NORD BU0570 User Manual

NORDAC SK 200E Handbuch Sicherheitshinweise

EtherCAT® Bus module

for NORD frequenc

BU 0570 GB-0312 Subject to technical amendments 1

inverters SK 5xxE

EtherCAT bus module for NORD frequency inverters SK 5xxE Safety information

N O R D Frequency inverters

Safety and operating instructions for drive power converters

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

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

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

CE-labelled drive power converters meet the requirements of the Low Voltage Directive 2006/95/EEC. The harmonised standards for drive power converters listed in the declaration of conformity are used.

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.

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

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

5. Electrical connection

When working on live drive power converters, the applicable national accident prevention regulations must be complied with (e.g. VBG A3, formerly VBG 4).

The electrical installation must be implemented according to the applicable regulations (e.g. cable cross-section, fuses, ground lead connections). Further instructions can be found in the documentation.

Information about 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 limiting values specified in the EMC regulations is the responsibility of the manufacturer of the system or machine.

6. operation

Where necessary, systems where drive power converters are installed must be equipped with additional monitoring and protective equipment according to 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 Subject to technical amendments BU 0570 GB-0312

EtherCAT bus module for NORD frequency inverters SK 5xxE About this document

Documentation

Designation: BU 0570 GB

Part No.: 607 57 02

Device series: SK TU3-ECT (EtherCAT® - Bus module) for SK 5xxE (entire series)

Version list

Designation of previous versions Software

BU 0570 GB, June 2009 Part No. 607 5701

BU 0570 GB, Jan 2010 Part No. 607 5701 / 0410

BU 0570 GB, April 2010 Part No. 607 5701 / 1710

BU 0570 GB, Jan 2012 Part No. 607 5701 / 0312

Publisher

NOTE

Remarks

Version

V 1.0 R0 First issue

V 1.0 R1 The trademark entry for the firm Beckhoff was amended in

the introduction

V 1.0 R1 Replacement of Fig. 3, correction of spelling errors in

parameter (P172).

V 1.4 R0 Extension to frequency inverter SK 54xE

Getriebebau NORD GmbH & Co. KG

Rudolf- Diesel- Str. 1  D-22941 Bargteheide  Germany ### 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 (Manual BU0500).

Intended use of the frequency inverter

The compliance with the operating instructions is necessary for fault-free operation and the acceptance of possible warranty claims. These operating instructions must be read

before working with the device!

These operating instructions contain important information about servicing. They must therefore be kept close to the device.

The Ethernet module can only be used for the defined frequency inverter series (SK500E). The use of this module with other devices is not permitted and can lead to their destruction.

The Ethernet module and the associated frequency inverter are devices for fixed installation in control cabinets. All details regarding technical data and permissible conditions at the installation site must be complied with.

Commissioning (implementation of the intended use) is not permitted until it has been ensured that the machine complies with the EMC directive 2004/108/EEC and that the conformity of the end product meets the machine directive 2006/42/EEC (note EN 60204).

 Getriebebau NORD GmbH & Co. KG, 2012

BU 0570 GB-0312 Subject to technical amendments 3

EtherCAT bus module for NORD frequency inverters SK 5xxE

1 INTRODUCTION................................................................................................................. ..... 6

1.1 General information ............................................................................................. 6

1.2 The bus system ................................................................................................... 6

1.3 Delivery................................................................................................................ 7

1.4 Scope of supply ................................................................................................... 7

1.5 Certifications........................................................................................................ 7

1.5.1 European EMC Directive ..........................................................................................7

1.5.2 RoHS compliance ..................................................................................................... 7

1.6 Identification System ........................................................................................... 7

2 MODULES................................................................................................................................ 8

2.1 SK 5xxE frequency inverters ............................................................................... 8

2.2 EtherCAT - BUS Module ..................................................................................... 9

2.2.1 Mounting................................................................................................................... 9

2.2.2 Technical data ........................................................................................................ 10

2.2.3 Connections............................................................................................................ 10

2.2.4 Status display via LED............................................................................................ 11

3 COMMISSIONING.................................................................................................................. 13

3.1 Cabling............................................................................................................... 13

3.1.1 Topology................................................................................................................. 13

3.1.2 EMC........................................................................................................................ 13

3.2 Commissioning the bus module ........................................................................ 14

3.2.1 Connecting the bus module ....................................................................................14

3.2.2 Parameter settings of the frequency inverter .......................................................... 14

3.3 Configuration in the Bus system........................................................................ 15

3.3.1 Integration into TwinCAT System Manager (Example)........................................... 15

3.3.2 Addressing.............................................................................................................. 16

4 COMMUNICATION................................................................................................................ 17

4.1 NMT State Machine........................................................................................... 17

4.2 Process data...................................................................................................... 18

4.2.1 Process data structure............................................................................................ 18

4.2.2 Control word ...........................................................................................................19

4.2.3 Status word............................................................................................................. 20

4.2.4 FI Status Machine................................................................................................... 21

4.2.5 Setpoint and actual values...................................................................................... 23

4.2.6 Beispiel für FU das Ein- / Ausschalten des Frequenzumrichters ............................24

4.2.7 Timeout monitoring ................................................................................................. 24

4.3 Parameterübertragung EtherCAT ..................................................................... 25

4.3.1 Ablauf der Parameterübertragung .......................................................................... 25

4.3.2 Error codes for SDO parameter access.................................................................. 25

4.4 XML File............................................................................................................. 27

5 PARAMETER......................................................................................................................... 28

5.1 Parameterisation of the EtherCAT module SK TU3-ECT ................................. 28

5.1.1 EtherCAT parameters............................................................................................. 28

5.1.2 BUS module standard parameters (P15x) ..............................................................28

5.1.3 BUS module information parameters, general (P17x) ............................................ 29

5.1.4 BUS module information parameters, bus-specific (P18x) ..................................... 30

5.2 SK5xxE inverter parameters (selection)............................................................ 31

5.2.1 Extra functions........................................................................................................ 31

5.2.2 Information parameters........................................................................................... 34

4 Subject to technical amendments BU 0570 GB-0312

Table of Contents

6 ERROR MONITORING AND ERROR MESSAGES...............................................................37

6.1 EtherCAT error monitoring .................................................................................37

6.2 Error messages in the EtherCAT module SK TU3-ECT ....................................38

6.3 Error messages in the SK 5xxE frequency inverter ...........................................38

7 LISTS / INDEX ........................................................................................................................39

7.1 Abbreviations......................................................................................................39

7.2 Keyword Index....................................................................................................39

7.3 Figures................................................................................................................40

7.4 Tabellen..............................................................................................................40

7.5 Keyword index....................................................................................................41

BU 0570 GB-0312 Subject to technical amendments 5

EtherCAT bus module for NORD frequency inverters SK 5xxE

1 Introduction

1.1 General information

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.

1.2 The bus system

In order to achieve 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.

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

Features of the SK TU3-ECT

 Static 8 byte process data for input and output

 Parameterisation via CoE (CAN over EtherCAT)

 Error messages (emergency messages) compliant with CANopen DS301

 EtherCAT addressing via DIP switches

 Distributed Clocks are not supported

Performance

 Via the SK TU3-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 TU3 ECT and the SK 500E requires

approximately1.5 ms

 Reading access to a parameter on the SK 500E requires about 25ms

 Writing access and storage of a parameter in the EEPROM requires about 70 ms.

6 Subject to technical amendments BU 0570 GB-0312

1 Introduction

1.3 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.

1.4 Scope of supply

SK TU3-ECT* EtherCAT bus module for SK 5xxE frequency inverters IP20

*incl. screw for optional fixing to the FI

1.5 Certifications

1.5.1 European EMC Directive

If NORD frequency inverters or their options are 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.

1.5.2 RoHS compliance

The bus options described here are designed to be RoHS compliant according to Directive 2002/95/EEC

1.6 Identification System

SK TU3-ECT

Bus system: AS1 = AS-In terface, CAN = CAN, CAO = CANopen,

ECT = EtherCAT®, PNT = PROFINET®, etc. Device series: SK TU1 / SK TU2 / SK TU3 / SK TU4

Fig. 1 Type Codes

BU 0570 GB-0312 Subject to technical amendments 7

EtherCAT bus module for NORD frequency inverters SK 5xxE

2 Modules

2.1 SK 5xxE frequency inverters

By the use of various modules for display, control and parameterisation, the SK 5xxE can be easily adapted to various requirements.

Alphanumerical display and operating modules can be used for simple commissioning. For more complex tasks, various connections to a PC or an automation system can be selected.

The technology unit (Technology Unit, SK TU3-…) is connected externally to the front of the frequency inverter and is therefore easy to access and replace at any time.

In the delivery condition (without technology unit) 2 LEDs (green/red) are visible externally. These indicate the actual device status.

The green LED indicates that the mains voltage is present and operational, while a flashing code that increases in speed shows the degree of overload at the frequency inverter output.

The red LED signals actual error by flashing with a frequency which corresponds to the number code of the error (Manual BU 0500 Section 6).

LED

red/green

Fig. 2 Frequency inverters with SK TU3- optional modules (selection)

WARNING

Modules should not be inserted or removed unless the device is free of voltage. The slots may only be used for the intended modules.

Installation of a technology unit separate from the frequency inverter is not possible. It must be connected directly to the frequency inverter.

NOTE

8 Subject to technical amendments BU 0570 GB-0312

2.2 EtherCAT - BUS Module

2.2.1 Mounting

The technology units must be installed as follows:

1. Switch off the mains voltage (frequency inverter), observe the waiting period.

2. Push the control terminals cover down slightly or remove.

3. Remove the blank cover by pressing the release on the lower edge and pulling off with an upward turning movement. If necessary, the fixing screw next to the release must be removed.

4. Hook the technology unit onto the upper edge slots and press in lightly until engaged. Ensure full contact with the connector strip and fasten with the screws if necessary (separate packet).

5. Close the control terminal cover again.

2 Modules

2 „press“

Similar to illustration

Fig. 3 Installation of the Technology Unit (optional module)

Further detailed information can be found in the device manual BU 0500.

- www.nord.com

–

BU 0570 GB-0312 Subject to technical amendments 9

EtherCAT bus module for NORD frequency inverters SK 5xxE

2.2.2 Technical data

Specification

EtherCAT

Bus connection Bus termination

Cable Max. cable length Supply voltage

Status display Device address

PE Shield

Table 1 Electrical specifications of the SK TU3-…

2.2.3 Connections

Max. baud rate 100 MBaud

Electrical isolation 500V

2  RJ45

Performed automatically by the SK TU3-… Technology Unit

Ethernet CAT-5 or better

100m between two Ethernet bus modules

24V  20%, current consumption ≈ 100mA

Reverse polarity protected

4 LEDs

via EtherCAT master or setting via 12-pole DIP switches on the rear of the SK TU3-ECT

Connection via plug pins under the 24V supply

The shields of the two RJ sockets are connected together and connected to PE with a high resistance and capacitance. If several technology units are adjacent to each other, only one board needs to be connected to the PE.

eff

Name Name

45 46

Table 2 Power supply connections

+24V

GND

Signal Name RJ45 Pin

TX+

TXRX+ RX-

Table 3 RJ45 socket connections

Transmission Data + 1

Transmission Data - 2

Receive Data +

Receive Data -

SK TU3-…

24V

GND

Pin 8

Pin 1

10 Subject to technical amendments BU 0570 GB-0312

2.2.4 Status display via LED

DS DE

2 Modules

RUN ERR

L / A*

*L / A = Link / Aktiv: auf jeder RJ45 Buchse vorhanden

Fig. 4 Location and designation of the LEDs

RUN

Green LED

Off

Flashing

Single Flash

Table 4 Description of the RUN LED (Ethernet Status)

Init No communication of process data and parameters

Pre-Operational

Save Operational

Operational

State Meaning

ERR

Red LED

Off

Flashing

Single Flash

Double Flash

No Error EtherCAT functioning normally on the Bus Module

Invalid Configuration

Unsolicited State Change

Application Watchdog Timeout

State Meaning

- Parameter communication active

- No process data communication

- Parameter communication active

- Limited process data communication

- No restrictions to actual values

- Setpoints not evaluated

- Parameter communication active

- Unrestricted process data communication

General EtherCAT configuration error, can be generated by a false XML file.

SK TU3-ECT has changed the EtherCAT state without authorisation

EtherCAT or FI timeout (P513 in FI)

Table 5 Description of the ERR LED (Ethernet Status)

L/A

Green LED

Off

Flashing

Table 6 Description of the Link / Activity LEDs

BU 0570 GB-0312 Subject to technical amendments 11

State

No Connection No connection via cable or the SK TU3-ECT has no power supply

Active Connected and active

Inactive Connected, but no bus activity

Meaning

EtherCAT bus module for NORD frequency inverters SK 5xxE

Green LED

Off Off Off

Flashing

Cycle 0.50 sec

On Off

Table 7 Description of the DS and DE LEDs

Red LED

Flashing 1...7x

Cycle 0.25sec

Pause 1s

Off

Flashing 1x

Cycle 0.25sec

Meaning

The technology unit does not have a power supply

The technology unit has a fatal system error

Technology unit OK but no FI (frequency inverter) detected

Causes  The FI has no power supply or the technology unit is not correctly plugged in

The FI is in an error condition

Technology unit OK and FI detected

12 Subject to technical amendments BU 0570 GB-0312

3 Commissioning

3.1 Cabling

3.1.1 Topology

The TU3-ECT EtherCAT modules can only be interconnected in a linear structure.

EtherCAT

Master

TU3-ECT TU3-ECT TU3-ECT

3 Commissioning

Fig. 5 EtherCAT topology

The EtherCAT cable from the master must be connected to the RJ45 "IN" socket of the TU3-ECT. The EtherCAT connection from the TU3-ECT must be made via the "OUT" socket. With the last device, the "OUT" socket 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

Printer

Fig. 6 EtherCAT topology with integrated standard switch

Switch TU3-ECT TU3-ECT

TU3-ECT

3.1.2 EMC

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.

 Only use plugs with a metal housing.

 For the production of bus 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 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.

 Connect SK TU3- Ethernet module to the PE (Connection via the plug pin next to the 24V supply).

BU 0570 GB-0312 Subject to technical amendments 13

EtherCAT bus module for NORD frequency inverters SK 5xxE

3.2 Commissioning the bus module

3.2.1 Connecting the bus module

 Connect the bus module to the PE via the plug pins

 Connect the 24V supply via the plug-in terminal. Note the consumption of each module

(Technical Data)

 Connect the Ethernet cable

Bus direction EtherCAT

Incoming cable

(from master /

controller)

Left RJ45 socket

Labelled "IN"

Outgoing cable

Table 8 Bus cable connections

Right RJ45 socket

Labelled "OUT"

 If the bus module is the last participant, the RJ45 socket remains open in the outgoing direction. The

bus connection is performed automatically.

ATTENTION

Each bus module requires a separate PE connection via the plug pin. Otherwise, interference-free operation of the bus module cannot be guaranteed.

3.2.2 Parameter settings of the frequency inverter

The following settings must be made on the frequency inverter (SK5xxE):

 Control via Ethernet TU  P509 = "8"

 Setpoint via Ethernet TU  P510 = "8" or "0" if P509 = "8"

 Setting of setpoints via P546, P547 and P548 (SK 500E … SK 535E)

P546 [-01] … [-05] (SK 540E and above)

 Setting of actual values via P543, P544 and P545 (SK 500E … SK 535E)

P543 [-01] … [-05] (SK 540E and above)

For a detailed description of the parameters, please refer to the frequency inverter operating manual (BU 0500).

The parameters can be set with NORD parameterisation tools (e.g. NORD CON, SimpleBox) or via the bus master / controller.

14 Subject to technical amendments BU 0570 GB-0312

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