NORD BU2200 User Manual

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BU 2200

POWERLINK Bus module

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.

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Documentation

Version list

Table 1: Version list

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Publisher

Getriebebau NORD GmbH & Co. KG

Getriebebau-Nord-Straße 1  22941 Bargteheide, Germany  http://www.nord.com/ Fon +49 (0) 45 32 / 289-0  Fax +49 (0) 45 32 / 289-2555

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=== Ende der Liste für Textmarke Copyrig ht ===

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Table of Contents

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Table of Contents

=== Ende der Liste für Textmarke Inhalts verzeichnis ===

1. Introduction ................................................................................................................................................. 6

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

1.2 Bus modules ...................................................................................................................................... 6

2. Bus Configuration ....................................................................................................................................... 7

2.1 Topology ............................................................................................................................................ 7

2.2 Cable layout and shielding (EMC measures) ..................................................................................... 7

3. Configuration in the Bus System ............................................................................................................... 8

3.1 Addressing ................................................................ ......................................................................... 8

3.2 Integration into the bus master ........................................................................................................... 9

3.3 Remote Maintenance (in preparation) .............................................................................................. 10

3.4 Configuration example ..................................................................................................................... 10

4. Communication and Protocol .................................................................................................................. 12

4.1 NMT State Machine ......................................................................................................................... 12

4.2 Processing of Process Data in the Frequency Inverter .................................................................... 13

4.2.1 Control word (STW) ............................................................................................................ 14

4.2.2 Status word (ZSW) ............................................................................................................. 14

4.2.3 Frequency inverter status machine ..................................................................................... 16

4.2.4 Setpoint (SW) and Actual Value (IW) ................................................................................. 18

4.2.5 Example: "Switch on and off + setpoint" ............................................................................. 19

4.3 Transfer of process data .................................................................................................................. 19

4.4 Parameter transfer ........................................................................................................................... 21

5. Parameter ................................................................................................................................................... 24

5.1 Bus - Module Parameters ................................................................................................................ 24

5.2 Frequency Inverter Parameters ....................................................................................................... 30

6. Error monitoring and error messages ..................................................................................................... 32

6.1 Bus operation monitoring function .................................................................................................... 32

6.2 Resetting error messages ................................................................................................................ 33

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

7.1.1 Repairs ............................................................................................................................... 37

7.1.2 Internet information ............................................................................................................. 37

7.2 Further Documentation and Software .............................................................................................. 38

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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters

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List of illustrations

=== 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

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List of tables

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List of tables

=== Ende der Liste für Textmarke Tabelle nverzeichnis ===

Table 1: Version list ................................................................................................................................................. 2

Table 2: Hardware Overview ................................................................................................................................... 6

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

Table 15: Sub-Index Coding .................................................................................................................................. 22

Table 16: Error codes for parameter access failure ............................................................................................... 23

Table 17: Overview of Frequency Inverter Parameters ......................................................................................... 31

Table 18: Error Entry Structure .............................................................................................................................. 34

Table 19: Error groups according to communication profile DS-301 ..................................................................... 34

Table 20: Assignment of BUS errors to inverter errors .......................................................................................... 36

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1 Introduction

Name

Part. No.

Remarks

Document

SK CU4-POL

275 271 018

for frequency inverters SK 180E … SK 2xxE (internal)

TI 275271018

SK TU3-POL

275 900 150

for NORD frequency inverters SK 5xxE

TI 275900140

SK TU4-POL

275 281 119

for frequency inverters SK 180E … SK 2xxE (IP55)

TI 275281118

plus:

SK TI4-TU-BUS

275 280 000

Bus connection unit (IP 55)

TI 275280000

SK TU4-POL-C

275 281 169

for frequency inverters SK 180E … SK 2xxE (IP66)

TI 275281168

plus:

SK TI4-TU-BUS-C

275 280 500

Bus connection unit (IP 66)

TI 275280500

1. Introduction

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1.1 General

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.

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The bus system

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

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1.2 Bus modules

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).

Table 2: Hardware Overview

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EPSG: POWERLINK Basics, MM-D00843.713, 2008

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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.

2. Bus Configuration

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2.1 Topology

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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3 Configuration in the Bus System

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).

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

C_ADR_INVALID

Invalid

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]

251

C_ADR_SELF_ADR_NODE_ID

POWERLINK pseudo node ID to be used by a node to address itself

252

C_ADR_DUMMY_NODE_ID

POWERLINK dummy node

253

C_ADR_DIAG_DEF_NODE_ID

Diagnostic device

optional

254

C_ADR_RT1_DEF_NODE_ID

POWERLINK to legacy Ethernet Router

no / mandatory / optional / isochronous

255

C_ADR_BROADCAST

POWERLINK broadcast

3. Configuration in the Bus System

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3.1 Addressing

The IP address and the SubNetMask are fixed.

– 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

Import the XDD file into the PLC interface

Integrate the bus module from the PLC database into the project (add POWERLINK control node).

Assign the NODE ID (address) for the POWERLINK device

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.

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3.2 Integration into the bus master

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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Module monitoring

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.

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Parameter initialisation

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.

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3 Configuration in the Bus System

ATTENTION

Remote control via NORDCON

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

SK 2x5E frequency inverter

FI 1

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

Set up system bus

Couple all devices together.

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"

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

System bus baud rate

Set the FI to 250 kBaud (For FI: SK 200E this is pre-set accordingly)

System bus communication

Make settings on each FI

 (P509): { 3 } "System bus"  (P510 [-01 … -02]): { 0 } "Auto"  (P543 [-01]): { 1 } "Actual frequency"  (P546 [-01]): { 1 } "setpoint frequency"

Field bus

Configure bus module for field bus

See Section "Addressing" (e.g.: DIP switch on the bus module or corresponding parameter)

System bus

Monitoring at system bus level

 (P151): { 200 }  (P120 [-01]) { 1 } or { 2 }

System bus

Checking system bus communication

 (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

Checking field bus communication

 (P173): "Module status"  (P176): "PZD Bus In"  (P177): "PZD Bus Out"

Sequence

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4 Communication and Protocol

State

Explanation

Init

No communication of process data and parameters

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.

Initialisation

not Active

Basic Ethernet

Pre-Operational 1

Operational

Ready to Operate

Pre-Operational 2

Error Condition

4. Communication and Protocol

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4.1 NMT State Machine

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)

Ready for operation

Frequency inverter ready for operation

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

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.

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.

Enable pulses

Enable ramp generator

5 0 Ramp not enabled

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

Enable ramp

Enable setpoint on ramp generator

6 0 Setpoint not enabled

Selected setpoint value is set to zero on the ramp generator.

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.

Acknowledge error (01)

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

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

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.

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

Rotation right is on

Rotational direction right (priority) ON*

12 0

Rotation left is on

Rotational direction left ON*

0/1

Reserved

0/1

Parameter set Bit 0 ON

00 = Parameter set 1 01 = Parameter set 2

10 = Parameter set 3 11 = Parameter set 4

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

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

Ready for operation

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

2 0 Operation not enabled

Operation enabled

The output voltage is enabled; ramp to the existing setpoint

3 0 No error

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

Voltage enabled

Emergency stop

OFF3 command applied

1 No emergency stop

6 0

Starting not disabled

Starting disabled

Switches first to OFF1, then to ready-to-start status

7 0 No warning

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)

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

Bus controller active

The master has been requested to assume guidance.

10 0

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

Rotation right is on

Inverter output voltage is turning right

12 0

Rotation left is on

Inverter output voltage is turning left

13 0

Start function 481.10

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

0/1

Parameter set Bit 0 ON

00 = Parameter set 1 01 = Parameter set 2

10 = Parameter set 3 11 = Parameter set 4

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

Switch-on

disabled

Ready for sw itch-on

Activated

Operation

enabled

Emergency stop

active

Error reaction

active

Error

From any device status

3 4 5 6 8

4 5

Not on standby

Switching on theinverter

Loading relay applied

Error

Error reaction complete

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

Bit 3 = 0: Disable operation Bit0 = 1: Switch on

Bit3 = 1: Enable operation

Bit2 = 0: Emergency stop

Bit1 = 0: Disable voltage

v Bit2 = 0:Emergency stop

Priority of control commands:

1. Disable / enable voltage

2. Emergency stop

3. Shut down

4. Enable operation

5. Switch on

6. Disable operation

7. Reset error

Coding of status:

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

2 3

3 64

f = 0 reached (emergency stop complete)

Bit701

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 (01)

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

Bit4 = 0: Move down emergency stop ramp and

remain in'Operation enabled'

Bit5 = 0: Hold frequency Bit6 = 0: Setpoint = 0%

Bit0 = 0: Shut down

Bit3 = 1: Enable operation

& Bit0 = 1: Switch on

Internal status machine

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

Actual bus value 1

Actual frequency

P543[-01]

P543

Function Bus setpoint 1

Setpoint frequency

P546[-01]

P546

Order to FI

Response from FI

Control word

Setpoint 1

Status word

Actual value 1 Explanation

- - -

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"

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4.3 Transfer of process data

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.

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4 Communication and Protocol

Direction of

transmission

Transmitted data (12 Byte) *

1st word

2nd word

3rd word

4th word

5th word

6th word

To module

Control word

Setpoint 1

Setpoint 2

Setpoint 3

Setpoint 4

Setpoint 5

Address

0x5000.0

0x5002.1

0x5002.2

0x5002.3

0x5002.4

0x5002.5

From module

Status word

Actual value

Address

0x5001.0

0x5003.1

0x5003.2

0x5003.3

0x5003.4

0x5003.5

* Word 5 dnd 6: only for SK 54xE

Direction of

transmission

Transmitted data (50 Byte)

BUS module

1st word

To module

Digital OUT

Address

0x5005.0

From module

Digital IN

Address

0x5004.0

FI 1

2nd word

3rd word

4th word

5th word

6th word

7th word

To module

Control word

Setpoint 1

Setpoint 2

Setpoint 3

Setpoint 4

Setpoint 5

Address

0x5000.1

0x5002.1

0x5002.2

0x5002.3

0x5002.4

0x5002.5

From module

Status word

Actual value

Address

0x5001.1

0x5003.1

0x5003.2

0x5003.3

0x5003.4

0x5003.5

FI 2

8th word

9th word

10th word

11th word

12th word

13th word

To module

Control word

Setpoint 1

Setpoint 2

Setpoint 3

Setpoint 4

Setpoint 5

Address

0x5000.2

0x5002.6

0x5002.7

0x5002.8

0x5002.9

0x5002.A

From module

Status word

Actual value

Address

0x5001.2

0x5003.6

0x5003.7

0x5003.8

0x5003.9

0x5003.A

FI 3

14th word

15th word

16th word

17th word

18th word

19th word

To module

Control word

Setpoint 1

Setpoint 2

Setpoint 3

Setpoint 4

Setpoint 5

Address

0x5000.3

0x5002.B

0x5002.C

0x5002.D

0x5002.E

0x5002.F

From module

Status word

Actual value

Address

0x5001.3

0x5003.B

0x5003.C

0x5003.D

0x5003.E

0x5003.F

FI 4

20th word

21st word

22nd word

23rd word

24th word

25th word

To module

Control word

Setpoint 1

Setpoint 2

Setpoint 3

Setpoint 4

Setpoint 5

Address

0x5000.4

0x5002.10

0x5002.11

0x5002.12

0x5002.13

0x5002.14

From module

Status word

Actual value

Mapping

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

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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

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

DO2

DO1

SK CU4-POL

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].

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Digitale IOs (only SK xU4-POL)

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

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4.4 Parameter transfer

Table 14: Device Assignment to SDO-ID

Access to the parameter of the frequency inverter or the bus module is carried out by creating an Index and a Sub-Index.

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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 -

0x01 0 -

0x02

0 - P3

0x03 0 -

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

[-01]

0x01

[-01]

0x02 1 [-01]

0x03 1 [-01]

0x04 2 [-02]

0x05 2 [-02]

0x06 2 [-02]

0x07 2 [-02]

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

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

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5 Parameter

Information

Deviating Parameter Settings

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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Standard Bus Parameter (P15x)

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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

Pos: 49 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P154 – Zugriff TB-IO [SK xU4-...] @ 3\mod_13 68694374103_388.docx @ 65666 @ @ 1

Pos: 50 /Anleitungen/Elektronik/Buss ysteme/5. Parameter/P16x Spezifische Param eter - Bus @ 3\mod_1369132201341_38 8.docx @ 70019 @ 5 @ 1

Specific Bus Parameters (P16x)

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Pos: 52 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P162 – Geräte Name [SK xU x-POL] @ 4\mod_1378821740808_388.do cx @ 94385 @ @ 1

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5 Parameter

P162

Device name

(Device name)

SK TU3-POL SK xU4-POL

8 bit

ASCii { 0 }

Name of the bus module in the POWERLINK network If no device name is given, the module logs into the Powerlink network with the default name

"Powerlink <NodeID>-0xED" The settings are only adopted after a restart of the module.

P163

FU sets bus error

(FI sets bus error)

SK TU3-POL SK xU4-POL

8 bit

0 … 1 { 1 }

If this function is enabled (1), the bus module sends an error message in case of a fault. With the setting (0), a status message is sent.

P164 ... [-01]

… ... [-04]

IP Gateway

(IP Gateway)

SK TU3-POL SK xU4-POL

8 bit

0 ... 255 { [-01] = 192 } { [-02] = 168 } { [-03] = 100 } { [-04] = 254 }

Parameterised IP address of the gateway consisting of four bytes. The Ethernet POWERLINK Standardization Group (EPSG) recommends that the IP address

remains at the the default address. The setting is only adopted after a restart of the module.

[-01] = IP High (Net-ID)

[-02] = IP (Net-ID)

[-03] = IP (Net-ID)

[-04] = IP Lo (Host)

P165

POWERLINK Cycle

(POWERLINK cycle time)

SK TU3-POL SK xU4-POL

16 bit

400 … 20000 µs { 1000 }

The bus cycle time which is set is used for synchronisation with the Manage Node.

Parameter

Setting value / Description / Note

Device

Type

P170 ... [-01]

... [-02]

Present Error

(Present Error)

SK EB…

SK TU3-…

SK xU4-…

8 bit

0 ... 9999

Error present in the bus module. The error message is reset when the supply voltage is switched off.

[-01] = Present module error

[-02] = Last error message from module

For a list of possible error messages, please refer to the section "Error Monitoring and Error Messages".

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Pos: 54 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P164 – IP Gateway [SK xUx- POL] @ 4\mod_1378888096666_388.doc x @ 94514 @ @ 1

Pos: 55 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P165 – POWERLINK Zyklus [ SK xUx-POL] @ 4\mod_137888876573 3_388.docx @ 94538 @ @ 1

Pos: 56 /Anleitungen/Elektronik/Buss ysteme/5. Parameter/P17x Informations Param eter – Bus, allgemein @ 3\mod_136913 2034911_388.docx @ 69995 @ 5 @ 1

General Bus InformationParameters (P17x)

Pos: 57 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P170 – Aktueller Fehler [SK xUx-..., SK E BIOE] @ 3\mod_1368776868873_388.doc x @ 69554 @ @ 1

Pos: 58 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P171 – Software-Version [SK xUx-..., SK EBIOE] @ 3\mod_1368785436095_388.docx @ 6 9604 @ @ 1

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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

TU3 (with DIP):

Module with DIP switches for FI series SK 5xxE

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.

Pos: 59 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P172 – Ausbaustufe [SK xUx-..., SK EBIOE-2] @ 3\mod_1368786081911_388.docx @ 6 9628 @ @ 1

Pos: 60 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P173 – Baugruppenzustand [SK xUx-..., SK EBI OE] @ 3\mod_1368792609372_388.doc x @ 69652 @ @ 1

Pos: 61 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P17 4 – Baugruppenzustand [SK xU4-..., SK EB IOE] @ 3\mod_1369117740608_388.docx @ 69680 @ @ 1

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5 Parameter

Bit 0 =

Digital input 1

Bit 1 =

Digital input 2

Bit 2 =

Digital input 3*

Bit 3 =

Digital input 4*

Bit 4 =

Digital input 5**

Bit 5 =

Digital input 6**

Bit 6 =

Digital input 7**

Bit 7 =

Digital input 8**

* Except for ... CU4- modules ** Only SK TU4-ECT, SK TU4-EIP, SK TU4-PNT and SK TU4-POL

P175

Relay Status

(Switching status of relay)

SK EB…

SK TU4-…

8 bit

0 ... 3 Image of the switching status of the relay outputs of the module.

Bit 0 =

Relay 1

Bit 1 =

Relay 2

P176 ... [-01]

… ... [-25]

Process Data Bus In

(Process data Bus In)

SK TU3-…

SK xU4-…

16 bit

-32768 ... 32767

Bus data received from Bus Master / controller

[-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] = Setpoint 4 for FI 1

[-07] = Setpoint 5 for FI 1

[-08] = Control word FI 2*

[-09] = Setpoint 1 for FI 2*

[-10] = Setpoint 2 for FI 2*

[-11] = Setpoint 3 for FI 2*

[-12] = Setpoint 4 for FI 2*

[-13] = Setpoint 5 for FI 2*

[-14] = Control word FI 3*

[-15] = Setpoint 1 for FI 3*

[-16] = Setpoint 2 for FI 3*

[-17] = Setpoint 3 for FI 3*

[-18] = Setpoint 4 for FI 3*

[-19] = Setpoint 5 for FI 3*

[-20] = Control word FI 4*

[-21] = Setpoint 1 for FI 4*

[-22] = Setpoint 2 for FI 4*

[-23] = Setpoint 3 for FI 4*

[-24] = Setpoint 4 for FI 4*

[-25] = Setpoint 5 for FI 4*

* Except for SK TU3 versions

Information

Control data via UDP

Control data via UDP are only displayed if there is no POWERLINK master.

Pos: 62 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P175 – Baugruppenzustand [SK TU4-..., SK EB IOE] @ 3\mod_1369119434666_388.docx @ 69704 @ @ 1

Pos: 63 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P176 – Prozeßdaten Bus In [SK xUx-...] @ 3\m od_1369120373047_388.docx @ 69728 @ @ 1

Pos: 64 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P176 – Prozeßdaten Bus I n (Ergänzung POWERLINK) [SK xUx-POL] @ 4\mod_1378889464526_388.docx @ 94562 @ @ 1

Pos: 65 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P177 – Prozeßdaten Bus Out [SK xUx-...] @ 3\m od_1369125104371_388.docx @ 69776 @ @ 1

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POWERLINK Bus module – Supplementary manual options for NORD - Frequency Inverters

P177 ... [-01]

… ... [-25]

Process Data Bus Out

(Process data Bus Out)

SK TU3-…

SK xU4-…

16 bit

-32768 ... 32767

Bus data sent from Bus Master / Controller.

[-01] = Bus module inputs*

[-02] = Status word FI 1

[-03] = Actual value 1 from FI 1

[-04] = Actual value 2 from FI 1

[-05] = Actual value 3 from FI 1

[-06] = Actual value 4 from FI 1

[-07] = Actual value 5 from FI 1

[-08] = Status word FI 2*

[-09] = Actual value 1 from FI 2*

[-10] = Actual value 2 from FI 2*

[-11] = Actual value 3 from FI 2*

[-12] = Actual value 4 from FI 2*

[-13] = Actual value 5 from FI 2*

[-14] = Status word FI 3*

[-15] = Actual value 1 from FI 3*

[-16] = Actual value 2 from FI 3*

[-17] = Actual value 3 from FI 3*

[-18] = Actual value 4 from FI 3*

[-19] = Actual value 5 from FI 3*

[-20] = Status word FI 4*

[-21] = Actual value 1 for FI 4*

[-22] = Actual value 2 for FI 4*

[-23] = Actual value 3 for FI 4*

[-24] = Actual value 4 for FI 4*

[-25] = Actual value 5 for FI 4*

* Except for SK TU3 versions

Parameter

Setting value / Description / Note

Device

Type

P181 ... [-01]

… ... [-06]

MAC Adddress

(MAC Address)

SK TU3-…

SK xU4-…

8 bit

0 ... 0xFF

Displays the Ethernet (MAC) address (unique identification of module)

[-01] … [-03] = NORD manufacturer ID

F0 . 5F . 5A

[-04] … [-06] = NORD address range

xx . xx . xx

P182

NMT State

(NMT Status)

SK TU3-POL SK xU4-POL

8 bit

0 ... 0xFF

Status of the Control Node

0x09 = INITIALISATION

0x19 = INITALISING

0x1C = NOT ACTIVE

0x1D = PRE_OPERATIONAL_1

0x1E = BASIC_ETHERNET

0x29 = RESET_APPLICATION

0x39 = RESET_COMMUNICATION

0x4D = STOPPED

0x5D = PRE_OPERATIONAL_2

0x6D = READY_TO_OPERATE

0x79 = RESET_CONFIGURATION

0xFD = OPERATIONAL

P183

NMT Error

(NMT Error)

SK TU3-POL SK xU4-POL

16 bit

0 ... 65535

Error of the Control Node Please refer to the POWERLINK specification DS301 (App.3.10) for the meaning of the codes.

Pos: 66 /Anleitungen/Elektronik/Buss ysteme/5. Parameter/P18x Informations Param eter – Bus, spezifisch @ 3\mod_1369 135411634_388.docx @ 70043 @ 5 @ 1

Bus-specific Information Parameters (P18x)

Pos: 67 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P181 – MAC Adresse [SK xUx-... EIP, POL] @ 3\mod_1369127005384_388.docx @ 6982 4 @ @ 1

Pos: 68 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P182 – NMT State [SK xUx- POL] @ 4\mod_1378889909332_388.docx @ 94586 @ @ 1

Pos: 69 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P183 – NMT Error [SK xUx- POL] @ 4\mod_1378890692610_388.docx @ 94610 @ @ 1

Pos: 70 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/POWERLIN K/Parameter P184 – NMT Statechangeco unt [SK xUx-POL] @ 4\mod_1378890895 566_388.docx @ 94634 @ @ 1

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5 Parameter

P184 ... [-01]

… ... [-06]

NMT Statechangecount

(NMT Status change)

SK TU3-POL SK xU4-POL

8 bit

0 ... 231

Counter for the error which caused the last change of state The counter readings are deleted after a restart!

[-01] = Loss of SoC (cyclic data lost)

[-02] = Jitter of SoC (Timeout of cyclic data)

[-03] = Loss of PReq (MN not responding)

[-04] = Loss of SoA (acyclic frame lost)

[-05] = Collision (data collision)

[-04] = CRC Error (transfer error)

P185 ... [-01]

… ... [-04]

Present IP Address

(Present IP Address)

SK TU3-…

SK xU4-…

8 bit

0 ... 255

Displays the present IP address

[-01] … [-04] = IP Address

xxx . xxx . xxx . xxx

P186 ... [-01]

… ... [-04]

Present IP Sub-net Mask

(Present IP Sub-net mask)

SK TU3-…

SK xU4-…

8 bit

0 ... 255

Displays the present IP sub-net mask.

[-01] … [-04] = IP Sub-net mask

xxx . xxx . xxx . xxx

Param eter

Parameter name

Recommended setting

Remarks SK 5xxE

SK 180E … SK 2xxE

P120

Option monitoring

Not available, or not relevant for SK TU3 modules

{1} = Auto

P509

Control word source

{8} = Ethernet TU

{3} = System bus

P510

Setpoint source

{0} = Auto

P513

Telegram timeout

{0.5} = 0.5s

{0.0} = Off

Do not set this value too low

P543

Actual BUS value

Acc. to the function:

According to the function:

SK 54xE and SK 180E … SK 2xxE: up to 5 actual values each

P544

Actual BUS value 2

Acc. to the function:

Not available

Only SK 500E … 535E

P545

Actual BUS value 3

Acc. to the function:

Not available

Only SK 500E … 535E

P546

Funct. Setpoint BUS value

Acc. to the function:

According to the function:

SK 54xE and SK 180E … SK 2xxE: up to 5 setpoints each

P547

Funct. BUS setpoint 2

Acc. to the function:

Not available

Only SK 500E … 535E

P548

Funct. BUS setpoint 3

Acc. to the function:

Not available

Only SK 500E … 535E

Info parameters

P700

Present Operating

Fault / Warnings / Reason for

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Pos: 72 /Anleitungen/Elektronik/Para meter/P100-P199/Busspezifisch/Busübergreif end [P150 ff. - P180 ff.]/Parameter P186 – Akt. IP Subnetzmaske [SK xUx-...] @ 3\m od_1369129573087_388.docx @ 698 96 @ @ 1

Pos: 73 /Anleitungen/Elektronik/Buss ysteme/5. Parameter/POWERLINK [BU 2200]/ Parameter Frequenzumrichter [SK xUx-PO L] @ 4\mod_1379408292183_388.doc x @ 98762 @ 2 @ 1

5.2 Frequency Inverter Parameters

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.

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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

Module initialised

Cyclical communication

Vacant

Error 1

Error 2

Error 3

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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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.

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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

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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.

Table 18: Error Entry Structure

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Error Groups

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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34 BU 2200 GB-3813

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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

0x1000

---

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

4.0 / 4.1

0x2310

3.0

0x2311

3.2

0x2312

3.3

0x3110

5.1

0x3120

6.1

0x3130

7.0

0x3210

5.0

0x3230

6.0

0x4210

1.1

0x4310

2.0 / 2.1 / 2.2

0x5000

10.8

0x5110

11.0

0x5300

17.0

0x5510

20.0

0x5520

20.8

0x5530

8.2

0x6000

15.0 … 15.8 / 20.1 up to 20.7 / 21.3

0x6310

8.0

0x7112

3.1

0x7120

16.0 / 16.1

0x7300

14.3

0x7305

13.0

0x7306

14.4

0x7310

14.5

0x7320

14.6 / 14.7 / 14.8

0x7330

25.0

0x7331

25.1

0x7332

25.2

0x7333

25.3

0x7334

25.4

0x8100

10.0 / 10.1 / 10.2

0x8111

10.3 up to 10.7 / 10.9

0x8300

13.2

0x8400

13.1

0x8600

14.0 / 14.1

0x8612

14.2

0x8710

13.5

0x8711

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

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6 Error monitoring and error messages

Error code

Error register

FI Error Code  (error number P700) *

0x9000

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

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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).

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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

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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.

www.nord.com

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BU 2200 GB-3813 37

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7 Additional information

Software

Name

Software

Meaning

EDS File

Electronic Data Sheet (Object data file)

NORD CON

Parameterisation and diagnostic software

Document

Name

Document

Meaning

BU 0000

Description of NORD CON software

TI 275271018

Technical Information / Data Sheet SK CU4-POL

BU 0040

ParameterBox manual

TI 275900140

Technical Information / Data Sheet SK TU3-POL

BU 0500

SK 500E - SK 535E frequency inverter manual

TI 275281118

Technical Information / Data Sheet SK TU4-POL

BU 0505

SK 54xE frequency inverter manual

TI 275281168

Technical Information / Data Sheet SK TU4-POL-

BU 0180

SK 180E / SK 190E frequency inverter manual

BU 0200

SK 2xxE frequency inverter manual

7.2 Further Documentation and Software

(www.nord.com)

=== Ende der Liste für Textmarke Inhalt ===

38 BU 2200 GB-3813

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Key word index

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Key word index

=== Ende der Liste für Textmarke Stichw ortverzeichnis ===

Address.......................................................... 36

Bus-specific Information Parameters (P18x) . 29

Configuration level (P172) ............................. 27

Control word .................................................. 14

Device name (P162) ...................................... 25

EMC ................................................................. 7

Factory settings (P152) ................................. 25

FI sets bus error (P163) ................................. 26

General bus information parameters (P18x) . 26

Index .............................................................. 21

Internet........................................................... 36

IP Gateway (P164) ........................................ 26

Load factory setting ....................................... 25

Object address .............................................. 21

Parameter ..................................................... 24

Parameter access ......................................... 21

POWERLINK cycle (P165) ........................... 26

Present error (P170) ..................................... 26

Present IP address (P185) ........................... 29

Present IP sub-net mask (P186) ................... 29

Process data

Structure .................................................... 20

Process data Bus In (P176) .......................... 28

Process data bus Out (P177) ....................... 28

Queries ......................................................... 36

Relay status (P175) ...................................... 27

Repairs .......................................................... 36

SDO .............................................................. 21

Service .......................................................... 36

Set relay (P150) ............................................ 24

Shielding ......................................................... 7

MAC address (P181) ..................................... 29

Maintenance .................................................. 36

Min.system bus cycle (P153)......................... 25

Module IOs .................................................... 21

Module status (P173) .................................... 27

Monitoring ...................................................... 31

NMT Error (P183) .......................................... 29

NMT State (P182) .......................................... 29

NMT State Machine ....................................... 12

Software version (P171) ............................... 26

Specific Bus Parameters (P16x) ................... 25

Standard Bus Parameter (P15x) ................... 24

Status of digital input (P174) ......................... 27

Status word ................................................... 14

Sub-index ...................................................... 22

TB-IO access (P154) .................................... 25

Timeout for external bus (P151) ................... 24

Watchdog ...................................................... 31

NMT Statechangecount (P184) ..................... 29

Node ID/IP address 4 (P160) ........................ 25

BU 2200 GB-3813 39

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7 Additional information

XDD file........................................................... 9

XML Device Description.................................. 9

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