Supplementary manual options for NORD - Frequency Inverters
Page 2
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Name:
BU 2200
Part No.:
608 22 02
Series:
POWERLINK Bus System
Name
previous versions
Software
Version
Remarks
BU 2200 GB, September 2013
Part No. 608 22 02 / 3813
V. 1.2 R0
First edition, including addition of BU 0580
NOTICE
Supplementary operating manual
This supplementary operating manual is only valid in conjunction with the operating manual supplied for the
respective frequency inverter. This is an essential prerequisite for the availability of all the relevant information
required for the safe commissioning of the frequency inverter.
1.1 General .............................................................................................................................................. 6
1.2 Bus modules ...................................................................................................................................... 6
2. Bus Configuration ....................................................................................................................................... 7
6.3 Handling of errors in the bus module ............................................................................................... 33
6.3.1 Error monitoring via the frequency inverter ......................................................................... 33
6.3.2 Error monitoring via POWERLINK ...................................................................................... 34
7. Additional information .............................................................................................................................. 37
7.1 Repair information ............................................................................................................................ 37
=== Ende der Liste für Textmarke Abbildung sverzeichnis ===
Fig. 1: Installation and cable laying information ....................................................................................................... 7
Figure 2: NMT State Machine ................................................................................................ ................................ 12
Fig. 3: Status Machine of the Frequency Inverter .................................................................................................. 17
=== Ende der Liste für Textmarke Tabelle nverzeichnis ===
Table 1: Version list ................................................................................................................................................. 2
Table 3: POWERLINK node ID assignment ............................................................................................................ 8
Table 4: Configuration example - Devices used .................................................................................................... 10
Table 5: Explanation of the NMT State Machine ................................................................................................... 13
Table 6: Control word (STW) ................................................................................................................................. 14
Table 7: Status word (ZSW) .................................................................................................................................. 15
Table 8: Depiction of 32Bit setpoint/actual values ................................................................................................. 18
Table 9: Example: "Switch FI on and off + setpoint" .............................................................................................. 19
Table 10: PDO Mapping / Process Data Structure SK TU3-POL .......................................................................... 20
Table 11: PDO Mapping / Process Data Structure SK XU4-POL .......................................................................... 21
Table 12: Structure of the Input Word in the Process Data ................................................................................... 21
Table 13: Structure of the Output Word in the Process Data ................................................................................. 21
Table 14: Device Assignment to SDO-ID .............................................................................................................. 21
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, 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.
POWERLINK is an industrial Ethernet solution, which was designed for the unified and consistent
integration of all communications relating to modern automation. It is suitable for all conceivable
applications in mechanical and plant engineering, as well as for applications in the processing
industry. A POWERLINK network integrates all components for industrial automation, such as PLCs,
sensors, I/O modules, motion controllers, safety controls, safety sensors and actuators, as well as
visualisation systems. As not only process data are transferred in a POWERKINK cycle, but rather in
its asynchronous phase a firmly reserved time slot is available for the transfer of any type of user data
such as data which is not time-critical, e.g. service data for remote maintenance or configuration of
devices. Likewise, devices can be integrated into the network, which do not directly belong to the
automation level, for example video cameras for the safety control of operating areas. With a suitable
gateway, data from other field buses can be transferred via the asynchronous phase, so that different
networks can be integrated.1
Specific bus modules are available as interfaces between the field bus system and the NORD system
bus or the NORD frequency inverter. A document exists for each module (Technical Information / Data
Sheet), which includes the technical data, as well as installation and configuration information
(www.nord.com).
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Fixed cable
Freely laid cable
Bending radius of cable
Minimum radius
5 x cable diameter
Minimum radius
10 x cable diameter
Correct
Incorrect
NOTICE
Potential equalisation
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.
Up to 239 NORD bus modules can be integrated into an POWERLINK network. The network can be
configured as a star or tree topology, as a linear bus, or a mixture of these variants. Hubs or switches
are necessary if star or tree structures are used. These must comply with the special requirements of
POWERLINK. The length of cable between two neighbouring devices must not exceed 100m.
Detailed information about the bus modules is contained in the relevant Technical Information / Data
Sheets.
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2.2 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 subscribers to be faulty and
error-free operation can no longer be ensured.
Appropriate shielding of the bus cable reduces electrical interference which can arise in an industrial
environment.
The best shielding qualities can be achieved with the following measures:
• Do not make cable connections shorter than 1 m between bus participants
• Avoid long connections between bus participants
• Shield the bus cable at both ends with large-area connection to the plug housing
• Avoid spur lines
• Avoid extensions to bus cables via plug connectors
Bus lines should be laid with a minimum spacing of 20 cm to other lines which carry a voltage higher
than 60 V. This applies to lines laid inside and outside of control cabinets.
Special attention should be paid to bending radii:
Fig. 1: Installation and cable laying information
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BU 2200 GB-3813 7
Page 8
3 Configuration in the Bus System
1.
IP address via module parameter
Perform the addressing via module parameter P160.
The DIP switch for the IP address on the relevant module must be set to "0" (default value).
2.
IP address via DIP switch
The last byte of the IP address can be set via the DIP switches on the module. (refer to the
Technical Information or Data Sheet for the module (LINK))
Information
Adoption of the address
All settings to the parameters P160 ... P165 and the DIP switches are only adopted after a bootup (restart of the
module).
POWERLINK Node ID
Description
Access options
0
C_ADR_INVALID
Invalid
no
1 … 239
Regular POWERLINK CNs
no / mandatory / optional /
isochronous / async only
240
C_ADR_MN_DEF_NODE_ID
POWERLINK MN
mandatory isochronous
241 … 250
Reserved
Used by EPSG DS 302-A [1]
no
251
C_ADR_SELF_ADR_NODE_ID
POWERLINK pseudo node
ID to be used by a node to
address itself
– IP Address: 192.168.100.NodeID
– SubNetMask: 255.255.255.0
The Gateway Address is parameterised (P164) to the standard value 192.168.100.254 and should
not be changed.
The following alternative methods are available for the adjustment of the Node ID of the POWERLINK
module (SK xUx-POL-…):
The resulting settings of the IP address and the sub-net mask can be read out in parameters P185
and P186.
POWERLINK stipulates strict ranges for the assignment of addresses
Table 3: POWERLINK node ID assignment
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Step
Action
1.
Import the XDD file into the PLC interface
2.
Integrate the bus module from the PLC database into the project (add
POWERLINK control node).
3.
Assign the NODE ID (address) for the POWERLINK device
4.
Link process data to variables
Information
PLC Busmaster
By means of certification, NORD ensures that the bus system complies with the requirements which are made by
the bus interfaces.
Various planning tools or control systems are commercially available. NORD assumes that the user who
integrates the NORD bus module into the relevant control unit has the necessary knowledge of the bus system
and is sufficiently familiar with the use of the planning tool or PLC.
Information
Readiness for operation
At the time of initialisation of the PLC, the frequency inverter or the bus module must be ready for operation.
Otherwise, no data can be saved in the device via the module SK xUx-POL. The module responds to the PLC
with an error. If the PLC module monitoring is enabled, the PLC then switches to Service Mode.
In order to be able to use the devices in the bus system they must be integrated into the PLC or the
project.
The necessary device data for the bus devices are saved in the electronic device descriptions (XDD
files). According to the module, various XDD files are available. These can be downloaded free of
charge from www.nord.com.
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The PLC continuously monitors the connection to the control node. If this interrupts communication,
the PLC stops and then restarts the Service Mode.
Possible reasons for a communication breakdown are:
– The FI triggers an error and P163 is set to 1.
– The BUS load is too high.
If the module monitoring is switched off, the PLC remains in RUN mode in case of a bus module error.
No error entry is made in the PLC logger. However, the PLC attempts to restore communication with
the module.
When the PLC is started, all of the available parameters can be automatically written. In addition, each
object can be provided with an initial value. All of the parameters are written once when the PLC
establishes communication with the Control Node.
For control via NORDCON it is important to set parameter P513 "Telegram timeout" according to the NORDCON
cycle time. This ensures that the frequency inverter triggers an error if the Ethernet connection fails!
ATTENTION
Unauthorised access
Although the possibility of remote maintenance facilitates the control and analysis of the devices in case of faults,
on the other hand it entails the danger of a "cyber attack" on the system.
The provision of suitable protection measures against unauthorised access is the responsibility of the constructor
of the system. They are not the responsibility of Getriebebau NORD!
Serial
No.
Frequency inverter type
Designation
1
SK 2x5E frequency inverter
FI 1
2
SK 2x5E frequency inverter
FI 2 3 SK 2x5E frequency inverter
FI 3 4 SK xU4-… (bus module)
Bus module
3.3 Remote Maintenance (in preparation)
With the aid of the NORDCON software it is possible to access the module and the underlying
frequency inverter via Ethernet for maintenance purposes.
The access rights for remote maintenance are assigned with DIP switch and range from "read only
parameter" (default) to "reading and writing access of parameters" and "remote control of the drive
unit".
(For details, please refer to the "Technical Information / Data Sheet for the bus module).
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3.4 Configuration example
The example described below serves for orientation when commissioning a network consisting of a
bus module and frequency inverters. The most important commissioning stages are listed, which are
necessary to set up the exchange of data on the process data level.
Settings specific to the application (motor data, speed control, control terminal functions etc.) cannot of
course be described here.
Brief description
Via a bus module, 3 frequency inverters are to be independently controlled with a single speed.
The following devices are used:
Table 4: Configuration example - Devices used
The bus module and FI 3 should always be the last physical participants on the system bus.
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Relevant
bus system
Serial
No.
Step
Comments
System bus
1
Set up system bus
Couple all devices together.
2
Set termination resistor
DIP switch "Bus termination, system bus" on field bus
module(SK xU4-…) "ON"
DIP switch "Bus termination, system bus" on FI 3 "ON"
All other DIP switches to "OFF"
3
Set system bus
addresses
For preference, set the FI addresses via DIP switches (see
manual BU0200):
Bus module:fixed (at 5)
FI 1:to 32
FI 2:to 34
FI 3:to 36
4
System bus baud rate
Set the FI to 250 kBaud
(For FI: SK 200E this is pre-set accordingly)
The bus is monitored for POWERLINK frames. If no corresponding frame is received
within the set time window (timeout), the interface switches directly to the status
BASIC_ETHERNET. However, if a POWERLINK communication is detected before the
time expires, the interface switches directly to the status PRE_OPERATIONAL_1.
Pre- Operational 1
Parameter communication active, no process data communication
The CN waits for the reception of an SoC frame and then switches to the status
PRE_OPERATIONAL_2. If the red LED lights up in this state, this means that the
Manager has failed.
Pre- Operational 2
Parameter communication active, no process data communication
In this state, the interface is usually configured by the Manager. After this, a command is
given to switch to the state READY TO OPERATE. If the red LED lights up in this state,
this means that the Manager has failed.
Ready To Operate
Parameter communication active, restricted process data communication
Configuration of the interface is complete. Normal cyclic and asynchronous
communication. The transmitted PDO data correspond to the PDO Mapping. However,
cyclic data are not evaluated. If the red LED lights up in this state, this means that the
Manager has failed.
The NMT State Machine defines various communication states of the module.
Figure 2: NMT State Machine
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
State
Explanation
Operational
Parameter communication active, process data communication active
The interface is in the OPERATIONAL state.
Basic Ethernet
In this state, parameter communication is only possible via UDP/IP. If a POWERLINK
communication is detected during this state, the interface switches to the state PRE
OPERATIONAL 1. If the red LED lights up in this state, this means that the Manager
has failed.
Stopped
Output data are not sent out and no input data are delivered. This state can only be
achieved and exited by a corresponding command from the Manager.
Table 5: Explanation of the NMT State Machine
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4.2 Processing of Process Data in the Frequency Inverter
In the process data area (PZD), control words and setpoints are transferred from the master to the
frequency inverter and in return, status words and actual values are sent from the frequency inverter
to the master. The structure of the PZD area is always the same in terms of the sequence of its
elements (words), however, dependent upon direction of data Master Slave / Slave Master, it is
described differently. Each word has a length of 16 Bit. To communicate 32 Bit values (e.g. position
values), 2 words are required (e.g setpoint 1 and setpoint 2).
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4 Communication and Protocol
Bit
Valu
e
Meaning
Remarks
0 0 Not ready for operation
Reverse with the brake ramp, with disconnection from supply at f=0Hz (OFF1)
1
Ready for operation
Frequency inverter ready for operation
1
0
Disable voltage
Cut off voltage; the inverter output voltage is switched off; the FI enters a state
where switching on is disabled. (OFF2)
1 Do not disable voltage
Operating condition OFF 2 is cancelled
2
0
Emergency Stop active
Quick stop with programmed quick stop time; with disconnection from supply at
f=0Hz; the FI switches to starting disabled condition (OFF3).
1 Emergency Stop not
active
Operating condition OFF 3 is cancelled
3 0 Disable operation
Cut off voltage; the inverter output voltage is switched off; the FI enters a state
where switching on is enabled.
1
Enable operation
The output voltage is enabled; ramp to the existing setpoint
4 0 Pulse not enabled
Ramp generator is set to zero; no disconnection from supply at f=0Hz; FI remains
in the operation enabled state.
1
Enable pulses
Enable ramp generator
5 0 Ramp not enabled
The setpoint currently provided by the ramp generator is "frozen" (frequency is
maintained).
1
Enable ramp
Enable setpoint on ramp generator
6 0 Setpoint not enabled
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 error
(01)
Note: If a digital input has been programmed for the "ack.fault" function, this bit
must not permanently be set to 1 via the bus (otherwise, flank evaluation would
be prevented).
8 0
1
Start function 480, 11
Bus bit 8 from the control word is set. Only for SK 2xxE and SK 5xxE. For further
details of the function please refer to parameter P480.
9 0
1
Start function 480, 12
Bus bit 9 from the control word is set. Only for SK 2xxE and SK 5xxE. For further
details of the function please refer to parameter P480.
10 0 Control data invalid
The transmitted process data is invalid.
1
Control data valid
Valid process data is transferred from the master.
Note: In order for the transmitted setpoint to be valid, this bit must also be set
(setting: interface), even if only setpoint values are transmitted via the bus.
11 0
1
Rotation right is on
Rotational direction right (priority) ON*
12 0
1
Rotation left is on
Rotational direction left ON*
13
0/1
Reserved
Reserved
14
0/1
Parameter set Bit 0 ON
00 = Parameter set 1
01 = Parameter set 2
10 = Parameter set 3
11 = Parameter set 4
15
0/1
Parameter set Bit 1 ON
4.2.1 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
general the command "Standby" should be the first command which is transferred to the inverter.
(hex)
. In
* If Bit 12=0, then "Direction of rotation right ON" applies
Table 6: Control word (STW)
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4.2.2 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. The meaning of the individual bits deviate for some types of devices.
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Bit
Valu
e
Meaning
Remarks
0 0 Not ready to start
1
Ready to start
Initialisation completed, charging relay ON, output voltage disabled
1 0 Not ready for operation
Causes: No command has been activated, fault is signaled, OFF2 or OFF3
activated, starting disabled state activated
1
Ready for operation
ON command activated, no faults present. The inverter can be started with the
command ENABLE OPERATION
2 0 Operation not enabled
1
Operation enabled
The output voltage is enabled; ramp to the existing setpoint
3 0 No error
1
Fault
Drive fault resulting in stoppage; this state is changed to starting disabled after
the fault has been successfully acknowledged
4 0 Voltage not enabled
OFF2 command applied
1
Voltage enabled
5
0
Emergency stop
OFF3 command applied
1 No emergency stop
6 0
Starting not disabled
1
Starting disabled
Switches first to OFF1, then to ready-to-start status
7 0 No warning
1
Warning active
Drive operation continues, no acknowledgement necessary
8 0 Setpoint not reached
Actual value does not match the setpoint (with posicon: failure to reach setpoint
position)
1
Setpoint reached
Actual value matches required setpoint (setpoint has been reached)
(with posicon: setpoint has been reached)
9 0 Bus control not active
Guidance on local device has been activated
1
Bus controller active
The master has been requested to assume guidance.
10 0
1
Start function 481.9
Bus bit 10 from the status word is set. For further details of function, please refer
to parameter P481.
11 0
1
Rotation right is on
Inverter output voltage is turning right
12 0
1
Rotation left is on
Inverter output voltage is turning left
13 0
1
Start function 481.10
Bus bit 13 from the status word is set. For further details of function, please refer
to parameter P481.
14
0/1
Parameter set Bit 0 ON
00 = Parameter set 1
01 = Parameter set 2
10 = Parameter set 3
11 = Parameter set 4
15
0/1
Parameter set Bit 1 ON
Table 7: Status word (ZSW)
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4 Communication and Protocol
Status
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Switch-on
disable
Emergency
stop
Disable
voltage
Fault
Operation
enabled
Standby
Ready for
switch-on
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
4.2.3 Frequency inverter 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 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:
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
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
3
5
23
364
2
2
1
2
3
7
8
f = 0 reached
(emergency stop complete)
Bit701
Error acknowledgement
Control bits
0. Standby / Shut down
1. Disable / enable voltage
2. Enable pulses / emergency stop
3. Disable / enable operation
4. Betriebsbedingung / HLGsperren
5. Enable / stop RUE
6. Enable / disable setpoint
7. Error acknowledgement (01)
10. Control data valid / invalid
11. Direction of rotation clockwise
12. Direction of rotation anticlockwise
14. Parameter set Bit 0
15. Parameter set Bit 1
4
5
6
Bit4 = 0: Move down emergency stop ramp and
remain in'Operation enabled'
Bit5 = 0: Hold frequency
Bit6 = 0: Setpoint = 0%
Bit0 = 0: Shut down
5
Bit3 = 1: Enable operation
& Bit0 = 1: Switch on
2
Internal status machine
2
Fig. 3: Status Machine of the Frequency Inverter
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4 Communication and Protocol
Type
Relevant parameter
Setpoint
P546 … P548
Actual value
P543 … P545
16384
105PValue
Frequency
16384
112PValue
Current
Direction of
transmission
Transmitted data (12 Byte)
1st word
2nd word
3rd word
4th word
5th word
6th word
Busmaster
bus module
Control word
32 bit setpoint
Setpoint 3
Setpoint 4
Setpoint 5
Busmaster
bus module
Status word
Actual value
1
32 bit actual value
Actual value
4
Actual value
5
4.2.4 Setpoint (SW) and Actual Value (IW)
The functions of the setpoint and the actual value are assigned via frequency inverter parameters:
The following three kinds of data transfer are possible:
Percentage transfer
The process value is transferred as an integer with a value range of -32768 to 32767 (8000 hex to
7FFF hex). The value 16384 (4000 HEX) corresponds to 100 %. The value -16384 (C000 hex) is
equal to -100 %.
For frequencies, 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.
"Value" represents the 16Bit actual or setpoint value transmitted via the bus
Binary transmission
Inputs and outputs, as well as Digital In bits and Bus Out bits are processed bit-by-bit.
Transmission of positions
In the FI, positions have a value range of +/- 50000.000 rotations. A motor rotation can be divided into
a maximum of 1000 steps. This scaling is independent of the encoder which is used.
The 32 Bit value range is divided into a Low word and a High word, so that 2 setpoints or actual values
are required for the transfer. It does not matter which 2 words (except for the 1st word) are used for
this.
Table 8: Depiction of 32Bit setpoint/actual values
It is also possible to only transmit the Low component of the position. This results in a limited value
range from +32,767 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.
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Parameter
Setting value
Meaning
Parameter number
SK 180E …
SK 2xxE,
SK 54xE
SK 500E …
SK 535E
Maximum frequency
50.0
50 Hz
P105
P105
Actual bus value 1
1
Actual frequency
P543[-01]
P543
Function Bus setpoint 1
1
Setpoint frequency
P546[-01]
P546
Order to FI
Response from FI
Control word
Setpoint 1
Status word
Actual value 1 Explanation
- - -
- - -
0000h
0000h
- - -
- - -
xx40h
0000h
Switch-on of the mains voltage to the FI
047Eh
0000h
xx31h
0000h
Sets the FI in the status "Standby"
047Fh
2000h
xx37h
2000h
Sets the FI to the status "Operation
enabled" with the setpoint 50%.
The FI is enabled, the motor is supplied with current and rotates with a frequency of 25 Hz.
0047Eh
2000h
xx31h
0000h
Sets the FI to "Standby" status. The
motor runs on its parameterised ramp up
to speed 0 and then the power is
switched off.
The FI is locked again and the motor is without current.
047Fh
1000h
xx37h
1000h
Sets the FI to the status "Operation
enabled" with the setpoint 25 %.
The FI is enabled, the motor is supplied with current and rotates with a frequency of 12.5 Hz.
4.2.5 Example: "Switch on and off + setpoint"
In this example, a frequency inverter is controlled with a setpoint (setpoint frequency). The frequency
inverter responds with an actual value (actual frequency). The "maximum frequency" is parameterised
to 50 Hz.
Relevant parameters:
Table 9: Example: "Switch FI on and off + setpoint"
For POWERLINK the length and structure of the process data are fixed and are determined by the
XDD file. For each direction of transmission and inverter, 6 process values are always available. 1
control/status word and 5 setpoint/actual values. The SK 54xE FI series processes all 5 setpoint/actual
values. All other inverters only process 3 setpoint/actual values. The two other values are ignored.
In addition, for all SK xU4-POL, the switching status of the IOs of the bus module are communicated
via 2 further bytes.
The (cyclical) transfer of process data is carried out in the static PDO mapping. The PDOs are
mapped to SDOs. Various addresses are used, according to the type of device.
Table 10: PDO Mapping / Process Data Structure SK TU3-POL
20 BU 2200 GB-3813
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
1 2 3 4 5
Address
0x5001.4
0x5003.10
0x5003.11
0x5003.12
0x5003.13
0x5003.14
Module
High byte
Low byte
Bit 15
Bit 14 to 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
SK TU4-POL
Valid Flag
Reserve
DIN8
DIN7
DIN6
DIN5
DIN4
DIN3
DIN2
DIN1
SK CU4-POL
Valid Flag
Reserve
Reserve
DIN2
DIN1
Module
High byte
Low byte
Bit 15 to 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
SK TU4-POL
Reserve
Reserve
DO2
DO1
SK CU4-POL
Reserve
Reserve
All parameters of the bus module and the
connected frequency inverter can be
accessed via POWERLINK. Access is via
objects (SDO).
Object address (SDO-ID)
Accessed
Device ID
Address range
Devices
0x2000
0x2000 – 0x27FF
Bus module
0x2800
0x2800 – 0x2FFF
FI 1
0x3000
0x3000 – 0x32FF
FI 2 (only SK xU4)
0x3800
0x3800 – 0x3FFF
FI 3 (only SK xU4)
0x4000
0x4000 – 0x43FF
FI 4 (only SK xU4)
Information
SDO Handling
The handling of transmission or querying of SDOs depends on the PLC which is used. For B&R, SDOs can be
processed with the function blocks EplSDORead or EplSDOWrite. For detailed information, please contact the
manufacturer of the PLC.
Table 11: PDO Mapping / Process Data Structure SK XU4-POL
The allocation of the values transferred in the setpoint/actual value area of the FI is made via the
parameters P543 to P548 or P543 / P546 [-01]…[-05].
The SK TU4-POL is equipped with 8 digital inputs and 2 digital outputs. In contrast, the SK CU4-POL
only has 2 digital inputs. These can be controlled or read via process data word 1.
Inputs (status value)
A 16 bit word is transferred. The 8 (or 2) inputs are located in the Low byte and the High byte on Bit 15
contains the "Valid Flag" for the inputs. The transferred inputs are only valid if this flag is set to 1.
Table 12: Structure of the Input Word in the Process Data
Outputs (Setpoint)
The SK TU4-POL is equipped with 2 digital 24V outputs. The outputs can be set with a 16 bit word.
Table 13: Structure of the Output Word in the Process Data
Access to the parameter of the frequency inverter or the bus module is carried out by creating an
Index and a Sub-Index.
BU 2200 GB-3813 21
Page 22
4 Communication and Protocol
NORD-specific
POWERLINK
Parameter type
Example
Sub-index
Array element
Parameter set
Sub-index
Simple
P218 0 - - 0x00
Depends on parameter set
P102
Array size
0x00 0 -
P1
0x01 0 -
P2
0x02
0 - P3
0x03 0 -
P4
0x04
Array parameter
P480
Array size
0x00 1 [-01]
-
0x01 2 [-02]
-
0x02 3 [-03]
-
0x03 … … - …
Depends on parameter set
and array size
P525
Array size
0x00
1
[-01]
P1
0x01
1
[-01]
P2
0x02 1 [-01]
P3
0x03 1 [-01]
P4
0x04 2 [-02]
P1
0x05 2 [-02]
P2
0x06 2 [-02]
P3
0x07 2 [-02]
P4
0x08 … … - …
Index
To create the index, the relevant parameter number in the SDO-ID must be converted. This is
performed according to the following formula:
SDO-ID = Device-ID + Parameter number
Example
FI 1, Parameter P102
SDO-ID = 2800
hex
+ 102
= 2800
dez
hex
+ 66
= 2866
hex
hex
Sub-index
The creation of the Sub-Index depends on the structure of the relevant parameter and is coded
according to the following pattern.
Table 15: Sub-Index Coding
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Error code
Explanation
0x0504 0000
Timeout of the SDO response by the bus module
0x0504 0001
Unknown SDO command
0x0504 0002
The size of the transferred data is not correct
0x0504 0003
Error in sequence layer
0x0504 0005
Insufficient memory
0x0601 0000
Access to the object is not supported
0x0601 0001
Reading access to write-only parameter
0x0601 0002
Writing access to a read-only parameter
0x0602 0000
Access to a non-existent parameter
0x0604 0043
Incompatible parameter
0x0604 0047
Internal incompatibility in module
0x0606 0000
Hardware error
0x0607 0010
The data type does not match the length of access
0x0607 0012
Parameter access with excess data length
0x0607 0013
Parameter access with insufficient data length
0x0609 0011
Parameter sub-index 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
Reading / writing of parameter not possible as there is no connection between the FI and the
module
0x0800 0021
Module does not react
Interruption of parameter communication (SDO)
If problems occur during parameter communication (e.g. value range overflow), a cancel telegram is
sent. The error codes comply with the POWERLINK standard EPSG DS 301.
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Table 16: Error codes for parameter access failure
According to the type or equipment of the frequency inverter, individual parameters may be different or restricted.
Information
Control terminal functions
When activated, the functions block voltage, quick stop, remote control and cancel error, are available at the
(local) control terminals. To operate the drive, a High signal must be present on the digital inputs being used
before the drive can be enabled.
Parameter
{Factory seting}
Setting value / Description / Note
Device
Type
P150
Set Relay
(Set relay)
SK EB…
SK TU4-…
8 bit
0 ... 4
{ 0 }
The switching statuses of the digital outputs can be modified.
0 =
Via Bus:
All digital outputs can be controlled via the system bus: the
fucntions are defined in the frequency inverter (P480).
1 =
Outputs Off:
All digital outputs are Off (Low = 0V).
2 =
Output 1 On (DO1):
The digital output DO1 is set to "High" (active); digital
output DO2 remains switched off.
3 =
Output 2 On (DO2):
The digital output DO2 is set to "High" (active); digital
output DO1 remains switched off.
4 =
Outputs 1 and 2 On:
All digital outputs are set to "High" (active)
P151
External Bus Timeout
(Timeout for external bus)
SK xU4-…
16 bit
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 technology unit or the connected
inverter reports an error and switches off with the error message E010 / E10.3 >Bus Time Out<.
0 =
Off:
Monitoring is switched off.
5. Parameter
In order to operate the frequency inverter on the bus system, some parameter settings must be made
on the bus interface and on the frequency inverter.
The frequency inverter can always be parameterised. The control source can be selected with
parameter P509 (control word) and parameter P510 (setpoint source). The telegram down time P513
can be selected depending on the bus system.
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5.1 Bus - Module Parameters
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
P152
Factory Setting
(Load factory settings)
SK TU3-…
SK xU4-…
8 bit
0 ... 1
{ 0 }
With the selection of the relevant value anc confirmation with the OK key, the selected parameter
range is set to the factory setting. Once the setting has been made, the value of the parameter
automatically returns to 0.
0 =
No change: Does not change the parameterisation.
1 =
Loading the factory settings: The complete parameterisation of the FI reverts to the
factory setting. All originally parameterised data are lost.
P153... [-01]
... [-02]
Min. System Bus Cycle
(Minimum cycle time of system bus)
SK EB…
SK xU4-…
16 bit
0 ... 250.00 ms
{ [-01] = 10 }
{ [-02] = 5 }
In order to reduce the bus load on the system bus, the transmission cycle time of the Service
Data Objects and Process Data Objects can be extended.
[-01] = SDO Inhibit Time
[-02] = PDO Inhibit Time
P154... [-01]
... [-02]
TB-IO Access
(Access to technology unit IOs)
SK xU4-…
8 bit
0 ... 5
{ [-01] = 0 }
{ [-02] = 0 }
Assignment of the writing and reading rights of the connected frequency inverter to the inputs and
outputs of the technology unit.
[-01] = Inputs
[-02] = Outputs
0 =
OFF, no effect
1 =
Broadcast, all FIs read the inputs
2 =
FI 1, reads and writes to the IOs
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
Parameter
{Factory seting}
Setting value / Description / Note
Device
Type
P160
Node Id/IP Address 4
(Node Id/IP Address 4)
SK TU3-POL
SK xU4-POL
8 bit
0 ... 239
Setting of the participant address (Node ID) 4. Byte of the IP address.
The setting is only adopted after a restart of the module.
Information
Priority of parameter over DIP switch
A value "0" means that the setting has been made with the module DIP switches.
Pos: 48 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P153 – Min.Systembuszyklus [SK xU4-..., SK E BIOE] @ 3\mod_1368690526763_388.doc x @ 65260 @ @ 1
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
P171... [-01]
…... [-03]
Software Version
(Software Version/ Revision)
SK EB…
SK TU3-…
SK xU4-…
16 bit
0 ... 9999
This parameter shows the software and revision numbers in the module. Array [-03] provides
information about any special versions of the hardware or software. A zero stands for the
standard version.
[-01] = Software version 1:
"Version number": (E.g.: V1.0)
[-02] = Software version 2:
"Revision number": (E.g.: R1)
[-03] = Software version 3:
"Special version": (E.g.: 0)
P172
Configuration level
(Configuration level)
SK TU3-…
SK xU4-…
SK EB…
16 bit
0 ... 4
Indicates the module version which is used.
0 =
CU4 (internal):
Internal module for decentralised frequency inverters
1 =
TU4 (external):
External module (IP55 / IP66)
2 =
TU3:
Bus module for FI series SK 5xxE
3=
TU3 (with DIP):
Module with DIP switches for FI series SK 5xxE
4=
EBIOE-2:
Decentralised module IP20
P173
Module Status
(Module status)
SK EB…
SK TU3-…
SK xU4-…
16 bit
0 ... 0xFFFF
Operating status of the module.
Bit 0 =
Module ready for operation*
Bit 1 =
Cyclic communication*
Bit 2 =
Timeout by Ethernet bus*
Bit 3 =
Timeout (P151/P513)*
Bit 4 =
No communication with ASIC*
Bit 5 =
General configuration error*
Bit 6 =
System bus "BUS Warning"**
Bit 7 =
System bus "BUS OFF"**
Bit 8 =
FI 1 status
Bit 9 =
FI 1 status
Bit 10 =
FI 2 status**
Bit 11 =
FI 2 status**
Bit 12 =
FI 3 status**
Bit 13 =
FI 3 status**
Bit 14 =
FI 4 status**
Bit 15 =
FI 4 status**
* Except for ...IOE modules
** Except for SK TU3 versions
THe status of the frequency inverter is determined from a High bit and a Low bit: e.g. FI
1: High bit: Bit 9; low Bit: Bit 8
High Bit
Low Bit
Meaning
0 0 FI is offline
0 1 FI is not supported
1 0 FI is online
1 1 Bus error (PDO or SDO monitoring)
P174
Status of digital input
(Status of the digital inputs)
SK EB…
SK xU4-…
8 bit
0 ... 0xFF
Image of the switching status of the digital inputs of the module.
Various parameters of the frequency inverter are relevant for the commissioning of the bus system or
the frequency inverter in the bus system and may need to be changed.
A detailed description of the inverter parameters can be found in the manual for the relevant frequency
inverter.
30 BU 2200 GB-3813
Page 31
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Param
eter
Parameter name
Recommended setting
Remarks
SK 5xxE
SK 180E … SK
2xxE
status
starting disabled condition
P701
Last fault
P740
Process data BUS In
P741
Process data BUS Out
P742
Data base version
P744
Configuration
Not relevant
P745
Module version
Not available
P746
Module status
Not available
Possible values
Bit
Meaning
0
Module initialised
1
Cyclical communication
2
Vacant
3
Vacant
4
Error 1
5
Error 2
6
Error 3
7
Vacant
8-15
Module number
POWERLINK = 24
Table of Errors
error
Meaning
3 2 1 0 0 0 No error
0 0 1
No communication
with ASIC
0 1 0
Bus Timeout
0 1 1
P513 timeout
P748
CANopen status
Not relevant for
SK TU3 modules
System bus status
Table 17: Overview of Frequency Inverter Parameters
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BU 2200 GB-3813 31
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6 Error monitoring and error messages
Information
Process data control word BIT 10
This error is also triggered if process data with an invalid control word (Bit 10 in control word = 0) is received.
6. Error monitoring and error messages
The motor control device (e.g: frequency inverters) and technology units generate appropriate
messages according to the cause if they deviate from their normal operating status.
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6.1 Bus operation monitoring function
The following monitoring functions are available for bus operation.
• Timeout monitoring at the field bus level
– Bus-specific watchdogs
– Parameter (P151)
• Timeout monitoring at system bus level
– Parameter (P120) or (P513)
• Function monitoring within the bus module
– 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").
General process data monitoring with 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 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.
With SK 180E .. SK 2xxE 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 180E … SK 2xxE 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.
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Information
Display of error messages
An error relating to the Ethernet 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.
Information
Display in SK CSX-3H
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 present error is shown in Array [-01] of this parameter; the last error message is stored in Array
[-02].
6.2 Resetting error messages
The following options are available to reset (acknowledge) an error message:
Frequency inverters
• Switching the mains off and on again,
• By an appropriately programmed digital input (P420 = Function 12),
• By switching off the “enable” on the frequency inverter (if no digital input is programmed for
acknowledgement),
• By carrying out a bus acknowledgement, or
• By P506, activation of automatic error acknowledgement.
Technology module
• If the error is deleted (bus error), the error message is automatically reset in the module,
• Switching the mains off and on again,
• Acknowledgement of the error via the bus
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6.3 Handling of errors in the bus module
Parameter P163 "FI sets bus error" is used to set the bus module into the error state in case of a fault.
This function is enabled in the factory settings. If the bus module is set into the error state by an FI
malfunction, an error is set in the POWERLINK log. If the module monitoring for the CN is enabled in
the PLC, the PLC switches to Service Mode.
To prevent the PLC from switching to Service Mode in case of an FI malfunction, but to monitor the
POWERLINK bus connection, parameter P163 can be set to "False". To then detect an FI
malfunction, the "Fault" bit (Bit 3) and the bit "Ready for operation" (Bit1) in the status word must be
monitored.
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6.3.1 Error monitoring via the frequency inverter
An error can be detected via the status word in the process data.
In this case, we recommend monitoring of the "Fault" bit in the status word. If the FI has a malfunction,
this flag is set and the cause of the fault can be determined in parameter P700 or in the inverter object
(e.g. for FI 2: 0x3000+700
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= 0x32BC).
dec
BU 2200 GB-3813 33
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6 Error monitoring and error messages
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6 .. 13
Entry Type
Error code
Time stamp
FI ID (ASCii)
FI Error Code (ASCii)
Information
FI-ID
FI ID = identifies the FI from which the error message has come FI1 = 1, FI2 = 2, etc. (for SK TU3-POL = 1)
Error Code (hex)
Meaning
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
6.3.2 Error monitoring via POWERLINK
In case of FI malfunctions, the module generates an error entry in the object 0x1003
ERR_History_ADOM. In addition, errors are transmitted to the MN via the Emergency Queue, if the
MN supports this function.
For further information, please refer to the POWERLINK specification DS301.
The message is structured as follows.
The following error groups are defined in the communication profile DS-301. Because of the CAN over
... protocol which is used here, this profile also applies to the described Ethernet modules.
Table 19: Error groups according to communication profile DS-301
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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Error code
Error register
FI Error Code (error number P700) *
0x0000
0
0x1000
1
---
The error number transmitted by FI is not known to the
technology unit. It must be read out via (P700) or an actual
value.
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
15.0 … 15.8 / 20.1 up to 20.7 / 21.3
0x6310
1
8.0
0x7112
3
3.1
0x7120
1
16.0 / 16.1
0x7300
1
14.3
0x7305
1
13.0
0x7306
1
14.4
0x7310
1
14.5
0x7320
1
14.6 / 14.7 / 14.8
0x7330
1
25.0
0x7331
1
25.1
0x7332
1
25.2
0x7333
1
25.3
0x7334
1
25.4
0x8100
17
10.0 / 10.1 / 10.2
0x8111
17
10.3 up to 10.7 / 10.9
0x8300
1
13.2
0x8400
1
13.1
0x8600
1
14.0 / 14.1
0x8612
1
14.2
0x8710
1
13.5
0x8711
1
13.6
List of bus errors to inverter errors
Error messages which are generated by the frequency inverter are transferred from the bus module to
the field bus level. They do not result in an error of the bus module.
The allocation of special error codes for NORD inverters is carried out as follows:
BU 2200 GB-3813 35
Page 36
6 Error monitoring and error messages
Error code
Error register
FI Error Code (error number P700) *
0x9000
1
12.0 / 12.1 / 12.2
0xFF10
129
18.0
0xFF11
129
19.0
* For the meaning, refer to the frequency inverter manual.
Error
Meaning
Remarks
100.0
EEPROM error
EMC fault, module defective
102.0
Timeout
via P151/P513 monitoring
103.0
System bus BUS OFF
No 24V supply to the bus, connections not correct
104.0
Module temperature > 97°C
Only SK CU4-…
550.1
DIP switch error
The DIP switches (IP address) could not be read correctly
560.0 …
560.9
Internal error
Module not ready
561.0
General network error
561.1
Ethernet Watchdog timeout
561.2
Bus cable fault
Bus cable connection interrupted
561.3
IP address error
IP address of the module has been doubly assigned
563.0
Firmware version incompatible
The firmware version cannot be used for the device
564.0
MAC address error
Error
(E010)
Meaning
Remarks
10.0
Connection error
Contact to SK xU4 lost
10.1
ASIC errors
Communication to Ethernet - ASIC lost
• Switch-off of the supply voltage
10.2
Ethernet/IP Watchdog timeout
Telegram transfer error
•Check the connections and links, program sequence and
Bus Master
10.3
Timeout by P151/P513
Telegram transfer error
• Check the connections and links
• Check the Watchdog time
10.4
IP address error
IP address of the module has been doubly assigned
10.5
Internal error
Module not ready,
•for SK CU4-… e.g.: Module temperature > 97°C
10.6
Bus cable fault
Bus cable connection interrupted
10.8
The connection between the inverter
and the module had a timeout
Only SK TU3 module
10.9
The connection between the inverter
and the module had a timeout
Only SK xU4 module
Table 20: Assignment of BUS errors to inverter errors
Pos: 82 /Technische Informationen/SK xUx - Bus - Erweiterungen/Allgemein - S ystemübergreifend/Fehlermeldungen Etherne t Baugruppen allgemein [SK xUx-EIP / POL - Allgemein] @ 3\mod_1363779786491 _388.docx @ 61865 @ 5 @ 1
Error messages
Error messages from the module - present errors or archived messages relating to the last error - can
be read out via the module parameter (P170). The error messages are lost if the module is switched
off.
Errors which occur in relation to the module are depicted as follows in the error memory of the
frequency inverter (P700 / P701).
POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters
Note
Reason for return
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 also obtain a suitable return goods voucher from Getriebebau NORD.
Unless otherwise agreed, the device is reset to the factory settings after inspection or repair.
NOTICE
Possible Consequential Damage
In order to rule out the possibility that the cause of a device fault is due to an optional module, the connected
optional modules should also be returned in case of a fault.
7. Additional information
Pos: 84 /Anleitungen/Elektronik/FU und S tarter/9. Wartungs- und Servicehinweis e/9.2 Reparaturhinweise @ 0\mod_132818 9697671_388.docx @ 14558 @ 233 @ 1
7.1 Repair information
If you contact our technical support, please have the precise device type (rating plate/display),
accessories and/or options, the software version used (P707) and the series number (name plate) at
hand.
7.1.1 Repairs
The device must be sent to the following address if it needs repairing:
NORD Electronic DRIVESYSTEMS GmbH
Tjüchkampstraße 37
26605 Aurich, Germany
For queries about repairs, please contact:
Getriebebau NORD GmbH & Co. KG
Tel.: 04532 / 289-2515
Fax: 04532 / 289-2555
If a frequency inverter is sent in for repair, no liability can be accepted for any added components, e.g.
such as mains cables, potentiometer, external displays, etc.!
Please remove all non-original parts from the frequency inverter.
7.1.2 Internet information
You can also find the comprehensive manual in German and in English on our Internet site.