 BUS module information parameters, general (P170) ............................................57

6.2.3 Module information parameters specific to the bus (P180) .....................................60

BU 0270 GB 5

Supplementary Manual EtherCAT for NORDAC SK 200E

7 ERROR MONITORING AND ERROR MESSAGES.............................................................. 61

7.1 Error monitoring................................................................................................. 61

7.1.1 Error monitoring details........................................................................................... 61

7.1.2 EMCY message..................................................................................................... 62

7.2 Error messages ................................................................................................. 64

7.2.1 Table of possible error messages (caused by the bus) in the frequency inverter ...64

7.2.2 Table of possible error messages in the bus module.............................................. 65

8 ADDITIONAL INFORMATION............................................................................................... 66

8.1 Bus configuration............................................................................................... 66

8.1.1 Laying the EtherCAT bus cable .............................................................................. 66

8.1.2 Cable material......................................................................................................... 66

8.1.3 Cable layout and shielding (EMC measures).......................................................... 66

8.2 Cable glands and shielding connections ........................................................... 67

8.2.1 Fixed connection (cable gland) ............................................................................... 67

8.2.2 Connection with M12 round plug connectors.......................................................... 68

8.2.3 Round plug connectors........................................................................................... 68

8.3 System bus........................................................................................................ 71

8.4 Repairs .............................................................................................................. 72

9 INDEX..................................................................................................................................... 73

10 KEYWORD INDEX............................................................................................................... 75

6 BU 0270 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 EtherCAT documentation contains supplementary descriptions concerning the EtherCAT 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 establish communication with EtherCAT, an external EtherCAT technology unit must be

connected.

The EtherCAT bus system

Modern field bus systems, microcontrollers and communication networks have had a great influence on automation systems and have resulted in greater flexibility, availability and ultimately, also a reduction in costs.

The widespread use of PC-based control only became possible with the availability of field bus systems. With increasing control unit performance, the classic field bus ultimately became the limiting criterion for the entire system. It was therefore an obvious step to adapt Ethernet technology, which provides high rates of data transmission in IT applications, to the field of automation.

The problem to be solved was real-time capability. EtherCAT uses a system which had already been used in a similar form by Interbus. Ethernet packages are not first received, interpreted and then forwarded to participants by each connected device, but rather each EtherCAT slave module extracts the data which is intended for it whilst the telegram passes through the module. Output data is inserted into the telegram in the same way. This results in delays of only nanoseconds.

NOTE

1 General

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany

BU 0270 GB Subject to technical amendments 7

Supplementary Manual EtherCAT for NORDAC SK 200E

1.1 Overview

Features of the EtherCAT Modules

• Electrically isolated bus interface 500V

• Transfer rates up to 100 Mbit/s

• Connection of the EtherCAT bus cable via M12 round connectors

• Connection of I/Os and system bus via screw terminals and optionally via M12 round connectors

• Specific EtherCAT status display with 4 LEDs

• Specific DEVICE or FI status display with 2 LEDs

• Eight integrated 24V inputs and two 24V outputs

• Transmission and reading of process and parameter data

• EtherCAT Bus Gateway solution → up to 4 frequency inverters can be connected to an EtherCAT

bus module

• Practically any number of participants can be connected to a bus

• Static, 8 Byte of process data per connected FI and 2 Bytes for the IOs of the bus module. I.e. the

length of the process data is 2 to 34 Bytes.

• Parameterisation via CoE (CAN over EtherCAT)

• Error messages (Emergency Messages) according to CANopen communication profile DS-301

• EtherCAT addressing is also possible via DIP switches (Second Address functionality)

• Distributed Clocks are not supported

• An interface (RS232/RS485) via an integrated RJ12 socket is available for parameter access by

means of the manual control unit SK PAR-3H or via NORDCON software.

• This is available as a version in a separate housing (optionally IP55 / IP66)

Performance

eff

• Via the SK TU4-ECT, up to 1000 frequency inverters can each update their process data (8 byte input and output data) in a cycle of one millisecond.

• An update interval for process data between the SK TU4-ECT and the connected SK 200E frequency inverters requires approx. 1.5 ms

• Reading access to a parameter on the SK 200E requires about 15ms

• Writing access and storage of a parameter in the EEPROM requires about 25 ms.

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 carry out a thorough assessment.

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

8 Subject to technical amendments BU 0270 GB

1.3 Scope of supply

Standard version: SK TU4-ECT(-C) IP55 (optionally IP66)

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…)

1.4 Certifications

1.4.1 European EMC Directive

1 General

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 0270 GB Subject to technical amendments 9

Supplementary Manual EtherCAT for NORDAC SK 200E

1.5 Type code / Optional BUS modules

BUS = Bus module or I/O extension

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

Wall mounting kit: for external technology units, TU4

M12 system conn ectors: only TU4, altern at ive to te rmin als

(not for EtherCAT)

IP protection class: Standar d = IP55 , C = „coated “ IP66

Op tio n type : CAO = CANop en, PBR = Pro fi bus, ECT = Ethe rCAT

DEV = DeviceNet, IO E = I/O-extension

Option series: TU4 = external Technology Unit CU4 = intern al customer unit

(not for Ether CAT )

(...) Options, only implemented if required.

Optional external

technology unit, SK TU4-…

Optional internal

technology unit, SK CU4-...

10 Subject to technical amendments BU 0270 GB

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-ECT-C

1 General

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, coated 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 0270 GB Subject to technical amendments 11

Supplementary Manual EtherCAT for NORDAC SK 200E

2 Assembly and installation

2.1 Installation and assembly

Only external technology units (Technology Units) are available for EtherCAT. These are tailored to the

NORDAC SK 200E frequency inverter series.

These are used to connect SK 200E series speed regulated drive units to overriding automation systems via the EtherCAT field bus.

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

The technology units (Technology Unit, SK TU4-...) 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. Optionally, 4 or 5 pin M12 round connectors are available (for installation on the BUS

connection unit SK TI4-TU-BUS), which can be used for connection of the digital I/Os and the system bus

cables.

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-...) cannot be operated without the BUS connection unit (SK TI4-TU-BUS)!

be used for the intended modules.

NOTE

SK TIE4-WMK-TU with BUS connection module SK TI4-TU-BUS and external technology unit SK TU4-ECT

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

12 Subject to technical amendments BU 0270 GB

2.1.1 Overview of the EtherCAT modules

Bus Module Description Data

EtherCAT module*)

SK TU4-ECT(-C)

Part No. 275281117 (IP55)

Part No. 275281167 (IP66)

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

This option is installed externally to the frequency inverter.

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

2 Assembly and installation

Supported profile: CoE Baud rate: up to 100 MBaud Connection: 36 pin spring terminal bar of the “BUS connection unit”* 8x Digital inputs: Low: 0-5V, High: 11-30V 2x Digital outputs: 0/24V System bus

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 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!

Connection: 36 pin spring terminal bar 36x 2.5mm2 AWG 26-14 spring terminals

BU 0270 GB Subject to technical amendments 13

Supplementary Manual EtherCAT for NORDAC SK 200E

2.1.2 Installing the SK TU4-ECT Technology Unit...

WARNING

Together with the BUS connection unit SK TI4-TU-BUS(-C) the technology unit SK TU4-ECT-…(-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.

2.1.2.1 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 technology unit remote from the frequency inverter is possible with the additional wall mounting kit SK TIE4-WMK-TU.

be used for the intended modules.

136

Wall-mounting kit SK TI4-WMK-TU

2.1.2.2 BUS connection unit SK TI4-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 M16 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.

14 Subject to technical amendments BU 0270 GB

2 Assembly and installation

2.1.2.3 Mounting the SK TI4-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 TI4-TU-BUS with the enclosed seal

on the SK 200E using the 4 enclosed

bolts.

5. Screw in both of the enclosed M25 to M12 reductions from the inside of the connection unit of the frequency inverter.

SK TI4-TU-...(connector unit for optional external modules) to the SK TI4-… (frequency inverter connector unit))

(Purpose: to avoid damage to the internal wiring in the area of the junction of the

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

7. Fit and screw on the SK TU4 module.

Technology unit SK TU4-ECT BUS Connection Unit SK T14-TU-BUS

Wall-mounting kit SK TI4-WMK-TU

2.1.2.4 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 TI4-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 0270 GB Subject to technical amendments 15

Supplementary Manual EtherCAT for NORDAC SK 200E

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

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

 24V and 24V (for DO) supply

 System bus

 I/O peripherals: sensors and actuators

No function, do not use

Diagnostic access RJ 12 socket

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

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

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

16 Subject to technical amendments BU 0270 GB

2 Assembly and installation

2.2.2 Control connections

2.2.2.1 Field bus(EtherCAT)

The field bus cable must only be connected to the two M12 sockets mounted on the front. Care must be taken that the incoming bus cable is connected to the "In" socket and that the outgoing cable is connected to the "Out" socket. If this is the last participant, the "Out" socket must be left vacant. A termination resistor is not necessary.

SK TU4-ECTNORD DRIVESYSTEMS

EtherCAT

ERR

RUN

IN OUT

Signal Name

TX+

TXRX+ RX-

Transmission Data +

Transmission Data -

Receive Data + 2

Receive Data - 4

2.2.2.2 Peripherals (system bus and IOs)

M12 D-code

4-pin

Socket details

Pin numbering

The EtherCAT 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 (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

The cable shielding must be connected to the functional earthing 1(usually the electrically conducting mounting plate) in order to prevent EMC interference in the device.

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

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 0270 GB Subject to technical amendments 17

Supplementary Manual EtherCAT for NORDAC SK 200E

The double spring terminal bar is divided into 2 potential levels (system bus and digital outputs).

A separate power source should be used for the supply of the DOs. However, by bridging the 24V o 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 8 sensors and 2 actuators is made via the terminal bar.

Potential level: system bus

Digital inputs

System bus level and digital inputs Digital outputs

Potential level: system bus Potential level: DOs

24V DIN 5 DIN 6 GND 24V

(as for 1)

24V

(as for 1)

24V

(as for 1)

GND GND DIN 1 GND 24V

(as for 1)

DIN 2 GND 24V

(as for 1)

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

(as for 1)

DIN 7 DIN 8 GND 24V

(as for 1)

24V

(as for 1)

Sys + Sys - GND DIN 3 GND 24V

(as for 1)

DIN 4 GND 24V

(as for 1)

GND O

DO 2 GND O

Connection example: SK TU4-ECT to SK 200E

and

NOTE

SK 205E... - bus connection unit (SK TI4)

SK TU4-ECT... - bus connection unit (SK TI4-TU-BUS)

Voltage source 24V DC

Looping of the 24V supply voltage is possible, however a maximum current load of 3A for

the SK TU4-ECT(-…) must not be exceeded.

18 Subject to technical amendments BU 0270 GB

Control connection details

Terminal/ Designation

1 24V

3 DIN5 Digital input 5

Function

External 24V supply (System bus)

[I/O EtherCAT DIN5]

2 Assembly and installation

Data Description / wiring suggestion Parameter

24VDC -/+20%

min 100 mA reverse polarity protected

System bus power supply -

Max. permissible current load: 3A

P174

4 DIN7 Digital input 7

[I/O EtherCAT DIN7]

5 DIN6 Digital input 6

[I/O EtherCAT DIN6]

6 DIN8 Digital input 8

[I/O EtherCAT DIN8]

7 GND

Reference potential for digital signals

9 24V

External 24V supply (System bus)

11 24V

External 24V supply

(system bus)

14 Sys +

System bus data cable +

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

= 10kΩ

Input capacitance 10nF Scan rate 1 ms

Each digital input has a reaction time of 1ms.

Inputs as per EN 61131-2 Type 1

External supply voltage for system bus and digital inputs (DIN1 to DIN8)

As for terminal 1 -

System bus interface

P174

15 GND

16 Sys -

17 GND

Reference potential for digital signals

System bus data cable -

Reference potential for digital signals

As for terminal 7 -

System bus interface

As for terminal 7 -

19 DIN1 Digital input 1

[I/O EtherCAT DIN1]

As for terminal 3 P174

20 DIN3 Digital input 3

[I/O EtherCAT DIN3]

BU 0270 GB Subject to technical amendments 19

As for terminal 3 P174

Supplementary Manual EtherCAT for NORDAC SK 200E

Terminal/ Designation

21 GND

Function

Reference potential for digital signals

Data Description / wiring suggestion Parameter

As for terminal 7 -

23 24V

External 24V supply

As for terminal 1 -

25 DIN2 Digital input 2

[I/O EtherCAT DIN2]

As for terminal 3 P174

26 DIN4 Digital input 4

[I/O EtherCAT DIN4]

As for terminal 3 P174

27 GND

Reference potential for digital signals

29 24V

External 24V supply

31 24V o

32 GND o

External 24V supply for the DOs

Reference potential for digital signals

33 DO1 Digital output 1

[I/O EtherCAT DO1]

34 DO2 Digital output 2

[I/O EtherCAT DO2]

35 GND o

Reference potential for digital signals

As for terminal 7 -

As for terminal 1 -

Potential isolation

24VDC -/+20%

Up to 1A, according to load reverse polarity protected

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

Low = 0V High: 24V

Rated current: 500mA each

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

20 Subject to technical amendments BU 0270 GB

2 Assembly and installation

2.2.3 Configuration and addressing

The configuration of the bus module via the hardware is restricted to the possibilities for

• termination of the system bus, if the bus module forms the physical termination at the system bus level, and the

• addressing at the field bus level ("Second Address"), if automatic addressing via the NMT master is not desired.

For this, 11 DIP switches are available in a 12 pin DIP switch block on the inside of the bus module. The address which is set can be read out via the SK TU4-ECT parameter (P181).

Second Address (Bus address via DIP switches)

Normally, the EtherCAT master assigns the addresses to the bus participants according to their physical sequence on the bus. In modular applications, in which entire groups of bus participants are disconnected, the control unit must continuously adapt its bus configuration.

This reconfiguration can be avoided by means of the so-called "Hot Connection Group" functionality and the

DIP address of the SK TU4-ECT. With this functionality, the bus module is only accessed via the DIP address. The position of the module in the EtherCAT line is irrelevant. Configured bus modules can still be removed or added at any time without the necessity for an adaptation in the System Manager. Therefore various configurations of the EtherCAT bus can be operated with a single SPS project. Assignment to the SPS variables is unique and always remains in effect.

The "Second Address" is derived from the SK TU4-ECT DIP switches. This is read in once when the bus module is powered on.

The setting in the TwinCAT System Manager is described in Section 4.3.

ATTENTION

Devices without "Second Address" functionality must always be physically located at the start of the bus. A device without this functionality may not follow a device with "Second Address" functionality in the EtherCAT bus line.

BU 0270 GB Subject to technical amendments 21

Supplementary Manual EtherCAT for NORDAC SK 200E

Field bus addressing: 2nd Address

Termination of system bus

DIP switch 12-part

Technology Unit SK TU4-ECT

DIP switches

DIP Address

12 11 10 9 8 7 6 5 4 3 2 1 Address

0 0 0 0 0 0 0 0 0 0 0 x 0

0 0 0 0 0 0 0 0 0 0 1 x 1

0 0 0 0 0 0 0 0 0 1 0 x 2

- - - - - - - - - - - - -

1 1 1 1 1 1 1 1 1 1 1 x 2047

* x = 0: Termination resistor is not set x = 1: Termination resistor set

Addressing via DIP switches

Term.

System bus*

NOTE

Second Address settings are only relevant if the EtherCAT master manages the addresses of participants via the "Hot Connection Group" functionality.

Termination resistor

EtherCAT: No termination resistors need to be used on the field bus system (EtherCAT)

System bus: The termination of the BUS system is made at both of its physical ends by connection of

the relevant termination resistors (DIP switches).

EtherCAT®- module (View of DIP switch)

SK 200E (internal view)

   

System bus termination resistor

System bus

termination resistor

    

e.g.:SKTU4‐ECT e.g.: SK 200E

22 Subject to technical amendments BU 0270 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 Potis

EtherCAT Module SK TU4-ECT with SK TI4-TU-BUS and SK TIE4-WMK-TU

Status LEDs and screw connection for RJ12 diagnostic interface

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 EtherCAT modules provide LED status and diagnostic displays to indicate the various statuses.

A differentiation into 2 categories is made

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

• EtherCAT-specific displays

(- physical status: L/A in and L/A out

- Process status: RUN and ERR)

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.

RJ12

indicates the operating status of the

LEDs Potentiometers

(BUS State) and BE (BUS Error)

A detailed description of the LED displays of the frequency

Status LED S/E

inverter can be found in the main manual (BU0200).

BUS Sta tus B S and BE

BU 0270 GB Subject to technical amendments 23

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