SK TU1-DEV SK TU2-DEV SK TU3-DEV GB BU 0080 DeviceNet Bus modules Supplementary manual for NORDAC frequency inverters
NORDAC DeviceNet Manual Safety information N O R D A C Frequency Inverters Safety and operating instructions for drive power converters (as per: Low Voltage Directive 2006/95/EEC ) 1.General During operation, drive power converters may, depending on their protection class, have live, bare, moving or rotating parts or hot surfaces. Unauthorised removal of covers, improper use, incorrect installation or operation causes a risk of serious personal injury or material damage.
NORDAC DeviceNet Manual About this document Documentation Designation: BU 0080 DE Part No.: 607 08 01 Device series: DeviceNet for SK 300E, SK 500E (entire series), SK 700E, SK 750E Version list Designation previous issues of Software Version BU 0080 GB, December 2005 Comments V 1.1 R6 Original version V 1.1 R7 Deletion of option "DevicenNet mc" for FI-series "vector mc" Inclusion of option "SK TU3-DEV" for FI-series SK 500E Part No. 607 0801 / 5205 BU 0080 GB, August 2010 Part No.
NORDAC DeviceNet Manual 1 INTRODUCTION ...................................................................................................................... 6 1.1 General information ............................................................................................. 6 1.2 The bus system ................................................................................................... 6 1.3 DeviceNet with NORDAC frequency inverters .................................................... 6 1.
Contents 6.5.6 Class 41 (29hex) – Motor Data Object......................................................................41 6.5.7 Class 42 (29hex) – Motor Data Object......................................................................41 6.5.8 Class 42 (2Ahex) – Acknowledge Handler Object ....................................................41 6.5.9 Class 100-107 (64hex-6Bhex) – NORDAC Objects....................................................42 6.5.10 Class 120 (78hex) – NORDAC Index Object ..............
NORDAC DeviceNet Manual 1 Introduction 1.1 General information This DeviceNet documentation is valid for the NORDAC SK 300E, SK 500E, SK 700E series and for SK 750E. NORDAC frequency inverters can be equipped with various modules for parameterisation or control. A slot is provided for this in the basic device. As delivered, there is a blank cover at this location, which must be replaced by the DeviceNet technology unit. 1.
1 Introduction 1.6 Certifications 1.6.1 European EMC Directive If NORDAC frequency inverters or their options are installed according to the recommendations in this instruction manual, it meets all EMC directive requirements, as per the EMC product standard for motor-operated systems EN 61800-3. 1.6.2 RoHS compliance The DeviceNet bus options described here are designed to be RoHS compliant according to Directive 2002/95/EEC 1.
NORDAC DeviceNet Manual 2 Modules 2.1 NORDAC SK 500E By the use of various modules for display, control and parameterisation, the NORDAC SK 5xxE can be easily adapted to various requirements. Alphanumerical display and operating modules can be used for simple commissioning. For more complex tasks, various connections to a PC or an automation system can be selected.
2 Modules 2.1.1 DeviceNet module SK TU3-DEV This DeviceNet module can be used for all types of SK 500E devices. It occupies the technology slot which can then no longer be used for control and display modules. Alternatively, the SimpleBox SK CSX-0 can be plugged on to the DeviceNet module and connected via the RS232/485 interface with the frequency inverter. The DeviceNet module must be provided with an external 24V power supply.
NORDAC DeviceNet Manual 2.1.2 Installation of the SK TU3 technology unit The technology units must be installed as follows: 1. Switch off the mains voltage, observe the waiting period. 2. Push the control terminals cover down slightly or remove. 3. Remove the blank cover by pressing the release on the lower edge and pulling off with an upward turning movement. If necessary, the fixing screw next to the release must be removed. 4.
2 Modules 2.2 NORDAC SK 700E With the combination of modules for display, technology units and modules with digital and analog inputs and interfaces, customer interfaces or special extensions, the NORDAC SK 700E can easily be extended tot cater for the requirements of a wide range of different applications. Technology units (TU) are modules which can be inserted from above for display, parameterisation and control of the inverter.
NORDAC DeviceNet Manual 2.2.1 DeviceNet module SK TU1-DEV This DeviceNet module can be used for all types of SK 700E devices. It occupies the technology slot which can then no longer be used for control and display modules. Alternatively, a hand-held parameter box SK PAR-xH (with adapter cable) can be connected to the frequency inverter via an optional RS232/RS485 interface. The DeviceNet module must be provided with an external 24V power supply.
2 Modules 2.2.2 Installation of the SK TU1 technology unit Installation: the technology units must be installed as follows: 1. Switch off the mains voltage, observe the waiting period. 2. Remove the dummy cover by actuating the unlocking device on the top and bottom edge. 3. Allow the technology unit to engage audibly by pressing lightly on the installation surface. N O RD A C 700E WARNING Modules must not be inserted or removed unless the device is free of voltage.
NORDAC DeviceNet Manual 2.3 NORDAC trio SK 300E With the combination of technology units and customer units (interfaces with digital and analog inputs) the NORDAC trio SK 300E can easily be extended to cater for the requirements of a wide range of different applications. 2.3.1 DeviceNet module SK TU2-DEV This DeviceNet module can be used for all types of SK 300E and SK 750E devices. With the SK 300E it occupies the technology slot which can then no longer be used for control and display modules.
2 Modules 2.3.2 Installing the technology unit Installation: the technology units must be installed as follows: 1. Switch off the mains voltage, observe the waiting period. 2. Undo the 6 fastening screws on the blind plate and remove the blind plate (see left illustration). 3. Attach the PE connection on the inside of the technology unit being mounted (see right illustration). Fit the seal together with the technology unit on the surface of the frequency inverter.
NORDAC DeviceNet Manual 3 The DeviceNet protocol Participants Up to 64 participants can communicate with each other in a DeviceNet network. Each participant has its own node address. Communication, connection objects Communication between the individual devices is carried out via connection objects. Before the exchange of data can start, these connections (Connection Objects) must be set up.
4 Bus structure 4 Bus configuration A DeviceNet network consists of a maximum of 64 participants (nodes) and is based on a linear topology. The number of participants is dependent on the driver modules (standard approx. 100 nodes). Repeaters must be used for a high number of nodes. Shielded, 5-wire cables according to the DeviceNet specification must be used. 4.
NORDAC DeviceNet Manual 5 Frequency inverters - settings and control elements 5.1 Frequency inverter bus parameters To operate the inverter with the DeviceNet protocol, the bus must be connected to the Master and some settings must be made on the frequency inverter.
5 Frequency inverter settings Parameter P482 .. - 01 ... .. - 10 -400 … 400 % [ 100 ] Setting value / Description / Note Comments Standardisation of bus I/O Out bits Adjustment of the limit values of the relay functions/Bus Out Bits. For a negative value, the output function will be output negative. When the limit value is reached and the setting values are positive, the relay contact closes, with negative setting values the relay contact opens. P483 .. - 01 ... ..
NORDAC DeviceNet Manual Parameter Setting value / Description / Note Comments P510 Auxiliary setpoint interface SK 300E, SK 700E, SK 750E 0 ... 8 Selection of the interface from which the inverter is controlled. [0] 0 = Auto: The auxiliary setpoint value is automatically taken from the interface of the main setpoint value P509 >interface< 1 = USS 0 ... 10 6 = DeviceNet 8 = CAN Broadcast 3 = Profibus ... - 01 ...
5 Frequency inverter settings Parameter P515 ... - 01 … ... - 03 Setting value / Description / Note Comments CANbus address SK 500E 0 ... 255 Setting for the CANbus address. [ 50 ] From SW 1.6 and above, can be set in three levels: [01] = Receipt address for CAN and CANopen (as before) [02] = Broadcast – receipt address for CANopen (Slave) [03] = Broadcast –Transmission address for CANopen (Master) P543 (P) Actual bus value 1 0 ...
NORDAC DeviceNet Manual Parameter Setting value / Description / Note P546 (P) Bus setpoint 1 0 ... 7 (47) In this parameter, a function is assigned to the delivered setpoint 1 (SW1) for bus control. [1] NOTE: Further details can be found in the respective FI manual or in the description of P400.
5 Frequency inverter settings 5.1.3 Information parameters NOTE As of firmware version V1.9 R0 for the SK 500E series, not only current error messages but also warnings and information messages can be displayed via the parameter. In this context, the parameter (P700) has been converted into an array parameter. I.e. error messages are displayed in (P700 [-01]), warnings in (P700[-02]), and information in (P700 [-03]).
NORDAC DeviceNet Manual Parameter P741 Setting value / Description / Note ... - 01 … ... - 13 0000 ... FFFF (hex) Comments Process data bus Out SK 500E Status word, source from P509. This parameter provides ... - 01 = Status word information about the actual status word and the actual values that are transferred via ... - 02 = Actual value 1 (P543) ... - 03 = Actual value 2 (P544) the bus systems. ... - 04 = Actual value 3 (P545) ...
5 Frequency inverter settings Parameter Setting value / Description / Note P745 ... - 01 … ... - 03 0.0 ... 3276.7 Comments Module version SK 700E, SK 750E Software version of the installed module [01] Technology unit (E.g.: DeviceNet Technology Unit) [02] Customer Unit [03] Special Extension Unit P746 Module status 0000 ...
NORDAC DeviceNet Manual 5.
6 Data transmission 6 Data transmission 6.1 I/O Messages - operating modes Via I/O messages the control data is transmitted from the Master to the frequency inverter, or status data is transmitted from the frequency inverter to the Master. Transmission can be cyclically (Polling 7 Cyclic) or event controlled (Change Of State/Bit-Strobe). With the SK 700E series, 4 or 8 Bytes of data are transmitted. 6.2 Assembly (P551) sets whether the AC profile is active.
NORDAC DeviceNet Manual 6.4 Process data (PZD) In the process data area (PZD) , control words and setpoints are transferred from the Master to the Slave (frequency inverter) and in return, status words and actual values are sent from the Slave 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.
6 Data transmission 6.4.3 .4.3 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(hex).
NORDAC DeviceNet Manual 6.4.4 .4.4 Status word (ZSW) In the inverter response telegram, in the area of the process data the status word (ZSW) is transferred as the first word. For example, the status word "Ready for switch-on" corresponds to 0B31(hex).
6 Data transmission Deviations in the status word (ZSW) for SK 300E and SK 700/750E series devices With the above device types, the meanings of the two bits 10 and 13 in the status word deviate from the status word of the SK 500 E.
NORDAC DeviceNet Manual 6.4.5.2 Setpoint position (16 or 32 Bit) With the special extension Posicon (SK XU1-POS) of the SK 700E the absolute setpoint position can be transferred as a 16 or 32 Bit value in Setpoint 1, whereby the resolution is 1=0.001 rotation. In addition, the control terminals (setting of Posicon control bits) can be transferred in binary.
6 Data transmission 6.4.6 Second and third setpoint (SW2/3) With the SK 500E, the assignment of setpoints 2 and 3 to the process data words PZD3 and PZD4 is carried out in the opposite manner to the SK 300E/700E/750E series. 6.4.6.1 Second and third setpoint SK 300E/SK 700E/SK 750E(SW2/3) If the PPO type 2 or 4 is used, in addition to setpoint 1, a 2nd setpoint can be transferred in word PZD4 and a 3rd setpoint in PZD3.
NORDAC DeviceNet Manual 6.4.6.2 Second and third setpoint SK 500E (SW2/3) In addition to setpoint 1, a second setpoint can be transferred in word PZD3 and a third setpoint in PZD4. PZD1 PZD2 PZD3 PZD4 STW SW1 SW2 SW3 The second and third setpoints are always 16 Bit. The function of the second and third setpoints can be set in the inverter with parameter P547 ‘Setpoint 2 function’ and P548 ‘Setpoint 3 function’ respectively.
6 Data transmission 6.4.7 The actual value 1 (IW1) The actual value 1, i.e. the actual output frequency of the inverter, is transferred as a 16 Bit value as standard in the actual value 1. The actual value 1 is transferred to the master in the inverter response telegram as the second word in the process data area. PZD1 PZD2 PZD3 PZD4 ZSW IW1 IW2/3 IW3/2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The actual value 1 is transferred as a whole number in the range (-32768 to 32767).
NORDAC DeviceNet Manual 6.4.8.1 Second and third actual value SK 300E/SK 700E/SK 750E(SW2/3) The actual value 2 (IW2) is transmitted in PZD4. The value to be transferred can be selected in P544 (actual bus value 2). Actual value 3 (IW3) can be transmitted in PDZ3 if actual value 1 is not a 32 Bit value. The value to be transferred can be selected in P545 (actual bus value 3). 6.4.8.2 Second and third setpoint SK 500E (SW2/3) The actual value 2 (IW2) is transmitted in PZD3.
6 Data transmission 6.4.9 The status machine The frequency inverter passes through a status machine. The changes between various states are triggered by the respective control commands in the process data control word. The actual status is returned in the process data status word. After switching on, the inverter is in switch-on disabled status. This status can only be ended by transmitting the “Shut down (Off 1)” command.
NORDAC DeviceNet Manual 5 Internal status machine Sw itching on the inverter Bit2 = 0: Fast stop 1 Not on standby 3 4 5 6 6 8 Fast stop active Bit1 = 0: Disable voltage v Bit2 = 0: Fast stop Loading relay applied 2 f = 0 reached (fast stop complete) 2 4 Sw itch-on disabled 5 From all device statuses Bit0 = 0: Shut dow n & Bit1 = 1: Enable voltage & Bit2 = 1: Enable pulses (xxxx x1xx xxxx x110) Bit0 = 0: Shut dow n Fault 3 2 5 7 Error reaction active Standby 5 Bit 3 = 0: Disable
6 Data transmission 6.5 Object classes 6.5.1 Class 01 - Identity Object The Identity Object is used to identify devices within the DeviceNet network. Inst Attr. 1 Description Type Access 1 Vendor ID UINT Get 2 Device type UINT Get 3 Product code UINT Get 4 Revision (Major/Minor revision) STRUCT Get 5 Status UINT Get 6 Serial number UDINT Get 7 Product Name SHORTSTR Get 6.5.2 Class 03 - DeviceNet Object Bus-specific settings can be read out via the DeviceNet Object Inst Attr.
NORDAC DeviceNet Manual 6.5.4 Class 05 – DeviceNet Connection Object The settings for each active connection can be read out in this object: Instance 1: Expl.Message Instance 2: Polling Instance 3: Bit-Strobe Instance 4: COS/Cyclic Inst Attr.
6 Data transmission 6.5.6 Class 41 (29hex) – Motor Data Object Here the control of the device can be set and the status read out. This object is only valid if the AC Profile is switched on (see above)! Inst Attr.
NORDAC DeviceNet Manual 6.5.9 Class 100-107 (64hex-6Bhex) – NORDAC Objects All parameters of the frequency inverter can be accessed with the aid of the NORDAC Objects. The parameter number (PNr) can be obtained from the operating instructions for the frequency inverter: Conversion of PNr → to class: Area Conversion of Class → to PNr: Class = 100 + PNr / 100 (100-109) PNr = (Class – 100) * 100 + Attribute Attribute = PNr % 100 (0-99) Sub-Index = Instance -1 Instance = Sub-Index +1 (1-255) E.g.
7 Troubleshooting 7 Errors 7.1 Troubleshooting The majority of frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the inverter reacts with a warning or an error message. Basic information on this topic is contained in the manual for the basic equipment. Errors cause the frequency inverters to switch off, in order to prevent a device fault.
NORDAC DeviceNet Manual 7.2 Error messages Table of possible bus-specific error messages Display in the ControlBox Fault Group Details in Text in the ParameterBox P700 / P701 E010 10.0 10.2 10.4 10.1 10.3 Telegram downtime External bus module telegram timeout External bus module initialisation failure Cause • Remedy Data transfer is faulty. Check P513. • Check external Bus connection. • Check bus protocol program process. • Check Bus Master. Telegram transfer is faulty.
8 Additional information 8 Additional information 8.1 Electronic data sheet (eds file) All available objects are contained in the (SK***E.eds) “Electronic data sheet” (eds file). http://www.nord.com/bus Series eds file Folder NORDAC vector mc SKMCDN.eds Vector MC NORDAC SK 300E SK300EDN_BSC.eds SK TU2-DEV SK300EDN_NOC.eds SK300EDN_STD.eds NORDAC SK 500E SK500EDN.eds SK TU3-DEV SK520EDN.eds SK520EDN_POS.eds NORDAC SK 700E / SK 750E SK700EDN_BSC.eds SK TU1-DEV SK700EDN_BSC_ENC.
NORDAC DeviceNet Manual 8.2 Maintenance and servicing information In normal use, NORDAC frequency inverters and their accessories are maintenance-free. If air intake filters have been built into the control cabinet, then these should also be regularly cleaned or replaced. 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 (rating plate) at hand.
9 Keyword index 9 Keyword index Explicit Message ........................ 16 2 24V connection ................ 9, 12, 14 RoHS compliance .........................7 Rotary coding switch...............9, 26 I Rotary switch ..............................26 I/O Messages ....................... 16, 27 A AC Profile ................................... 27 Actual value.......................... 21, 35 Address ................................ 20, 21 Identity object .............................
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