NORD BU0270 User Manual

U

0

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GB

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EtherCAT® Bus module

Supplementary Manual for NORDAC SK 200E

27

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.: [phone] / 401-0 • Fax [phone] / 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).

© Getriebebau NORD GmbH & Co. KG, 2010

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

58

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

DE

DS

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

1

3

Socket details

Pin numbering

3

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.

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 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

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

DO 2 GND O

Connection example: SK TU4-ECT to SK 200E

and

DO

DO

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

2

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

8

9 24V

External 24V supply
(System bus)

10

11 24V

External 24V supply

(system bus)

12

13

14 Sys +

System bus
data cable +

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

= 10kΩ

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

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

As for terminal 1 -

As for terminal 1 -

System bus
interface

P174

P174

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 -

-

18

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 -

22

23 24V

External 24V supply

As for terminal 1 -

24

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

28

29 24V

External 24V supply

30

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

36

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

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

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

Supplementary Manual EtherCAT for NORDAC SK 200E

3.1.1.2 Technology unit SK TU4-ECT

LEDs LINK ACT in and LINK ACT out
The single colour LEDs LINK/ACT

(Link / Activity) indicate the

physical status of the EtherCAT connection(s)

LEDs RUN and ERR
The single colour LEDs RUN

(EtherCAT RUN) and ERR

(EtherCAT ERROR) indicate the EtherCAT 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.

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

24 Subject to technical amendments BU 0270 GB

3 Displays and diagnosis

3.1.2 Signal status LEDs

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

The statuses indicated by the LED can be read out with the aid of a parameterisation tool from Getriebebau
Nord (NORDCON software ParameterBox) and also of course via the information parameter (P173) “Module
Status” (See Section 6.2.2 "BUS module information parameters, general (P170)").

3.1.2.1 Module-specific displays
The status of the technology unit or the system bus is indicated by the LEDs DS and DE.

LED (green)

DS

 Device State

OFF OFF Technology unit not ready, no control voltage
ON

ON

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

Flashing 0.5s Flashing 0.25s

Flashing 0.5s Flashing 0.25s

Flashing 0.5s Flashing 0.25s

Flashing 0.5s Flashing 0.25s

OFF Flashing 0.25s

LED (red)

DS

 Device Error

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

Flashing 0.25s

Flash interval

1 x - 1s pause

Flash interval

2 x - 1s pause

Flash interval

3 x - 1s pause

Flash interval

4 x - 1s pause

Flash interval

1…7 x - 1s pause

Significance

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

… Rapid flashing= 4Hz (0.25s cycle)

communicating via the system bus

Technology unit ready, however

one or more of the connected frequency inverters has a fault status
(see frequency inverter manual)

to the system bus, but

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

 Address error for one or more system bus participants

System bus is in status "Bus Warning"

 Communication on system bus interrupted or

 No other participant present on the system bus

 System bus is in status "Bus off" or

The system bus 24V power supply was interrupted during operation

No system bus 24V power supply

(system bus is in status "Bus off")

EtherCAT error of the technology unit

Details: LED flashing code: RUN and ERR
(Section 3.1.2.2 "EtherCAT displays")

System error, internal program sequence interrupted

 EMC interference (observe wiring guidelines!)

 Module faulty

BU 0270 GB Subject to technical amendments 25

Supplementary Manual EtherCAT for NORDAC SK 200E

3.1.2.2 EtherCAT displays

The communication status of the EtherCAT module is indicated by the LEDs RUN and ERR.

RUN = EtherCAT - Bus status machine
ERR = EtherCAT- Bus status.

Displays of the EtherCAT bus status machine

LED (green)

 RUN

OFF Module not in operation

ON

Single Flash SAVE-OPERATIONAL

Flashing PRE-OPERATIONAL

Significance

... Flashing = (0.4s cycle)

... single Flash

Module in initialisation status

 No communication of process data and parameters

OPERATIONAL

 Parameter communication active

 Unrestricted process data communication

 Parameter communication active

 Restricted process data communication

- Actual values: No restriction

- Setpoints: No evaluation

 Parameter communication active

 No process data communication

Displays of the EtherCAT bus status

LED (red)

 ERR

OFF No error

Flashing

Single Flash Illegal status change

Double Flash Watchdog - Timeout

Significance

... Flashing = (0.4s cycle)

... single Flash

... double Flash

Incorrect configuration

GeneralEtherCAT configuration error,
can be caused by a false XML file.

 The bus module has illegally changed the EtherCAT state

 EtherCAT or FI timeout (P151)

26 Subject to technical amendments BU 0270 GB

3 Displays and diagnosis

The physical status of the field bus system (EtherCAT) is indicated by the L/A - LEDs, which are located
directly next to the M12 screw connectors on the front panel.

Displays of the EtherCAT bus connections

LED (green)

 RUN

OFF No connection

ON

Flickering Active

Significance

... Flickering = (0.1s cycle)

 Connection via EtherCAT cable not available

 No 24V supply voltage to the module

Inactive

 Connection via EtherCAT cable not available, but

 no bus activity

 EtherCAT connected and active

BU 0270 GB Subject to technical amendments 27

Supplementary Manual EtherCAT for NORDAC SK 200E

3.2 RJ12 Diagnostic socket

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

Terminal/
Designation

Diagnostic access / RJ12, RS485/RS232

Function

Data Description / wiring suggestion Parameter

1 RS485 A

2 RS485 B

Data cable RS485

Baud rate
9600…38400Baud

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

3 GND

4 RS232 TXD

5 RS232 RXD

Reference potential
for BUS signals

Data cable RS232

0V digital

Baud rate
9600…38400Baud

R S 48 5_A

R S 48 5_B

GND

TXD

RXD

+5V

+24V

RJ12: Pin No. 1 … 6

1: RS485_A

...P513

P502

2: RS485_B

3: GND

6 +24V

24V voltage supply
from FI

24V ± 20%

4: RS232_TxD

5: RS232_RxD

6: +24V

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

NOTE

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

The ParameterBox SK PAR-3H is available as a diagnostic tool.

The necessary connecting cables are included in the scope of
delivery of the ParameterBox. For a detailed description of use,
please refer to Manual BU0040.

ParameterBox SK PAR-3H

28 Subject to technical amendments BU 0270 GB

3 Displays and diagnosis

Alternatively, diagnosis can be performed via a Windows PC with the aid of NORD CON software (available
free of charge from www.nord.com). The necessary connection cable (RJ12 - SUB D9) is available from

Getriebebau Nord GmbH as part number 278910240. If necessary, an interface converter from SUB D9 to
USB2.0 is commercially available.

Terminal/
Designation

Accessory cable (optional) for PC connection

Adapter cable
RJ12 to SUB-D9

Function

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

Data Description / wiring suggestion Parameter

n.c.
n.c.

GND
TxD
RxT
+24V

Assignment of SUB-D9 connector:

Length 3m

Assignment RS 232
(RxD, TxD, GND)

Part. No. 278910240

Pin2: RS232_TxD

Pin3: RS232_RxD

Pin5: GND

RxD

GND Tx D

1 5

9

6

No special settings are required to set up communication with the individual diagnostic tools.

The allocation of addresses is defined via the system bus addressing. The display of the diagnostic tool is
according to the following table, whereby the frequency inverter which is directly connected to the diagnostic

tool is automatically assigned the address “0”

.

Device

External

technology unit

Frequency inverter

with address 32

(system bus)

Frequency inverter

with address 34

(system bus)

Frequency inverter

with address 36

(system bus)

Frequency inverter

with address 38

(system bus)

USS

address

30 1 2 3 4

Note

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

8x DIP switches

Underside of SK 200E

BU 0270 GB Subject to technical amendments 29

Supplementary Manual EtherCAT for NORDAC SK 200E

4 Commissioning

After installation of the components, and connection of the control and signal cables to the control terminal
bar of the module and the configuration of the hardware (DIP switches) the module must be integrated into

the field bus. Then the EtherCAT module must be implemented in the automation concept. In this section, the
design of hardware in the TwinCAT System Manager is shown as an example. Finally, some parameters for
the EtherCAT connection in the frequency inverter must be adapted.

4.1 Cable runs: topology

The SK TU4-ECT (EtherCAT) modules can only be interconnected in a linear structure.

EtherCAT

Master

EtherCAT Topology

The EtherCAT cable from the master must be connected to the M12 "IN" screw connector of the
SK TU4-ECT. The EtherCAT connection from the SK TU4-ECT must be made via the "OUT" screw connector.
With the last device, the "OUT" screw connector remains free. A cable termination is not necessary.

The integration of a normal Ethernet switch for the connection of normal EtherCAT devices must be made
between the EtherCAT master and the first EtherCAT module; see the following diagram.

EtherCAT

Master

EtherCAT topology with intermediate standard switch

SK TU4-ECT SK TU4-ECT SK TU4-ECT

Printer

Switch

SK TU4-ECT SK TU4-ECT

For an EtherCAT bus system there are practically no restrictions with regard to the extent of the bus, because
each EtherCAT participant amplifies the bus signal. The only condition is that the length of cable between two
neighbouring participants must not exceed100m

.

4.2 Parameter settings of the frequency inverter

4.2.1 Parameter settings of the SK 200E frequency inverter

The following settings must be made on the SK 200E:

• FI address (preferably set via DIP switches (DIP1 and 2)), if several FIs are connected to an
SK TU4-ECT (Gateway mode)

• Set the control and setpoints (preferably via DIP switches (DIP3)), or via parameter:

• Control via "system bus"  P509 = 3

• Setpoints via "system bus"  P510 = 3 or 0 if P509 = 3

• Setting of setpoints via P546 [-01] … [-03]

• Setting of actual values via P543 [-01] … [-03]

A precise description of the parameters can be found in Section 6.1 of this supplementary manual or in the SK
200E operating manual.

The parameters can be set with NORD parameterisation tools or via the EtherCAT master.

30 Subject to technical amendments BU 0270 GB

4 Commissioning

4.2.2 Parameterisation of the SK 500E frequency inverter

The following settings must be made on the SK 500E:

• Control via "CANopen"  P509 = 6

• Setpoints via "CANopen"  P510 = 6 or 0 if P509 = 6

• Setting of setpoints via P546, P547 and P548

• Setting of actual values via P543, P544 and P545

• Setting of system bus monitoring via P513 = 0.6s

• Setting of the baud rate via P514 = 5 (corresponds to 250kB)

• Setting of the system bus addresses via P515 [-01] = 32, 34, 36 or 38

For a detailed description of the parameters, please refer to the SK 500E operating manual.

The parameters can be set with NORD parameterisation tools or via the EtherCAT master.

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

Via the bus module, up to four FIs and the bus module itself can be accessed (see also Section 8.3 "System
bus").

For parameter access, a differentiation is made between the FI and the bus module by means of different
parameter numbers or parameter groups. The parameters for the FI are categorised according to the
EtherCAT Modular Device Profiles.

The process data is sent to PDO objects. Each FI as well as the bus module has a separate PDO transmission
and reception object.

In the following, the integration of the SK TU4-ECT into the Beckhoff TwinCAT System Manager will be
explained. All modules must be connected and supplied with power.

• Insert the XML file with the name "NORD_TU4_ECT.xml" (www.nord.com

) in the Control directory

• Reboot of TwinCAT in config. mode via

or Shift + F4

• Scan the EtherCAT bus for connected units. See following diagram

Scanning the EtherCAT bus

• The SK TU4-ECT modules which are found will be listed in the structural diagram

• The SK TU4-ECT can access up to 4 FIs and is equipped with 8 digital inputs and 2 digital outputs. In

the default setting of the configuration file, only the setting for FI 1 is loaded. All other FIs and the
Inputs/Outputs (modules) must be additionally added.

BU 0270 GB Subject to technical amendments 31

Supplementary Manual EtherCAT for NORDAC SK 200E

• The missing modules can be added in the TwinCAT System Manager. For this, the SK TU4-ECT box
is highlighted and the index "Slots" is selected (see illustration below).

TwinCAT System Manager, editing the slots

• Here, the required configuration can be produced. After the settings are complete, the new
configuration must be loaded into the SK TU4-ECT. This can be carried out via the function "Activate
configuration" or by "Reboot TwinCAT in configuration mode".

• With this, the SK TU4-ECT is now integrated

Bus address via DIP switches (Second Address)

If the integrated bus module is to be assigned with a fixed address (DIP switches, see Section 2.2.3), then this
setting must be updated in the TwinCAT System Manager as follows:

• Highlight the SK TU4-ECT and select "Add to Hot Connection Groups" using the right-hand mouse
button.

• In the dialogue which opens, select "2. Address" and enter the DIP address ( see also (P181)).

• Finish

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.

32 Subject to technical amendments BU 0270 GB

4 Commissioning

4.4 XML File

The XML file contains a description of the device properties for the SK TU4-ECT and its parameters as well as
the parameters of the SK 200E and SK 500E frequency inverters. Via the slots, the following modules can be
assigned to the SK TU4-ECT:

• IO - Inputs and outputs of the SK TU4-ECT

• SK 200E - SK 200E series frequency inverters

• SK 500E - Standard SK 500E series frequency inverter

• SK 500E SERVO - SK 500E series frequency inverter with motor encoder interface

• SK 500E POSICON - SK 500E series frequency inverter with PosiCon option

In the basic configuration (state of the SK TU4-ECT as delivered), only FI 1 is set as SK 200E. This is the

minimal configuration. This ensures that no "unnecessary" data (e.g. for unused FIs) is also transmitted. Via

the Beckhoff System Manager, the other FIs and the I/O of the SK TU4-ECT can be integrated by the
customer at any time.

These files are available on a daily basis from www.nord.com

Integrating an SK 500E:

If an SK 500E is to be accessed by an SK TU4-ECT via the system bus, the appropriate setting must be
loaded.

As error messages are generated of parameters which do not exist in the FI are called up via EtherCAT,
several devices with the corresponding range of functions are stored in the XML file (SK 500E, SK 500E
SERVO, SK 500E POSICON).

.

BU 0270 GB Subject to technical amendments 33

Supplementary Manual EtherCAT for NORDAC SK 200E

5 EtherCAT data transmission

EtherCAT communication is based on the single master principle. Although the bus modules can communicate
from "Slave to Slave" in the process data channel, and therefore two or more devices can be coupled together,
an EtherCAT master is always required for this function.

5.1 NMT State Machine

The NMT State Machine defines various communication states of the SK TU4-ECT. The switchover between
the individual states is made via the SPS (EtherCAT Master).

The slave can only independently exit from the "Operational" state in case of severe communication errors at
the EtherCAT level.

Init

Pre-Operational

Save Operational

Operational

NMT State Machine

State Explanation

Init No communication of process data and parameters

Pre-Operational - Communication of parameters

Save Operational - Communication of parameters

Operational - Communication of parameters

Explanation of NMT States

- No process data communication

- Restricted process data communication (only actual values are transmitted, setpoint are not evaluated)

- Unrestricted process data communication

34 Subject to technical amendments BU 0270 GB

5 EtherCAT - Data transfer

5.2 Process data (PDO communication)

The process data is transmitted via PDOs These are fixed and cannot be changed.

Control words and setpoints are transferred from the bus master to the SK TU4-ECT as process data and in
return, the status word and actual values from the SK TU4-ECT are sent to the bus master from the FI. This
transfer is carried out cyclically and the master can access these process values directly, as they are stored in
the I/O area.

Via the SK TU4-ECT, up to 4 FIs and the SK TU4-ECT itself can be accessed, whereby in the basic setting,
only one SK 200E frequency inverter is integrated. This prevents unnecessary data from being transported in
the telegram, which would increase the bus load.

The process data structure for an individual FI contains 8 Bytes of inverter data.

Direction of transmission Transmitted data (8 Byte)

1st word 2nd word 3rd word 4th word

Transmission to SK TU4-ECT Control word Setpoint 1 Setpoint 2 Setpoint 3

Reception from the SK TU4-ECT Status word Actual value 1 Actual value 2 Actual value 3

Structure of the process data telegram from the SK TU4-ECT for an FI

The process data structure for the bus module includes 2 Bytes, of which only the Low Byte is used.

Direction of transmission

Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 … Bit 15

Transmission to SK TU4-ECT DOut1 DOut2 - - - - - - Not used

Reception from the SK TU4-ECT DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 DIN8 Not used

In the minimal configuration 8 Bytes of process data are sent in a single telegram (control of exactly one
frequency inverter). In the maximum configuration there are 34 Bytes (I/Os of the bus module (2 Bytes) + 4
frequency inverters (4 x 8 Bytes)).

The assignment of values in the setpoint/actual value area is carried out:

in the SK 200E via the parameters P543 [-01 … -03] and P546 [-01 … -03],

in the SK 500E via the parameters P543 to P548.

Transmitted data (2 Byte)

Low byte High byte

BU 0270 GB Subject to technical amendments 35

Supplementary Manual EtherCAT for NORDAC SK 200E

The internal status machine of the frequency inverter (USS) applies for the transfer of process data. Access to
the individual frequency inverters is according to the following pattern.

PDO setpoint

Gateway

mode

2nd frequency inverter

Sequence in telegram

Indication in word

0 0x20B0 5 Control word (STW)

3rd frequency inverter

Sequence in telegram

Indication in word

0 0x20B0 9 Control word (STW)

4th frequency inverter

Sequence in telegram

Indication in word

0 0x20B0 13 Control word (STW)

1 0x20B0 14 Setpoint 1 (SW1)

2 0x20B0 15 Setpoint 2 (SW2)

3 0x20B0 16 Setpoint 3 (SW3)

1 0x20B0 10 Setpoint 1 (SW1)

2 0x20B0 11 Setpoint 2 (SW2)

3 0x20B0 12 Setpoint 3 (SW3)

1 0x20B0 6 Setpoint 1 (SW1)

2 0x20B0 7 Setpoint 2 (SW2)

3 0x20B0 8 Setpoint 3 (SW3)

1st frequency inverter

Sequence in telegram

Indication in word

0 0x20B0 1 Control word (STW)

1 0x20B0 2 Setpoint 1 (SW1)

2 0x20B0 3 Setpoint 2 (SW2)

3 0x20B0 4 Setpoint 3 (SW3)

Setpoint - PDO in USS Protocol Mode

Index Sub-index Description

Setpoint - PDO in USS Protocol Mode

Index Sub-index Description

Setpoint - PDO in USS Protocol Mode

Index Sub-index Description

Setpoint - PDO in USS Protocol Mode

Index Sub-index Description

Actual PDO value

4th frequency inverter

Sequence in telegram

Indication in word

0 0x20B1 13 Status word (ZSW)

1 0x20B1 14 Actual value 1 (IW1)

2 0x20B1 15 Actual value 2 (IW2)

3 0x20B1 16 Actual value 3 (IW3)

1st frequency inverter

Sequence in telegram

Gateway

mode

2nd frequency inverter

Sequence in telegram

Indication in word

0 0x20B1 5 Status word (ZSW)

3rd frequency inverter

Sequence in telegram

Indication in word

0 0x20B1 9 Status word (ZSW)

1 0x20B1 10 Actual value 1 (IW1)

2 0x20B1 11 Actual value 2 (IW2)

3 0x20B1 12 Actual value 3 (IW3)

1 0x20B1 6 Actual value 1 (IW1)

2 0x20B1 7 Actual value 2 (IW2)

3 0x20B1 8 Actual value 3 (IW3)

Indication in word

0 0x20B1 1 Status word (ZSW)

1 0x20B1 2 Actual value 1 (IW1)

2 0x20B1 3 Actual value 2 (IW2)

3 0x20B1 4 Actual value 3 (IW3)

Actual value - PDO in USS Protocol Mode

Index Sub-index Description

Actual value - PDO in USS Protocol Mode

Index Sub-index Description

Actual value - PDO in USS Protocol Mode

Index Sub-index Description

Actual value - PDO in USS Protocol Mode

Index Sub-index Description

36 Subject to technical amendments BU 0270 GB

5 EtherCAT - Data transfer

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

PDO setpoint

Actual PDO

value

BUS - module

Sequence in telegram

Indication in word

BUS - module

Sequence in telegram

Indication in word

1 0x20B1 0

Setpoint - PDO in USS Protocol Mode

Index

Actual value- PDO in USS Protocol Mode

Index

Sub­Index

Sub­Index

Bit Description

0 Output 1 1 0x20B0 0

1 Output 2

Bit Description

0 Input 1

1 Input 2

2 Input 3

3 Input 4

4 Input 5

5 Input 6

6 Input 7

7 Input 8

5.2.1 Process data (PZD) in USS standard

In the process data area PZD, control words and setpoints or status words and actual values are transferred
from one participant to another. The sequence of the elements (Words (= 2 Bytes each)) in the structure of the
process data area is always the same.

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

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

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

- SW1..3: Setpoints; maximum 3 possible, 16 or 32 bit, order telegram
e.g. frequency setpoint, position setpoint, torque setpoint

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

1. Word
(Byte 0,1)

PZD area with 
1x16 bit setpoint

PZD area with up to 3
16 bit setpoints

Note: 32 bit setpoints (e.g.: positions) are not processed directly. They are assembled from two 16 Bit values

(High word = High part of a 32 Bit position setpoint and Low word = Low part of a 32 Bit position setpoint).

STW
ZSW

STW
ZSW

2. Word

(Byte 2,3)

SW1

IW1

SW1

IW1

3. Word

(Byte 4,5)

SW2

IW2

4. Word

(Byte 6,7)

SW3

IW3

BU 0270 GB Subject to technical amendments 37

Supplementary Manual EtherCAT for NORDAC SK 200E

5.2.1.1 Control word (STW)

The control word (STW) is the first word transferred to the frequency inverter in the process data area in an
order telegram. For example, a control word "Ready for switch-on" corresponds to 047E

PZD1 PZD2 PZD3 PZD4

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

STW SW1 SW2 SW2/3

(hex)

.

Meaning of the individual bits:

Bit Value Significance Comments

0 0 OFF 1 Reverse with the brake ramp, with disconnection from supply at f=0Hz
1 ON Ready for operation

1 0 OFF 2

1 Operating condition OFF 2 is cancelled

2 0 OFF 3

1 Operating condition OFF 3 is cancelled

3 0 Disable operation

1 Enable operation The output voltage is enabled; ramp to the existing setpoint

4 0 Lock ramp generator

1 Operating condition Enable ramp generator

5 0 Stop ramp generator

1 Enable ramp generator Enable setpoint on ramp generator

6 0 Disable setpoint Selected setpoint value is set to zero on the ramp generator.
1 Enable setpoint Selected ramp generator setpoint is activated.

7 0 No acknowledgement With the switch from 0 to 1, errors which are no longer active are acknowledged.
1 Acknowledge

8 0
1 Bit 8 active

9 0
1 Bit 9 active

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

11 0
1

Rotational direction:
right

12 0
1

Rotational direction:
left

13 0/1 Reserved

14 0/1

Bit 0 to switch
parameter set

15 0/1

Bit 1 to switch
parameter set

* If Bit 12=0, then "Direction of rotation right ON" applies

Cut off voltage; the inverter output voltage is switched off; the FI enters a state
where switching on is disabled.

Quick stop with programmed quick stop time; with disconnection from supply at
f=0Hz; the FI switches to starting disabled condition.

Cut off voltage; the inverter output voltage is switched off; the FI enters a state
where switching on is enabled.

Ramp generator is set to zero; no disconnection from supply at f=0Hz; FI remains
in the operation enabled state.

The setpoint currently provided by the ramp generator is "frozen" (frequency is
maintained).

Note: When a digital input has been programmed for the "ack.fault" function, this
bit must not permanently be set to 1 via the bus (otherwise, edge evaluation
would be prevented).

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

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

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

transferred setpoint is valid.

Rotational direction right (priority) – ON*

Rotational direction left – ON*

00 = Parameter set 1
01 = Parameter set 2

10 = Parameter set 3
11 = Parameter set 4

38 Subject to technical amendments BU 0270 GB

5 EtherCAT - Data transfer

5.2.1.2 Status word (ZSW)

In the inverter response telegram, in the area of the process data the status word (ZSW) is transferred as the
first word. For example, the status word "Ready for switch-on" corresponds to 0B31

(hex)

.

PZD1 PZD2 PZD3 PZD4

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

ZSW IW1 IW2/3 IW2/3

Meaning of the individual bits:

Bit Value Significance Comments

0 0 Not ready to start
1 Ready to start Initialisation completed, charging relay ON, output voltage disabled

1 0 Not ready for operation

1 Ready for operation

2 0 Operation disabled
1 Operation enabled The output voltage is enabled; ramp to the existing setpoint

3 0 No fault
1 Fault

4 0 OFF 2 OFF2 command applied
1 No OFF 2

5 0 OFF 3 OFF3 command applied
1 No OFF 3

6 0 Starting not disabled
1 Starting disabled Switches first to OFF1, then to ready-to-start status

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

8 0 Actual value not O.K.

1 Actual value O.K. Actual value matches required setpoint (setpoint has been reached)

9 0 Local guidance Guidance on local device has been activated
1 Guidance requested The master has been requested to assume guidance.

10 0
1 Bit 10 active

11 0
1

12 0
1

13 0
1 Bit 13 active

14 0/1

15 0/1

Rotational direction:
right

Rotational direction:
left

Currently active
parameter set 0

Currently active
parameter set 1

Causes: No command has been activated, fault is signaled, OFF2 or OFF3
activated, starting disabled state activated

ON command activated, no faults present. The inverter can be started with the
command ENABLE OPERATION

Drive fault resulting in stoppage; this state is changed to starting disabled after
the fault has been successfully acknowledged

Actual value does not match the setpoint (with posicon: failure to reach setpoint
position)

(with posicon: setpoint has been reached)

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

Inverter output voltage is turning right

Inverter output voltage is turning left

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

00 = Parameter set 1
01 = Parameter set 2

10 = Parameter set 3
11 = Parameter set 4

BU 0270 GB Subject to technical amendments 39

Supplementary Manual EtherCAT for NORDAC SK 200E

×

5.2.1.3 Setpoints and actual values (process values)

The meaning of the setpoint and actual values in the relevant frequency inverter is defined as follows:

Direction of transmission Process value SK 200E SK 500E

Setpoint 1 P546 [-01] P546

Order to FI

Setpoint 2 P546 [-02] P547

Setpoint 3 P546 [-03] P548

Actual value 1 P543 [-01] P543

Status message from FI

Actual value 2 P543 [-02] P544

Actual value 3 P543 [-03] P545

Word: PZD1 PZD2 PZD3 PZD4

Order STW

Response ZSW IW1 IW2 IW3

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

SW1 SW2 SW3

Bits

The transfer of setpoint and actual values is carried out by three different methods, which will be explained below.

Percentage transfer

The process value is transferred as a whole number with a value range of -32768 to 32767 (8000 hex to 7FFF
hex). The value 16384 (4000 hex) is equal to 100%. The value -16384 (C000 hex) is equal to -100%.

For frequencies(setpoint frequency, actual frequency, frequency addition, actual frequency PID, …), the 100%
value corresponds to the FI parameter "Maximum Frequency" (P105) and for currents, this is the FI parameter
"Torque Current Limit" (P112) Frequencies and currents result from the following formulae.

Frequency

=

×

16384

Current

=

16384

112Pvalue

105Pvalue

Value = the 16Bit actual or setpoint value transmitted via EtherCAT

Formula: Formation of 16Bit setpoint/actual value

Binary transmission

Inputs and outputs as well as Digital In bits and Bus Out bits are evaluated for each bit.

Transmission of positions

For positions, a value range from +/- 50000.000 rotations is available. A motor rotation can be divided into a
maximum of 1000 steps. This scaling is independent of the encoder which is used.

The 32Bit value range is divided into a Low and a High word, so that 2 setpoint/actual values are required for

transmission. For this, it does not matter which of the 3 process data words is used.

Direction of transmission Transmitted data (8 Byte)

1st word 2nd word 3rd word 4th word

Transmission to SK TU4-ECT Control word 32Bit setpoint Setpoint 3

Reception from the SK TU4-ECT Status word Actual value 1 32Bit actual value

Depiction of 32Bit setpoint/actual values

40 Subject to technical amendments BU 0270 GB

5 EtherCAT - Data transfer

It is also possible to only transmit the Low component of the position. This results in a limited value range
(16Bit) from +32,767 rotations to -32,768 rotations. This value range can be extended with the aid of the gear
ratio factor (P607 & P608). However, it must be noted that there is an according reduction in the resolution.

5.2.2 The status machine

The frequency inverter passes through a status machine. The changes between various states are triggered
by the respective control commands in the process data control word. The actual status is returned in the
process data status word.

After switching on, the frequency inverter is in “Switch-on disabled” status. This status can only be ended by

transmitting the “Shut down (Off 1)” command.

The answer to a master telegram normally does not yet contain a reaction to the control command. The
controller must check the answers from the slaves as to whether the control command has been carried out.

The following bits indicate the status of the frequency inverter:

Status Bit 6

Switch-on

disable

Not ready to start 0 X X 0 0 0 0

Starting disabled 1 X X 0 0 0 0

Ready to start 0 1 1 0 0 0 1

Activated 0 1 1 0 0 1 1

Operation enabled 0 1 1 0 1 1 1

Fault 0 X X 1 0 0 0

Error active 0 X X 1 1 1 1

Emergency stop active 0 0 1 0 1 1 1

Codes for FI status

Bit 5

Emergency

stop

Bit 4

Disable
voltage

Bit 3

Fault

Bit 2

Operation

enabled

Bit 1

Standby

Bit 0

Ready for
switch-on

BU 0270 GB Subject to technical amendments 41

Supplementary Manual EtherCAT for NORDAC SK 200E

Internal status machi ne

1

34568

Not on standby

5

Sw itc hing on the inverter

Bit2 = 0: Fast stop

6

Fast stop active

Bit1 = 0: Disable voltage

v Bit2 = 0: Fast stop

2

Sw itch-on

45

Bit0 = 0: Shut dow n

5

5

Bit 3 = 0: Disable operation Bit0 = 1: Sw itch on

3

2

23

disabled

3

Standby

4

Ac tivated

Loading relay applied

Bit0 = 0: Shut dow n
& Bit1 = 1: Enable voltage
& Bit2 = 1: Enable pulses
(xxxx x1xx xxxx x110)

2

From all device statuses

7

Error reac tion

8

f = 0 reac hed
(f ast stop c omplete)

Fault

active

Error reaction complete

Fault

Bit3 = 1: Enable operation

&Bit0 = 1: Sw itch on

Control bits

0. Ready for operation / shut dow n

1. Disable / enable voltage

2. Enable pulses / emergency s top

3. Disable / enable operation

4. Operation condition / block RUE

5. Enable / stop RUE

6. Enable / disable setpoint

7. Error acknow ledgement (0

10. Control data valid / invalid

11. Rotation right

12. Rotation l eft

14. Parameter set Bi t 0

15. Parameter set Bi t 1

Diagram of the FI Status Machine

Bit3 = 1: Enable operation

5

364

2



1)

Operation enabled

Priority of control commands:

1. Disable voltage

2. Fast stop

3. Shut dow n

4. Enable operation

5. Sw itch on

6. Disable operation

7. Reset error

Bit4 = 0: Move dow n emergenc y stop ramp and

remain in 'Operation enabled'

Bit5 = 0: Hold frequenc y

Bit6 = 0: Setpoint = 0%

2

Designation o f statuses:

1: Bit 0 = 0
2: Bit 6 = 1
3: Bit 0 = 1
4: Bit 1 = 1
5: Bit 2 = 1
6: Bit 5 = 0
7: Bit 2 & Bit 3 = 1
8: Bit 3 = 1

Bit7 01

Error acknow ledgement

42 Subject to technical amendments BU 0270 GB

5.3 Parameter data (SDO communication)

5 EtherCAT - Data transfer

The transfer of parameter data is carried out cyclically with low priority. Transfer is carried out in CoE (CAN
over Ether CAT

All parameter requests are handled by a single

®

) protocol via the SDO transfer. All parameters of the FI and the bus module can be accessed.

SDO channel. Here there are universal parameters which are
valid for the entire bus assembly and there are also parameters which are only valid for a single module (FI or
bus module). Therefore it is necessary to segregate the same parameter for various modules (FI 1 to 4 and
bus module).

Bus module FI 1 FI 2 FI 3 FI 4

RxPDO (Out) 0x1600 0x1601 0x1602 0x1603 0x1604

TxPDO (In) 0x1A00 0x1A01 0x1A02 0x1A03 0x1A04

NORD Parameters 0x2000-0x27FF 0x2800-0x2FFF 0x3000-0x37FF 0x3800-0x3FFF 0x4000-0x47FF

FI offset 0 0x800 0x1000 0x1800 0x2000

The parameter numbers stated in the documentation must be converted into the numerical range specified for
EtherCAT. This is performed according to the following formula:

SK TU4-ECT parameter = 0x2000 + FI offset + FI parameter number

Example:

Parameter (P102) for FI 2 = 0x2000 + 0x1000 + P102 = 0x3066

The FI parameter (P102) of the second frequency inverter is accessed via EtherCAT with the parameter
number 3066

(12390

hex

dez

).

For parameters with a sub-index, the first value is always on sub-index 1. Sub-index 0 contains the maximum
size of the array.

The processing of SDP parameter access is complex and will not be described here. In general, the EtherCAT
SPS provides functional modules for this purpose.

5.3.1 Parameters according to EtherCAT

The available objects are defined for EtherCAT and correspond to the CANopen communication profile DS301.

Index Sub Object Description Access Type

0x1000 0 Device type Device type and functionality RO U32

0x1008 0 Device name Device name RO STR

0x1009 0 Hardware version Hardware configuration RO STR

0x100A 0 Software Version Software Version RO STR

0x1018 REC Identity object General device information U32

0 Largest sub-index Number of elements (=4) RO U8

1 Vendor ID

2 Product code Device version (product number) RO U32

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

4 Serial number Not supported RO U32

0x1601­0x1604*

0x1600 0-1 RxPDO Mapping Process data for the outputs of the SK TU4-ECT RO U32

0 Largest sub-index Number of elements RO U8

Manufacturer ID:
(Getriebebau Nord: 0x0000 0538)

RO U32

0x1601-

0x1604

BU 0270 GB Subject to technical amendments 43

0-4 RxPDO Mapping

Setpoints for FI 1 (0x1601) to FI 4 (0x1604)

RO U32

Supplementary Manual EtherCAT for NORDAC SK 200E

Index Sub Object Description Access Type

0x1A00­0x1A04*

0 Largest sub-index Number of elements RO U8

0x1A00 0-1 TxPDO Mapping Process data for the inputs of the SK TU4-ECT RO U32

0x1A01-

0x1A04

0x1C00 0-4

0x1C10 0

0x1C11 0

0x1C12 5

0x1C13 5

* xx00 hex = Bus module, xx01

0-4 TxPDO Mapping Actual values for FI 1 (0x1A01) to FI 4 (0x1A04) RO U32

Sync Manager

Com. Type

Sync Manager

Channel 0

Sync Manager

Channel 1

Sync Manager

Process Data Output

Sync Manager

Process Data Input

= FI 1, xx02

hex

= FI 2, xx03

hex

Shows the assignment and use of Sync channels RO U8

Mailbox Receipt RO UCHAR

Mailbox Send RO UCHAR

Process data output RO U16

Process Data Input RO U16

= FI 3, xx04

hex

= FUI 4,

hex

5.3.2 Error codes – cancellation of parameter communication

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

Error code Description

0x0503 0000 Toggle bit unchanged

0x0504 0000 Timeout of SDO message(Timeout of the SDO response by the bus module)

0x0504 0001 SDO command invalid / unknown

0x0504 0005 No memory (Insufficient memory)

0x0601 0000 Illegal access to an object

0x0601 0001 Reading access to write-only parameter

0x0601 0002 Writing access to read-only object

0x0602 0000 Object does not exist in the object dictionary (access to a non-existent parameter)

0x0604 0043 Parameter incompatibility

0x0604 0047 Module internally incompatible

0x0606 0000 Access failure due to hardware error

0x0607 0010 Data type or parameter length do not match

0x0607 0012 Data type incorrect, parameter length too long

0x0607 0013 Data type incorrect, parameter length too short

0x0609 0011 Sub-Index of parameter does not exist

0x0609 0030 Parameter value range overflow

0x0609 0031 Parameter value too large

0x0609 0032 Parameter value too small

0x0609 0036 Maximum value smaller than the minimum value

0x0800 0000 General error

0x0800 0020 Data transfer or saving not possible, as there is no communication between the bus module and the FI

44 Subject to technical amendments BU 0270 GB

5 EtherCAT - Data transfer

5.4 Examples

5.4.1 Configuration examples

The configuration examples described here are intended as supplementary and summary support in addition
to the detailed descriptions in this manual during the configuration of the system bus or field bus (EtherCAT).

5.4.1.1 PZD exchange via PDO telegrams

Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a
single speed and a single position.

Given:

Serial No. Device type Designation Motor Other

1

2

3

4

SK 2x5E
frequency inverter

SK 2x5E
frequency inverter

SK 2x5E
frequency inverter

SK TU4-ECT

(with connection unit SK TI4-TU-Bus)

Technology Unit (EtherCAT)
(external)

FI 1 4-pole / n=1390 rpm / 50Hz

FI 2 4-pole / n=1390 rpm / 50Hz

FI 3 4-pole / n=1390 rpm / 50Hz

Bus module

The bus module and FI 3 should always be the last physical participants on the system bus.

Relevant

bus system

System bus

Serial

No.

1 Set up system bus 24V supply required! (see Section 2.2.2 )

2

3

4

5

Step Comments

Set termination
resistor

Set system bus
addresses

System bus baud
rate

System bus
communication

• DIP switch "Bus termination, system bus" on ECT module "ON"

• DIP switch "Bus termination, system bus" on FI 3 "ON"

• All other DIP switches to "OFF"

Setting of FI addresses preferably via DIP switches (see manual
BU0200):

• Bus module: fixed (at 5)

• FI 1: to 32

• FI 2: to 34

• FI 3: to 36

• AG1: to 33

• AG2: to 35

• AG3: to 37

set to 250kBaud for FI and AG

(For FI: SK 200E is pre-set accordingly)

Make settings on each FI

• (P509): { 3 } "System bus"

• (P510 [-01 … -02]): { 0 } "Auto"

• (P543 [-01]): { 1 } "Actual frequency"

• (P543 [-02]): { 10 } "Actual position in inc. Low-Word"

• (P543 [-03]): { 15 } "Actual position in inc. High-Word"

• (P546 [-01]): { 1 } "setpoint frequency"

• (P546 [-02]): { 23 } "Setpoint position in inc. Low-Word"

• (P546 [-03]): { 24 } "Setpoint position in inc. High-Word"

Motor with
CANopen absolute
value
encoder (AG1)

Motor with
CANopen absolute
value
encoder (AG2)

Motor with
CANopen absolute
value
encoder (AG3)

BU 0270 GB Subject to technical amendments 45

Supplementary Manual EtherCAT for NORDAC SK 200E

Relevant

bus system

Field bus
(EtherCAT)

System bus

System bus

Serial

No.

6

7

8

Step Comments

Configure bus
module for field

EtherCAT address assignment is carried out automatically.
Exception: Second Address Mode (see Section 2.2.3).

bus

Monitoring at
system bus level

Checking system
bus
communication

• (P151): { 200 }

• (P120 [-01]) { 1 } or { 2 }

• (P748): "System bus status"

• (P740 [-01]): "Control word"

• (P740 [-02]): "Setpoint 1"

• (P741 [-01]): "Status word"

• (P741 [-02]): "Actual value 1"

• (P173): "Module status"

Field bus
(EtherCAT)

9

Checking field bus
communication

• (P173): "Module status"

• (P176): "PZD Bus In"

• (P177): "PZD Bus Out"

Note: Settings specific to the application (motor data, control parameters, control terminal functions etc.)

cannot of course be described here.

5.4.2 Example for switching the frequency inverter on and off

In this example, a FI will be operated with a setpoint (setpoint frequency) and an actual value (actual
frequency). The "Maximum Frequency" is 50Hz.

Parameter settings:

• P105 = 50

• P543 = 1

• P546 = 1

Control
word

- - - - - - 0000

- - - - - - xx40

047E

047F

The FI is enabled, the motor is supplied with current and rotates with a frequency of 25Hz.

047E

The FI is disabled again and the motor is without current.

047F

The FI is enabled, the motor is supplied with current and rotates with a frequency of 12.5Hz.

Setpoint 1 Status

0000

hex

hex

2000

hex

1000

hex

2000

hex

hex

hex

hex

word

xx31

xx37

xx31

xx37

0000

hex

0000

hex

0000

hex

2000

hex

0000

hex

1000

hex

Actual

value 1

hex

hex

hex

hex

hex

hex

Explanation

The mains voltage is switched on at the FI

FI is set to "Standby" status

FI is set to "Operation enabled" status and controlled with a
50% setpoint.

FI is set to "Standby" status, the motor runs up its
parameterised ramp to speed 0 and is switched off.

FI is set to "Operation enabled" status and controlled with a
25% setpoint.

5.5 Timeout monitoring

Data traffic on the EtherCAT side is monitored by EtherCAT watchdogs. In addition,monitoring via the
parameter P151 of the bus module and via the relevant parameter settings in the frequency inverter is also
possible. Further details are described in Section 7.

46 Subject to technical amendments BU 0270 GB

6 Parameterisation

6 Parameterisation

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

With the EtherCAT protocol, all parameter requests are handled via a single SDO channel and are mapped in
the area above 2000

(see also Section 5.3).

hex

6.1 Parameterising the SK 200E frequency inverter

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

6.1.1 Basic parameters (P100)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P120 … [-01]

...
… [-04]

0 ... 2

{ 1 }

Option monitoring

Array levels:

… [-01] = Extension 1 (BUS TB)
… [-02] = Extension 2 (2 .I/O-TB)
… [-03] = Extension 3 (1st. I/O TB)
… [-04] = Extension 4 (reserved)

(ZBG2)

(ZBG1)

S

Setting value for each array:

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

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

2 = Monitoring active immediately; the FI

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

result in an error.

BU 0270 GB Subject to technical amendments 47

Supplementary Manual EtherCAT for NORDAC SK 200E

6.1.2 Control terminal parameters (P400)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P420 … [-01]

...
… [-04]

0 ... 72

{ [-01] = 01 }

{ [-02] = 02 }

{ [-03] = 04 }

{ [-04] = 05 }

Digital inputs 1 to 4

In the SK 200E, up to 4 freely programmable digital inputs are available. The only restriction is
with the versions SK 215E and SK 235E. Here, the fourth digital input is always the input for the
function "Safe Stop".

... [-01] = Digital input 1 (DIN1), Enable right as factory setting,

control terminal 21

... [-02] = Digital input 2 (DIN2), Enable left as factory setting,

control terminal 22

… [-03] = Digital input 3 (DIN3), fixed frequency 1 (P465 [-01]) as factory setting,

control terminal 23

… [-04] = Digital input 4 (DIN4), fixed frequency 2 (P465 [-02]) as factory setting, not with SK

215/235E  "Safe Stop", control terminal 24

Various functions can be programmed. For the complete list, please refer to the SK 200E
frequency inverter manual (BU0200).

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

Excerpt...

Value Function Description Signal

00

No function Input switched off. ---

…

14 1

Remote control

…

1

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

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

High

Parameter

{Factory setting}

P480 ... [-01]

...
... [-12]

0 ... 72

{ [-01] = 01 }

{ [-02] = 02 }

{ [-03] = 05 }

{ [-04] = 12 }

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

Setting value / Description / Note Device Supervisor

Function Bus I/O In Bits

Parameter
set

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

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

… [-01] = Bus I/O In Bit 0
… [-02] = Bus I/O In Bit 1
… [-03] = Bus I/O In Bit 2
… [-04] = Bus I/O In Bit 3
… [-05] = Bus I/O In Bit 4
… [-06] = Bus I/O In Bit 5

… [-07] = Bus I/O In Bit 6
… [-08] = Bus I/O In Bit 7
… [-09] = Flag 1
… [-10] = Flag 2
… [-11] = Bit 8 BUS control word
… [-12] = Bit 9 BUS control word

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

48 Subject to technical amendments BU 0270 GB

6 Parameterisation

Parameter

{Factory setting}

P481 ... [-01]

...
... [-10]

0 ... 39

{ all 0 }

P482 ... [-01]

...
... [-08]

-400 … 400 %

{ all 100 }

Setting value / Description / Note Device Supervisor

Function Bus I/O Out Bits

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

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

… [-01] = Bus I/O Out Bit 0
… [-02] = Bus I/O Out Bit 1
… [-03] = Bus I/O Out Bit 2
… [-04] = Bus I/O Out Bit 3
… [-05] = Bus I/O Out Bit 4
… [-06] = Bus I/O Out Bit 5

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

… [-07] =Flag 1
… [-08] = Flag 2
… [-09] = Bit 10 BUS status word
… [-10] = Bit 13 BUS status word

Standardisation of bus I/O Out bits

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

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

Parameter
set

P483 ... [-01]

...
... [-08]

1 … 100 %

{ all 10 }

Hysteresis of bus I/O Out bits

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

S

BU 0270 GB Subject to technical amendments 49

Supplementary Manual EtherCAT for NORDAC SK 200E

6.1.3 Supplementary parameters (P500)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P509 Control word source

0 ... 4

{ 0 }

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

NOTE:

P510 ... [-01]

... [-02]

0 ... 4

{ [-01] = 0 }

{ [-02] = 0 }

Selection of the interface via which the FI is controlled.

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

ParameterBox or via BUS I/O Bits.

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

signals or via the bus I/O bits.

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

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

3 = System bus*
4 = System bus broadcast *

parameterisation is still possible.

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

FI will disable without an error message.

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

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

switch 3.

- www.nord.com

Setpoint source

Selection of the setpoint source to be parameterised.

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

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

5 = Auto:the source of the auxiliary setpoint is

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

6 = Control terminals, digital and analog inputs

control the frequency, including fixed frequencies

S

–

S

7 = USS
8 = System bus
9 = System bus broadcast

P513 Telegram downtime

-0.1 / 0.0 /

0.1 ... 100.0 s

{ 0.0 }

50 Subject to technical amendments BU 0270 GB

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

0.0 = Off: Monitoring is switched off.

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

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

Note:

In BUS mode (e.g.: EtherCAT), monitoring is controlled via parameter (P120). Settings in
parameter (P513) are therefore not necessary.

Caution: If a setting is made in this parameter in spite of this, values lower than 0.6s cause an
error in the FI due to the fixed definition of the system bus baud rate.

S

6 Parameterisation

Parameter

{Factory setting}

Setting value / Description / Note Device Supervisor

P514 CAN baud rate (system bus)

0 ... 7

{ 5 }**

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

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

*) Safe operation cannot be guaranteed

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

P515 ... [-01]

…
... [-03]

0 ... 255 dec

{ all 32 dec}

or { all 20 hex}

NOTE:

CAN address (system bus)

Setting of the system bus address.

… [-01] = Receive address for system bus
… [-02] = Broadcast – Receive address for system bus (slave)
… [-03] = Broadcast – Transmit address for system bus (master)

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

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

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

Parameter
set

S

6 = 500kBaud
7 = 1Mbaud *

S

BU 0270 GB Subject to technical amendments 51

Supplementary Manual EtherCAT for NORDAC SK 200E

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P543 … [-01]

...
… [-03]

0 ... 22

{ [-01] = 01 }

{ [-02] = 04 }

{ [-03] = 09 }

P546 … [-01]

...
… [-03]

0 ... 24

{ [-01] = 01 }

{ [-02] = 00 }

{ [-03] = 00 }

Actual bus value 1 3

S P

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

NOTE: For further details, please refer to the description of (P418).
… [-01] = Actual bus value 1
… [-02] = Actual bus value 2
… [-03] = Actual bus value 3

Possible values which can be set:

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

Function Bus setpoint 1 ... 3

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

2

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

S P

In this parameter, a function is allocated to the output setpoint during bus actuation.

NOTE: For further details please refer to the description of (P400).
… [-01] = Actual bus value 1
… [-02] = Actual bus value 2
… [-03] = Actual bus value 3

Possible values which can be set:

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

10 = Actual PID frequency monitored

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

2

The assignment of the digital inputs for P543 = 5

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

52 Subject to technical amendments BU 0270 GB

6 Parameterisation

Parameter

{Factory setting}

P552 … [-01]

… [-02]

0 / 0.1 … 100.0 ms

{ 0 }

Setting value / Description / Note Device Supervisor

System bus master cycle time

In this parameter, the cycle time for the system bus master mode and the CAN open encoder is
set (see P503/514/515):

… [01] = Cycle time for system bus master functions
… [02] = Cycle time for system absolute value encoder

With the setting 0 = "Auto" the default value (see table) is used.

According to the Baud rate set, there are different minimum values for the actual cycle time:

Baud rate Minimum value tZDefault system bus master Default system bus abs.

10kBaud 10ms 50ms 20ms

20kBaud 10ms 25ms 20ms

50kBaud 5ms 10ms 10ms

100kBaud 2ms 5ms 5ms

125kBaud 2ms 5ms 5ms

250kBaud 1ms 5ms 2ms

500kBaud 1ms 5ms 2ms

1000kBaud: 1ms 5ms 2ms

P560 Save in EEPROM

0 ... 1

{ 1 }

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

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

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

even if the FI is disconnected from the mains supply.

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

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

Parameter
set

S

S

BU 0270 GB Subject to technical amendments 53

Supplementary Manual EtherCAT for NORDAC SK 200E

6.1.4 Information parameters (P700)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P700 Actual error

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

SimpleBox: Descriptions of the individual error numbers can be found under Error Messages.
ParameterBox: Errors are displayed in plain text, further information can be found under Error

Messages.

P701 ... [-01]

...
... [-05]

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

Last fault 1...5

manual (BU0200).

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

P740 ... [-01]

S

... [-13]

0000 ... FFFF (hex)

Process data bus In

…

This parameter provides information about the actual control word (STW) and the setpoints
(SW1-3) that are transferred via the bus systems.

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

… [-01 ] = Control word
… [-02] = Setpoint 1 (P546 [-01])
… [-03] = Setpoint 2 (P546 [-02])
… [-04] = Setpoint 3 (P546 [-03])
… [-05 ] = Bus I/O In bits (P480)

… [-06 ] = Parameter data In 1
… [-07 ] = Parameter data In 2
… [-08 ] = Parameter data In 3
… [-09 ] = Parameter data In 4
… [-10 ] = Parameter data In 5
… [-11 ] = Setpoint 1
… [-12 ] = Setpoint 2
… [-13 ] = Setpoint 3

Control word, source from P509.

Setpoint data from main setpoint P510 - 01.

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

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

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

54 Subject to technical amendments BU 0270 GB

6 Parameterisation

Parameter

{Factory setting}

Setting value / Description / Note Device Supervisor

P741 ... [-01]

...
... [-10]

0000 ... FFFF (hex)

Process data bus Out

This parameter provides information about the actual status word and the actual values that are
transferred via the bus systems.

… [-01 ] = Status word
... [-02] = Actual value 1 (P543 [-01])
... [-03] = Actual value 2 (P543 [-02])
... [-04] = Actual value 3 (P543 [-03])
... [-05] = Bus I/O Out Bit (P481)

… [-06 ] = Parameter data Out 1
… [-07 ] = Parameter data Out 2
… [-08 ] = Parameter data Out 3
… [-09 ] = Parameter data Out 4
… [-10 ] = Parameter data Out 5

P748 System bus status

Parameter
set

S

Status word

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

Data during parameter transfer.

0000 ... FFFF (hex)

or

0 ... 65535 (dec)

Shows the status of the system bus.

Bit 0:

Bit 1:

Bit 2:

Bit 3:

Bit 4:

Bit 5:

Bit 6:

Bit 7:

Bit 8:

Bit 9:

Bit 10:

24V Bus supply voltage

CANbus in "Bus Warning" status

CANbus in "Bus Off" status

Bus module is online

Additional module 1 is online

Additional module 2 is online

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

Vacant

"Bootup Message" sent

CANopen NMT State

CANopen NMT State

CANopen NMT State Bit 10 Bit 9

Stopped
Pre-Operational
Operational

P749 DIP switch status

0000 ... 00FF (hex)

or

0 ... 255 (dec)

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

Bit 0:

Bit 1:

Bit 2:

Bit 3:

DIP switch 1

DIP switch 2

DIP switch 3

DIP switch 4

0
0
1

0
1
0

Bit 4:

Bit 5:

Bit 6:

Bit 7:

DIP switch 5

DIP switch 6

DIP switch 7

DIP switch 8

BU 0270 GB Subject to technical amendments 55

Supplementary Manual EtherCAT for NORDAC SK 200E

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

The following parameters affect the bus modules.

6.2.1 BUS module standard parameters (P150)

Parameter

Setting value / Description / Note Device Supervisor

{Factory setting}

Parameter
set

P150 Set relays

0 ... 4

{ 0 }

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

P151 Timeout for external bus

0 ... 32767 ms

{ 0 }

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

0 = OFF: Monitoring is switched off.

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

P152 Factory setting

0 ... 1

{ 0 }

P153 … [-01]

… [-02]

0 ... 250 ms

{ [-01] = 10 }

{ [-02] = 05 }

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

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

setting. All originally parameterised data are lost.

System bus cycle time

In order to reduce the bus load, an inhibit time for the system bus can be set in this parameter.

… [-01] = SDO Inhibit time
… [-02] = PDO Inhibit time

P154 … [-01]

… [-02]

0 ... 5

{ [-01] = 0 }

{ [-02] = 0 }

Access to option card I/O

The writing and reading rights of the connected frequency inverter to the inputs and outputs of
the technology unit are assigned in this parameter.

… [-01 ] = Inputs … [-02] = Outputs

0 = Off, no effect
1 = Broadcast, read all FIs
2 = FI 1, reads and writes to the IOs

S

3 = FI 2, reads and writes to the IOs
4 = FI 3, reads and writes to the IOs
5 = FI 4, reads and writes to the IOs

56 Subject to technical amendments BU 0270 GB

6.2.2 BUS module information parameters, general (P170)

6 Parameterisation

Parameter Setting value / Description / Note Device Supervisor

P170 ... [-01]

... [-02]

0 ... 9999 Actual error present. Further details in Section 7.2 "Error messages".

Actual error

… [-01 ] = Current module error
… [-02 ] = Last module error

Possible values:
1000 = EEPROM error
1010 = System bus 24V missing
1020 = System bus timeout (see time in P151)
1030 = System bus OFF

Specific to EtherCAT
5400 = EtherCAT ASIC Error

(no contact with ASIC, ASIC faulty, faulty or no EEPROM)

5401 = EtherCAT Buffer Overflow
5420 = EtherCAT timeout / communication error

Parameter
set

P171 ... [-01]

...

... [-03]

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

Software version/ Revision

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

standard version.

… [-01] = Software version
… [-02] = Software revision
… [-03] = Special version

P172 Configuration

0 ... 3 The version can be queried in this parameter.

Possible values:

0 = Internal module (SK CU4)
1 = External module (SK TU4)
2 = Bus option card via SPI (SK TU3) (without DIP switch → no Second - Address)
3 = Bus option card via SPI and with DIP switch (SK TU3)

BU 0270 GB Subject to technical amendments 57

Supplementary Manual EtherCAT for NORDAC SK 200E

Parameter Setting value / Description / Note Device Supervisor

Parameter
set

P173 Module status

0 ... FFFF (hex)

Possible values:

Bit 0 = Bus status "PRE-OPERATIONAL"
Bit 1 = Bus status "SAVE OPERATIONAL" or "OPERATIONAL"
Bit 2 = Timeout (EtherCAT)
Bit 3 = Timeout (time in P151)
Bit 4 = ASIC cannot be accessed
Bit 5 = General configuration error
Bit 6 = System bus “BUS WARNING”
Bit 7 = System bus "BUS OFF"
Bit 8 = Status FI 1
Bit 9 = Status FI 1
Bit 10= Status FI 2
Bit 11= Status FI 2
Bit 12= Status FI 3
Bit 13= Status FI 3
Bit 14= Status FI 4
Bit 15= Status FI 4

Status for FI x:

Bit High Bit Low status

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

P174 Digital inputs

0 ... 255

(00000000 ... 11111111)

dec

Instantaneous view of input level logic.

bin

Possible values:

Bit 0= Input 1 ((DIN1) (of BUS module))
Bit 1= Input 2 ((DIN2) (of BUS module))
Bit 2= Input 3 ((DIN3) (of BUS module))
Bit 3= Input 4 ((DIN4) (of BUS module))
Bit 4= Input 5 ((DIN5) (of BUS module))
Bit 5= Input 6 ((DIN6) (of BUS module))
Bit 6= Input 7 ((DIN7) (of BUS module))
Bit 7= Input 8 ((DIN8) (of BUS module))

P175 Digital outputs

0 ... 3

(00 ... 11)

dec

bin

Instantaneous view of output level logic.

Possible values:

Bit 0= Output 1 ((DO1) (of BUS module))
Bit 1= Output 2 ((DO2) (of BUS module))

58 Subject to technical amendments BU 0270 GB

6 Parameterisation

Parameter Setting value / Description / Note Device Supervisor

P176 ... [-01]

...

... [-17]

Process data bus In

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

… [-01] = Bus module outputs
… [-02] = Control word FI 1
… [-03] = Setpoint 1 for FI 1
… [-04] = Setpoint 2 for FI 1
… [-05] = Setpoint 3 for FI 1
… [-06] = Control word FI 2
… [-07] = Setpoint 1 for FI 2
… [-08] = Setpoint 2 for FI 2
… [-09] = Setpoint 3 for FI 2

… [-10] = Control word FI 3
… [-11] = Setpoint 1 for FI 3
… [-12] = Setpoint 2 for FI 3
… [-13] = Setpoint 3 for FI 3
… [-14] = Control word FI 4
… [-15] = Setpoint 1 for FI 4
… [-16] = Setpoint 2 for FI 4
… [-17] = Setpoint 3 for FI 4

P177 ... [-01]

...

... [-17]

Process data bus Out

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

Parameter
set

… [-01] = Bus module inputs
… [-02] = Status word FI 1
… [-03] = Actual value 1 for FI 1
… [-04] = Actual value 2 for FI 1
… [-05] = Actual value 3 for FI 1
… [-06] = Status word FI 2
… [-07] = Actual value 1 for FI 2
… [-08] = Actual value 2 for FI 2
… [-09] = Actual value 3 for FI 2

… [-10] = Status word FI 3
… [-11] = Actual value 1 for FI 3
… [-12] = Actual value 2 for FI 3
… [-13] = Actual value 3 for FI 3
… [-14] = Status word FI 4
… [-15] = Actual value 1 for FI 4
… [-16] = Actual value 2 for FI 4
… [-17] = Actual value 3 for FI 4

BU 0270 GB Subject to technical amendments 59

Supplementary Manual EtherCAT for NORDAC SK 200E

6.2.3 Module information parameters specific to the bus (P180)

Parameter Setting value / Description / Note Device Supervisor

Parameter
set

P180 NMT State

dec

Display of communication level 0 ... 8

1 = Init

2 = Pre-Operational

P181 Second Address

0 ... 2047

Display of the "Second Address" set via the DIP switches

P182 EtherCAT Watchdog

0 ... 65535 ms

1 … 65535 = Watchdog monitoring time

0 = Watchdog inactive

P183 … [-01]

…
… [-04]

0 ... 0xFF

EtherCAT transfer error

Display of error which has occurred on the EtherCAT level

… [-01] = 0x300 error on the RX port
… [-02] = 0x302 error on the TX port
… [-03] = 0x310 lost link on the RX port
… [-04] = 0x311 lost link on the TX port

4 = Save-Operational

8 = Operational

P184 SPI ASIC error

0 ... 0xFFFF

Counts transmission errors between the ASIC and the SK TU4-ECT processor. As default, this
value is set to 1. This error can be caused by the effect of EMC.

60 Subject to technical amendments BU 0270 GB

7 Error monitoring and error messages

7 Error monitoring and error messages

7.1 Error monitoring

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

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

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

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

1. switching the mains off and on again,

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

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

digital input is programmed for acknowledgement),

4. by bus acknowledgement or

5. by (P506), the automatic error acknowledgement.

Visualisation of the inverter error codes is made via the frequency inverter (see relevant manual).

Errors which are attributable to bus operation are visualised via the bus module. The precise error message is
displayed in parameter (P170).

NOTE

An error relating to the EtherCAT communication is only displayed (P170 [-01]) for as long
as it is active. Once the error is remedied, the message is automatically deleted and is
archived in parameter (P170 [-02]) as the last error message.

If the power supply is interrupted before the error is remedied, the error is lost, i.e. it is not
archived.

NOTE

The display of a bus error is shown in the operating display of the SimpleBox SK CSX-3H by
means of the error group number E1000. In order to obtain the precise error number, the

module information parameter P170 must be selected. The current error is shown in Array
[01] of this parameter, the last error is stored in Array [02].

7.1.1 Error monitoring details

Various monitoring functions are available to ensure reliable bus operation.

• Timeout monitoring at the field bus level (EtherCAT) by means of

o EtherCAT watchdogs
o Parameter (P151)

• Timeout monitoring at system bus level

o Parameter (P120) or (P513)

• Function monitoring within the bus module

o Parameter (P170)

With the aid of the "Timeout Monitoring" communication problems are detected, which are either related to
general functionalities ("No bus communication") or are related to special modules ("Failure of a participant").

BU 0270 GB Subject to technical amendments 61

Supplementary Manual EtherCAT for NORDAC SK 200E

General process data monitoring of a Technology Unit (SK xU4-…)

The parameter (P151) "Timeout external bus" generally monitors the existence of bus communication. If no
process data is received within the parameterised monitoring time (The content of the process data is
irrelevant) the subscriber assumes that the bus communication to this subscriber is generally faulty and reports
an error.

This error is also triggered if process data with an invalid control word (Bit 10 in control word = 0) is received.
This function is activated when the first valid process data telegram is received.

General monitoring of frequency inverter process data

SK 500E series frequency inverters offer the facility for monitoring the active bus interface by means of the
parameter (P513) "Telegram timeout". If the frequency inverter does not receive a telegram within the time
entered here, it assumes that there is a general fault with the bus communication and reports an error.

Note: With SK 200E series frequency inverters, the function of this parameter is implemented by parameter

(P120). Communication errors are therefore reported via the bus module. Parameterisation of (P513) is
therefore not necessary. (P513) should be left at the factory setting.

Option monitoring

With the parameter (P120) "Option monitoring", SK 200E series frequency inverters provide the facility for
monitoring connected technology units (SK xU4-…) with regard to their current functional status. Generally,
this function corresponds to monitoring via parameter (P513). This parameter (P513) should therefore be left
at the factory setting.

7.1.2 EMCY message

In case of faults with frequency inverters connected to the system, the bus module sends an error message
via Emergency Message (CoE) on the EtherCAT bus. The message is structured as follows.

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

Error code Error

Index

Table 1 Structure of Emergency Message ( CoE )

FU ID = identifies the FI from which the error message has come  FI 1 = 1, FI 2 = 2, etc.

The following error groups are defined in the communication profile DS-301. Because of the protocol (CoE)
which is used here, this profile also applies to the described EtherCAT modules.

Error Code (hex) Significance

00xx No error

10xx Undefined error type

20xx Current error

30xx Voltage error

40xx Temperature error

50xx Hardware error

60xx Software error

70xx Additional module

80xx Communication

90xx External error

FF00 Specific to device

Error messages, which are generated by the frequency inverter, are forwarded from the SK TU4-ECT on the
field bus level in the form of an "EMCY message". They do not result in an error of the SK TU4-ECT.

FI-ID

0...3

Not used

62 Subject to technical amendments BU 0270 GB

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

Error code Error register

0x0000 0

0x1000 1 ---

0x2200 3 4.0 / 4.1

0x2310 3 3.0

0x2311 3 3.2

0x2312 3 3.3

0x3110 5 5.1

0x3120 5 6.1

0x3130 5 7.0

0x3210 5 5.0

0x3230 5 6.0

0x4210 9 1.1

0x4310 9 2.0 / 2.1 / 2.2

0x5000 1 10.8

0x5110 1 11.0

0x5300 1 17.0

0x5510 1 20.0

0x5520 1 20.8

0x5530 1 8.2

0x6000 1 20.1 to 20.7 / 21.3

0x7112 3 3.1

0x7120 1 16.0 / 16.1

0x7305 1 13.0

0x8100 17 10.0 / 10.1 / 10.2

0x8111 17 10.3 to 10.7 / 10.9

0x8300 1 13.2

0x8400 1 13.1

0x9000 1 12.0

0xFF00 129 18.0

0xFF10 129 19.0

FI error number

(corresponds to (P700))

Explanation

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

see frequency inverter manual.

7 Error monitoring and error messages

Meaning:

BU 0270 GB Subject to technical amendments 63

Supplementary Manual EtherCAT for NORDAC SK 200E

7.2 Error messages

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

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

Error code

display on the

SimpleBox

Group Details in

P700 / P701

E010

10.0 Connection error

10.1 ASIC errors

10.2 Timeout EtherCAT watchdog

10.3 Timeout via (P151)

10.5 General EtherCAT

10.8 Timeout - connection error

10.9 Module missing / P120

Fault
Text in the ParameterBox

configuration error

Cause
Remedy

Contact to SK TU4-ECT interrupted. (SK 500E)

No communication with the EtherCAT- ASIC.

~ ASIC fault,
~ EEPROM not initialised or faulty)

This error can only be reset by switching off the 24V supply
voltage.

Telegram transfer is faulty.

Check external connection.

Check bus protocol program process.

Check bus master.

Telegram transfer is faulty.

Check watchdog time (P151)

Check physical bus connections

Contains cyclic telegrams

A general configuration error has occurred.

The connection between the FI and the SK TU4-ECT had a
timeout

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

64 Subject to technical amendments BU 0270 GB

7 Error monitoring and error messages

7.2.2 Table of possible error messages in the bus module

The following error messages concern bus-related messages, which are indicated on the EtherCAT module
SK TU4-ECT(-…))

Error number

Group Details in

P170

Fault
Text in the ParameterBox

Cause
Remedy

E1000

1000 EEPROM error
1010 System bus 24V missing

1020 System bus timeout

1030 System bus OFF

5400 EtherCAT ASIC Error

5401 EtherCAT buffer o verflow

5420 EtherCAT timeout

Module faulty

Check connections and supply cables

Ensure 24V voltage supply

Check time set in parameter (P151).

Telegram transfer is faulty.

Check external connection

Check bus protocol program process.

Check bus master.

Check connections and supply cables

Ensure 24V voltage supply

Check bus master.

No contact with ASIC

ASIC faulty or

EEPROM faulty

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

Telegram transfer is faulty.

Check external connection.

Check bus protocol program process.

Check bus master.

BU 0270 GB Subject to technical amendments 65

Supplementary Manual EtherCAT for NORDAC SK 200E

8 Additional information

8.1 Bus configuration

In an industrial environment the correct installation of the bus system is particularly
important in order to reduce potential interference. The following points are designed to
help prevent interference and problems right from the start. The installation guidelines are
not complete and applicable safety and accident prevention guidelines must be complied
with.

8.1.1 Laying the EtherCAT bus cable

An EtherCAT network can consist of an almost unlimited number of participants. In can be set up as a linear
structure (NORD standard), as a tree structure, or as a ring system. There are practically no restrictions to the
extent of the network, as each participant functions as a repeater and amplifies the bus signal. Only the
distance between neighbouring participants is limited to 100m.

8.1.2 Cable material

Copper cables should be used for the bus. The cables must at least fulfil the Ethernet standard CAT-5.

8.1.3 Cable layout and shielding (EMC measures)

If EMC measures are not in place, high-frequency interference which is mainly caused by switching processes
or lightning often causes electronic components in the bus participants to be faulty and error-free operation can
no longer be ensured.

Correct laying of the bus cable dampens the electrical influences which may occur in an industrial
environment. The following points must be observed:

• Implement long connections between bus participants by the shortest possible distances.

• Connect each SK TU4-ECT to the PE.

• Only use plugs with a metal housing.

• For the production of EtherCAT cables, lay the shielding on as wide an area of the plug as possible.

• With the parallel installation of bus cables, a minimum distance of 20 cm from should be maintained from

other cables carrying a voltage greater than 60V. In particular, this must be observed for cables to motors
or chopper resistors. This applies to lines laid both inside and outside of control cabinets.

• The minimum distances for parallel installation may be reduced by shielding cables carrying voltage or by
means of earthed metal dividers in the cable ducts.

Special attention should be paid to bending radii:

Fixed cable Freely laid cable Bending radius of cable

Minimum radius
5 x cable diameter

Minimum radius
10 x cable diameter

Correct Incorrect

NOTE

If earthing potential values are different, transient current may flow through shielding which
is connected on both sides. This may be a danger to electronic components. Differences in
potential must be reduced by means of adequate potential equalisation.

66 Subject to technical amendments BU 0270 GB

8 Additional information

8.2 Cable glands and shielding connections

Nowadays, field bus systems are a normal part of plant technology. The sensitivity of these systems to
electromagnetic interference (EMC) means that it is essential to protect bus systems from outside interference
by means of uninterrupted or complete screening. Therefore the use of shielded cables and metal screw
couplings or plug connectors has become standard. Assuming correct installation (e.g.: 360° shielding
connection - including on contacts, observance of tightening torques, bending radii, I P- protection
classes (≥IP66),…), the operational reliability of the field bus system can be maximised.

The EMC effect of a cable shield is largely dependent on its contacts to the housing and its earthing on one or
both ends. The shielding effect of a housing must not be influenced by incoming or outgoing screened cables.
It is recommended that the shield is exposed directly at the point of entry and connection of the cable gland
with the reference potential surface and the use of an EMC cable. At the same time this opening in the housing
is "sealed" against the electromagnetic field. The connection from the cable shield to the housing must have a
DC and and inductive resistance which is as low as possible. This depends on the frequency. This low contact
resistance is achieved by the use of a ring-shaped 360° contacting of the cable shielding and short
connections to the housing via the connecting thread.

8.2.1 Fixed connection (cable gland)

Metallic EMC cable glands with a shielding concept should be used to minimise EMC problems.

These special M16 x 1.5 EMC cable glands must be fitted in the relevant connection unit (SK TI4-…(-BUS)) of
the frequency inverter or the EtherCAT module.

Installation

For the M16 x 1.5 EMC cable gland, 5 mm of the shielding of the cable /conductor is exposed and slightly
spread out. The insulating foil of the Profibus cable must be cut off and must not be folded back.

Function

Sealing ring

connection

thread

Double
nipple

Cone Shileding mesh Pressure screw

Direction of assembly

When the pressure screw is tightened, the sealing insert presses the
shielding mesh onto the cone of the earthing insert. The entire
circumference (360°) of the shielding mesh is contacted. The mesh
ends in the cable gland. This produces a large area, low resistance
conductive connection between the shield, the earthing insert and
the screw fitting and the housing.

For further information regarding the correct installation of EMC

cable glands, please refer to the relevant manufacturer´s data sheets.

BU 0270 GB Subject to technical amendments 67

Sealing insert Cable

Supplementary Manual EtherCAT for NORDAC SK 200E

8.2.2 Connection with M12 round plug connectors

In order to implement detachable connections, the cable connections for the system bus
and for sensors and actuators, as well as for the 24V- supply voltage can be designed with
plug-in connectors.

Here, freely adjustable
used for installation in the relevant housing (SK TI4-…(-BUS)).

M12 flanged connectors with metric M16 x 1.5 threads should be

Flanged coupling

This allows the use of angled or straight M12 round plug connectors for the cable
connection.

If required, Getriebebau Nord GmbH can equip the device to be delivered accordingly, or
can enclose the required plug with the delivery.

Flanged plug

EMC compatible assembly is carried out in the same manner as for the assembly of the cable glands (Section

8.2.1 "Fixed connection (cable gland)").

8.2.3 Round plug connectors

Getriebebau Nord GmbH offers a selection of suitable plugs and couplings, which can be installed in the
connection units of the frequency inverters or the field bus module, or enclosed with the delivery as required.
The corresponding plugs, couplings and Y connectors are also commercially available. However, a limited
selection can be obtained from Getriebebau NORD GmbH.

Coding

Round plug connectors are coded. Coding is by means of a pin or a groove on the contact base. The most
common codings are the so-called A and B coding. This serves to protect against incorrect coupling of the
various field bus systems.

Designation A coding B coding D coding

Example
Connector (socket)

Format
Coupling version

Plug version

Field of use

M12 M12 M12

with coding groove with coding pin with coding pin and

with coding pin with coding groove with coding groove and

System bus
CANopen
DeviceNet
24V supply
Sensors/ Actuators

PROFIBUS DP EtherCAT

groove

pin

68 Subject to technical amendments BU 0270 GB

8.2.3.1 M12 flanged connector

The following flanged plugs and flanged couplings are available for installation in devices.

System components Description Data

System bus

8 Additional information

SK TIE4-M12-SYSS

Part No. 275274506 (IP67)

The protection class is only valid
when screwed together!

SK TIE4-M12-SYSM

Part No. 275274505 (IP67)

The protection class is only valid
when screwed together!

External voltage supply

SK TIE4-M12-POW

Part No. 275274507 (IP67)

The protection class is only valid

when screwed together!

Sensors and actuators

SK TIE4-M12-INI

Part No. 275274503 (IP67)

The protection class is only valid
when screwed together!

M12 flanged plug

to connect theincoming

system bus cable to the

technology unit

M12 flanged plug

to connect theoutgoing system bus cable to the
technology unit

M12 flanged plug

to connect a24V- supply to the technology unit

M12 flanged plug

to connect sensors and actuators to the technology
unit

M12 round plug connector
A coded, 5 pin, adjustable direction

PIN 1 not used
PIN 2 +24V brown
PIN 3 GND blue
PIN 4 Sys-H black
PIN 5 Sys-L grey

Plastic body and screw cap in light
blue

M12 round plug connector
A coded, 5 pin, adjustable direction

PIN 1 not used
PIN 2 +24V brown
PIN 3 GND blue
PIN 4 Sys-H black
PIN 5 Sys-L grey

Plastic body and screw cap in light
blue

M12 round plug connector
A coded, 5 pin, adjustable direction

PIN 1 +24V DC brown
PIN 2 not used
PIN 3 GND blue
PIN 4 not used
PIN 5 not used

Plastic body and screw cap in black

M12 round plug connector
A coded, 5 pin, adjustable direction

PIN 1 +24V (out) brown
PIN 2 Diagnosis /opener whi te
PIN 3 GND blue
PIN 4 Sensor or black
Control signal
PIN 5 not used

Plastic body and screw cap in grey

BU 0270 GB Subject to technical amendments 69

Supplementary Manual EtherCAT for NORDAC SK 200E

8.2.3.2 M12 round plug connector (cable connector)

The following plug connectors are recommended by Getriebebau NORD GmbH.

M12 connector

D coded

2

3

Supplier Designation

Franz Binder GmbH

Phoenix Contact

Phoenix Contact

Phoenix Contact

Phoenix Contact

NOTE

Part no.

straight angled

Plug M12, 6..8mm, 4-pin, screwed,

IP67

Plug M12, 6..8mm, 4-pin, screwed,

IP67

Ethernet cable plug (straight) to
open ends, M12, CAT5e, 4-pin,

AWG24 flex., shielded

Ethernet cable plug (straight) to
plug (straight), M12, CAT5e, 4-pin,

AWG24 flex., shielded

Ethernet cable plug (RJ45) to
plug (straight), M12, CAT5e, 4-pin,

AWG26 flex., shielded

For preference, pre-assembled EtherCAT bus cables and connection components should
be used.

For certain applications, vibration-proof round plug connectors should be used.

99 3729 810 04 99 3729 820 04

1521258 Not applicable

2m 1524006
5m 1524019
10m 1524022
15m 1524035

0.5m 1523078
2m 1521533
5m 1524051
15m 1524077

0.5m 1657562

1.0m 1657575

2.0m 1657588
5m 1657591

No details

No details

No details

70 Subject to technical amendments BU 0270 GB

8 Additional information

8.2.3.3 Assembly tools

The observance of the tightening torques for making plug connections is of vital importance. For M12 plug
connectors, the optimum torque is 0.6Nm.

Suitable assembly tools are commercially available.

M12-

wrench

Supplier Designation Part no.

MURR Elektronik M12 wrench set for M12 round connectors with calibrated

torque of 0.6Nm

Franz Binder GmbH M12 torque wrench for M12 round connectors with

calibrated torque of 0.6Nm

7000-99102-0000000

07-0079-000

NOTE

In order to ensure a secure, sealed and vibration-proof connection, connecting components
with hexagonal fittings should be used.

Special tools enable tightening to a defined torque (operational reliability).

8.3 System bus

With NORDAC inverter technology, units or modules communicate via a dedicated system bus. With the
introduction of the SK 200E frequency inverter series and the associated components SK CU4-… and
SK TU4-… functions and interfaces were implemented in this system bus, which allow users to make useful
adaptations without having detailed knowledge of the function of the bus system (data allocation / error
handling, etc.).

A decisive advantage is provided by the fact that the system bus is no longer restricted to a single inverter and
a directly connected module, but rather that up to 4 frequency inverters can jointly use a BUS interface (e.g.:
EtherCAT). This increases the number of possible participants on a field bus system (by a factor of 4) with
comparatively low investment costs.

The system bus address of the BUS modules (SK CU4-… and SK TU4-…) is set to "5". The system bus
address of the up to 4 frequency inverters which can be connected are set by means of DIP switches (see
manual BU 0200) on the relevant frequency inverter, optionally between 32 / 34 / 36 and 38, whereby no
address may be doubly assigned within a system bus system.

BU 0270 GB Subject to technical amendments 71

Supplementary Manual EtherCAT for NORDAC SK 200E

8.4 Repairs

The device must be sent to the following address if it needs repairing:

NORD Electronic DRIVESYSTEMS GmbH

Tjüchkampstr. 37

26605 Aurich, Germany

For queries about repairs, please contact:

Getriebebau NORD GmbH & Co. KG

Tel.: 04532 / 401-515

Fax: 04532 / 401-555

If a frequency inverter or accessories are sent in for repair, no liability can be accepted for any added
components, e.g. such as line cables, potentiometer, external displays, etc.!

Please remove all non-original parts from the frequency inverter.

NOTE

If possible, the reason for returning the component/device should be stated. If necessary, at
least one contact for queries should be stated.

This is important in order to keep repair times as short and efficient as possible.

On request you can obtain a suitable goods return voucher from Getriebebau
NORD GmbH.

72 Subject to technical amendments BU 0270 GB

9 Index

Keyword Index:

Address Assigned or defined designation of a bus subscriber

ASIC "Application Specific Integrated Circuit”

Baud rate The transmission rate for serial interfaces in bits per second

Binary code The designation for a code in which messages are communicated by "0" and "1"

signals.

Bit / Byte A bit (binary digit) is the smallest unit of information in the binary system. A byte has 8

bits.

Broadcast In a network, all slave participants are addressed simultaneously by the master.

EMCY message Emergency messages (error telegrams)

Jitter Designates a slight fluctuation in precision in the transmission pulse, or the variation

in the transmission time of data packages.

XML "Extensible Markup Language", abbreviated XML , contains all essential information

concerning the bus module and all parameters of FIs which can be connected.

9 Index

BU 0270 GB Subject to technical amendments 73

Supplementary Manual EtherCAT for NORDAC SK 200E

Abbreviations used:

Abs. Absolute

BE Bus error (fault)

BG Bus module

BR Bus ready

BS BUS state (status)

D, DI, DIN Digital IN

GB DEVICE error (fault)

DO, DOUT Digital OUT

DS DEVICE state (status)

EMC Electromagnetic compatibility

FI Frequency inverter

GND Earth

HW Hardware

I16 16 bit value (integer)

I/O IN / OUT, input and output

IND Index

IW Actual value

NMT Network Management

P parameter which depends on a parameter set

PPO Process data object

PZD Process data

RO Read Only

RW Read and Write

SDO Service Data Object

STR String value

STW Control word

SW Software / Setpoint

TU Technology Unit (external technology unit)

U8 (U16 / U32) 8 bit (16 / 32 bit) value, unsigned (without prefix)

ZBG Additional module

ZSW Status word

74 Subject to technical amendments BU 0270 GB

10 Keyword index

9 Index

A

Accessories.................................. 9

Actual value.......................... 36, 37

Adapter cable RJ12.................... 29

B

Basic parameters ....................... 47

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

Bus Module standard parameters

............................................... 56

C

Cable glands .................. 14, 16, 67

Cable length ............................... 12

CE ................................................ 9

coated .................................. 10, 11

Coding (plug).............................. 68

Commissioning........................... 30

Connection ................................. 16

Control terminal parameters....... 48

E

EMC ...........................................67

EMC Directive .............................. 9

EMCY ......................................... 62

Emergency Message.................. 62

Error messages .................... 64, 65

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

Errors.......................................... 61

EtherCAT data transmission....... 34

Extension modules ....................... 9

F

Functional earthing..................... 17

I

Information parameters ........ 54, 57

Installation .................................. 12

Installation .................................. 12

IP protection class ............ 9, 10, 11

P

ParameterBox............................. 28

Parameterisation.........................47

PDO............................................ 43

Process data............................... 37

R

Repairs ....................................... 72

RJ12 .....................................28, 29

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

Round plug connector................. 68

S

Safety information......................... 2

SDO............................................ 43

Setpoint ................................36, 37

Shielding...............................66, 67

Signal statuses ...........................25

SK CU4-ECT control connections

................................................18

Control word............................... 38

D

Data transmission ...................... 34

Diagnosis ............................. 23, 28

Digital inputs............................... 48

Dimensions ................................ 14

Displays...................................... 23

DS 301 ....................................... 43

L

LED ......................................23, 25

Load factory setting .................... 56

Low Voltage Directive................... 2

N

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

O

Objects ....................................... 43

State Machine............................. 34

Status machine...........................41

Status word................................. 39

Supplementary parameters ........50

System bus............... 18, 50, 51, 71

T

Termination resistor .................... 22

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

Type code...................................10

BU 0270 GB Subject to technical amendments 75

Part. No. 607 2702 / 2610