NORD BU0270 User Manual

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Supplementary Manual for NORDAC SK 200E
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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
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Supplementary Manual EtherCAT for NORDAC SK 200E About this document
Documentation
Designation: BU 0270 GB
Part No.: 607 27 01
Device series: EtherCAT for SK 200E
Device types: SK TU4-ECT(-C) with SK TI4-TU-BUS
Version list
Designation of previous issues
BU 0270 GB, July 2010
Part. No. 607 2701 / 2610
Publisher
NOTE
Software Version
V 1.2 R0 First issue
Comments
Getriebebau NORD GmbH & Co. KG
Rudolf-Diesel-Str. 1 D-22941 Bargteheide http://www.nord.com/
Tel.: +49 (0) 45 32 / 401-0 Fax +49 (0) 45 32 / 401-555
This supplementary operating manual is only valid in conjunction with the operating manual supplied for the respective frequency inverter.
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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
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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
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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
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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
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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
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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
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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-...
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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.
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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.
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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
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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.
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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.
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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
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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.
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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.
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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]
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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
-
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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.
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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.:SKTU4ECT e.g.: SK 200E
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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
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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".
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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
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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)
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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
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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
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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
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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.
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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.
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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.
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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).
.
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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0-4 RxPDO Mapping
Setpoints for FI 1 (0x1601) to FI 4 (0x1604)
RO U32
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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
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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)
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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.
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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.
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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).
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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
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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 }
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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
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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
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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
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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
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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)
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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
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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
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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)
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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))
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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
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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.
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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").
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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
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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:
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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.
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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.
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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.
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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.
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Sealing insert Cable
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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
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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
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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
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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.
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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.
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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
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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
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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
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