Intelligent Drivesystems, Worldwide Services SUPPLEMENTARY MANUAL BU 0210 GB SK 200E FREQUENCY INVERTER WITH POSICON FUNCTIONALITY BU 0210 GB Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Straße 1 D-22941 Bargteheide, Germany Tel.
SK 200E with "PosiCon Functionality" Safety information SK 200E Frequency Inverter Safety and operating instructions for drive power converters (as per: Low Voltage Directive 73/23/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.
SK 200E with "PosiCon Functionality" About this document Documentation Designation: BU 0210 GB Part No.: 607 21 01 Device series: SK 205E, SK 215E, SK 225E, SK 235E Device types: SK 2xxE-250-112-O ... SK 2xxE-750-112-O, 0.25 - 0.75kW, 1~ 100-120V, 230V version SK 2xxE-250-123-A ... SK 2xxE-111-123-A, 0.25 - 1.1kW, 1~ 220-240V SK 2xxE-250-323-A ... SK 2xxE-401-323-A, 0.25 - 4.0kW, 3~ 220-240V SK 2xxE-550-340-A ... SK 2xxE-751-340-A, 0.55 - 7.
SK 2x5E with "PosiCon Functionality" 1 GENERAL INFORMATION...................................................................................................... 6 1.1 Safety and installation Information ...................................................................... 7 1.2 Certifications ........................................................................................................ 9 1.2.1 European EMC Directive ................................................................................
Table of Contents 7 TROUBLESHOOTING ............................................................................................................49 7.1 Error messages ..................................................................................................49 7.2 Troubleshooting table .........................................................................................50 7.2.1 Sources of faults in servo mode operation (without position control) ...................... 50 7.2.
SK 2x5E with "PosiCon Functionality" 1 General information NORDAC SK 2x5E frequency inverters are intermediate voltage circuit converters with fully digital microprocessor technology for controlling the speed of 3-phase motors. In combination with a HTL incremental encoder or a CANopen absolute encoder the standard components form a high-precision positioning drive: The frequency inverter provides 15 programmable absolute positions.
1 General information 1.1 Safety and installation Information NORDAC SK 200E frequency inverters are equipment for use in industrial high voltage systems and are operated at voltages which may cause death or severe injuries if they are touched. Installation and other work may only be carried out by qualified electricians and with the device disconnected. The operating instructions must always be available to these persons and must be strictly observed.
SK 2x5E with "PosiCon Functionality" CAUTION Children and the general public must be kept away from the equipment! The equipment may only be used for the purpose intended by the manufacturer. Unauthorised modifications and the use of spare parts and additional equipment which has not been purchased from or recommended by the manufacturer of the device may cause fire, electric shock and injury.
1 General information 1.2 Certifications 1.2.1 European EMC Directive If the NORDAC SK 200E is installed according to the recommendations in this instruction manual, it meets all EMC directive requirements, as per the EMC product standard for motor-operated systems EN 61800-3. (see also Section 8.1, Electromagnetic Compatibility [EMC].) 1.2.2 UL Approval - File No.
SK 2x5E with "PosiCon Functionality" 2 Encoder connections 2.1 Incremental encoder connection The incremental encoder connection is an input for a type with two tracks and an HTL-compatible signals. The supply voltage for the incremental encoder is 24V. Note For devices with an integrated AS interface the maximum current consumption of the device is limited to 290mA. The HTL incremental encoder may therefore require an external power supply.
2 Encoder connections The HTL incremental encoder is connected to the digital inputs 2 (terminal 22) and 3 (terminal 23) with the tracks A and B. Track zero is not used. NOTE BU 0210 GB This description (BU 0210) only contains a selection of the functions and connection terminals which are specific and relevant for the positioning function. All standard functions should be obtained from the Manual supplied with the frequency inverter (BU 0200).
SK 2x5E with "PosiCon Functionality" 2.2 CANopen absolute encoder connection 2.2.1 General information The connection of an absolute encoder to the SK 2x5E is carried out via the internal system bus interface. As a minimum requirement, the absolute value encoder to be connected must have a CAN Bus interface with CANopen protocol. The SK 2x5E supports CANopen absolute encoders with the communication profile DS 406.
3 Function description 3 Function description 3.1 Introduction A wide range of positioning and position control tasks can be performed with the positioning function. In order to facilitate the decision as to which configuration provides the optimum solution for the task, the various processes for the setting of setpoints and recording of the actual values are described in the following sections. The setpoint can be specified as either an absolute or a relative position.
SK 2x5E with "PosiCon Functionality" With the aid of a value which can be parameterised in parameter P609 [01] "Offset Position" the zero point can be set to a different position to that which is determined by the reference point. The offset is applied after conversion of the encoder rotations to motor rotations. After changes to the speed ratio/reduction ratio P607 [01] and P608 [01] the offset position value must be entered again. 3.2.1.
3 Function description The reference point run can be cancelled by removing the "Enable" signal or by "Emergency Stop" or "Block Voltage". ATTENTION In this case the frequency inverter does not generate an error message. NOTE: 3.2.1.2 For further details of possible functionality settings, please refer to the relevant parameter description in Section 4 Parameter settings.
SK 2x5E with "PosiCon Functionality" 3.2.2 Position detection with CANopen absolute encoders The absolute encoder communicates the actual position value serially via the CANopen interface on the frequency inverter. The position is always completely available in the absolute encoder and is also correct after displacement of the axis when the inverter is switched off. A reference point run is therefore not necessary.
3 Function description 3.2.2.1 Resetting the CANopen absolute encoder By means of the two functions "Reference Point Run" (See Section 3.2.1.1) and "Reset Position" (See Section 3.2.1.
SK 2x5E with "PosiCon Functionality" The possible bus load in the system always depends on the real-time specific to the system. Very good results are achieved with a bus load less than 40%. Under no circumstances should a bus load greater than 80% be selected. For the estimation of the bus load, the other possible bus traffic (setpoint and actual values for the FIs and other bus participants) should also be taken into account.
3 Function description In the function "Optimum Path" the multi-turn resolution of the encoder can be additionally limited for the overflow point via parameter P615 "Maximum Position". The multi-turn resolution in rotations (1 rotation = 1,000 rev) is entered in parameter P615. It is also possible to enter a non-integer value of rotations For an example, see Section 3.2.4.2.
SK 2x5E with "PosiCon Functionality" 3.2.3 Encoder monitoring If an absolute and an incremental encoder are present, the positioning difference between the two encoders can be monitored with parameter P631 "Slip Error Abs/Inc". The maximum permissible deviation between the absolute and the incremental encoder is specified by the value set in this parameter. With the value "0" slip error monitoring is disabled. If the maximum permissible deviation is exceeded the error message "E013 (E14.6)" is activated.
3 Function description 3.2.4 Positioning with absolute / incremental encoders in absolute mode 3.2.4.1 Optimised path positioning with a single rotation of the encoder For rotating platforms in which the individual positions are divided around the circumference, there is the problem that normally the optimal movement path from one position to the next must be set. However, with a standard positioning, with a change of the setpoint position from -0.375 to + 0.
SK 2x5E with "PosiCon Functionality" 3.2.4.2 Optimised path positioning with arbitrary rotation of the encoder If more than one rotation of the encoder is required for the entire travel path, the overflow point5 must be determined. This results from half of the entire travel path. This value must be entered in parameter P615 "Maximum Position". Here it should be noted that the precision of the value may have a maximum of three decimal places. A deviant error causes an additional error with each overflow.
3 Function description Overview of incremental and absolute encoder parameter settings Number of rotary encoder rotations Single-turn Absolute Encoder 1 Multi-turn Absolute Encoder ≥1 Incremental Rotary Encoder 1 Incremental Rotary Encoder >1 P604 Encoder Type P605 CANopen absolute encoder resolution P615 Maximum Position Reference Run 0 No 0.5 * Total rotations No - 0 Yes - 0.
SK 2x5E with "PosiCon Functionality" If the absolute setpoint position is specified via Bus IO In Bits, the position number results from bits 0...3 of the serial interface. For this, a bus setpoint value (P546[01] ...[03] "Function Bus - Setpoints") must be set in the setting "Bus IO In Bits 0...7" and the functions assigned to the corresponding bits under P480 "Function Bus I/O In Bits".
3 Function description 3.3.4 Bus - Specification of absolute setpoint via field bus If the setting [3] is parameterised in parameter P610 "Setpoint Mode", the specification of the position setpoint is made exclusively via a field bus system. The setting of the field bus system is parameterised in parameter P509 "Interface".
SK 2x5E with "PosiCon Functionality" 3.5 Conversion ratio of the setpoint and actual values (P607 and P608) The position values are based on the number of rotations of the motor. If a different reference value is required, with the aid of parameter P607 [03] the "Speed Ratio" and P608 [03] the "Reduction Ratio" can be converted into a different unit. No values after the decimal point can be entered in the parameters "Speed Ratio" and "Reduction Ratio".
3 Function description 3.6 Position control functions (P600) Four different positioning variants are possible. Linear ramp with maximum frequency (setting [1]) The acceleration is linear. The speed of constant travel is always carried out with the "Maximum Frequency" set under parameter P105. Linear ramp with setpoint frequency (setting [2]) The acceleration is linear. The speed of constant travel is specified via the setpoint frequency. This can be changed via the analog input or via a bus setpoint value.
SK 2x5E with "PosiCon Functionality" 3.7 Position Control The position control functions as a P- feedback loop. The setpoint position and the actual position are continuously compared with each other. The setpoint frequency is formed by the multiplication of this difference with the parameter P611 "Position Control P". This value is then limited to the "Maximum Frequency" parameterised in parameter P105.
3 Function description 3.8 Output messages 3.8.1 Digital output The SK 2x5E is equipped with a digital output, which can be parameterised for a function. Reference point (setting [20]) The digital output indicates that there is a valid reference point. The output is switched off if a reference point run is started. The output switches on as soon as the reference point has been found.
SK 2x5E with "PosiCon Functionality" 3.8.2 Output messages via BUS I/O Out Bits (P481) All output messages can also be read out via the serial interface or field bus by means of the Bus I/O Out Bits. For this, an actual bus value (P543[01] ...[02] "Function Bus - Actual Value") must be set in the setting "Bus Out Bits 0...7" and the functions assigned to the corresponding bits under P481 "Function Bus I/O In Bits".
4 Parameter settings 4 Parameter settings For a detailed overview of all available parameters, please refer to Manual SK 2x5E, BU0200 The following only lists selected parameters and parameters specific to the function of PosiCon. Operating display: Parameters [factory setting] P001 0 ... 63 Setting value / Description / Note Device Supervisor Parameter set Selection display Caution: Only the functions relevant to PosiCon are listed here.
SK 2x5E with "PosiCon Functionality" Control terminals: Parameters Setting value / Description / Note [factory setting] P420 Device Supervisor Parameter set [-01] Function of digital inputs 1 to 4 … [-03] [-01 = 1 ] In the SK 200E, up to 4 freely programmable digital inputs are available. The only restriction is with the versions SK 215E and SK 235E. Here, the fourth digital input is always the input for the function “Safe Stop”.
4 Parameter settings Parameters [factory setting] P434 0 ... 39 [7] Setting value / Description / Note Digital output function Device Supervisor Parameter set P Control terminals 1/40: The settings 3 to 5 and 11 work with a 10% hysteresis, i.e. the relay contact closes (Function 11 opens) when the limit value is reached and opens (function 11 closes) when a 10% smaller value is undershot. This behaviour can be inverted with a negative value in P435. Setting / Function Digital Output ...
SK 2x5E with "PosiCon Functionality" Parameters Setting value / Description / Note [factory setting] P420 [-01] Device Supervisor Parameter set Function Bus I/O In Bits The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420[01]…[03]). 0 ...
4 Parameter settings Additional parameters: Parameter Setting value / Description / Note [factory setting] P502 [-01] Device Selection of up to 3 master values: [ -01 = 0 ] [-01] = Master value 1 [ -02 = 0 ] Selection of possible master value settings relevant to PosiCon: [-02] = Master value 2 P [-03] = Master value 3 6 = Actual position Low-word 13 = Actual position High-word 7 = Setpoint position Low-word 14 = Setpoint position High-word 10 = Actual position in incremental Low-word 15
SK 2x5E with "PosiCon Functionality" Parameter Setting value / Description / Note [factory setting] P546 [- 01] ... [- 03] Device Function Bus setpoint 1 ... 3 Supervisor Parameter set S P 0 ... 24 In this parameter, a function is allocated to the output setpoint during bus actuation. [ -01 = 1 ] NOTE: [ -02 = 0 ] For further details please refer to the relevant Bus Manual BU 0250 or the description for P400.
4 Parameter settings Positioning: Parameters [factory setting] P600 0 ... 4 [0] Setting value / Description / Note -50000...50000,000 rev P602 -50000...50000,000 rev P603 -50000...50000,000 rev P604 0 ... 7 [0] Supervisor Parameter set S Position control P Enabling the position control 0= Off 1= Linear Ramp (Max. freq.) linear ramp with maximum frequency 2= Linear Ramp (setpoint freq.) linear ramp with setpoint frequency 3= S Ramp (Max. freq.
SK 2x5E with "PosiCon Functionality" Parameters Setting value / Description / Note [factory setting] P605 [-01] … [-02] Device Supervisor Parameter set S Absolute encoder 0 ... 16 Resolution of CANopen absolute encoder [ 10 ] [-01] = Multi-turn resolution - number of possible encoder rotations [-02] = Single-turn resolution - resolution per encoder rotation The array [01] describes the number of possible rotations depending on the encoder resolution / multi-turn resolution.
4 Parameter settings Parameters Setting value / Description / Note [factory setting] P608 [-01] … [-03] Device Supervisor Parameter set S Reduction ratio 1...65000 [01] = Incremental encoder [1] [02] = Absolute encoder [03] = Setpoint and actual values The speed ratio is set for incremental and absolute encoders. NOTE: P609 ... - 01 ... - 02 For further details please refer to Section 3.5 S Offset Position -50000...
SK 2x5E with "PosiCon Functionality" Parameters [factory setting] 0,0...100,0 rev [0] Setting value / Description / Note Device Supervisor Parameter set Slow travel at the end of the positioning process can be enabled by the size of the positioning window. The positioning window corresponds to the start of slow travel. In the positioning window or with slow travel, the speed of movement is determined by parameter P104 (minimum frequency) and not by the maximum or setpoint frequency. P613 ...
4 Parameter settings Parameters [factory setting] P626 Setting value / Description / Note Device Supervisor Comparative Position Output Parameter set S -50000...50000,000 rev Comparative position for the settings 22, 23 and 25, 26 of relays 1 and 2 or outputs DOUT 1 and DOUT 2, as well as for the Bus IO Out Bits. [0] For further information please refer to Sections 3.8.1 and 3.8.2 NOTE: P630 0.00...99.
SK 2x5E with "PosiCon Functionality" Information: Parameters P744 0000 ... FFFF (hex) Setting value / Description / Note Device Supervisor Parameter set Configuration This parameter displays the special devices integrated in the FI. Display is in hexadecimal code (SimpleBox, ControlBox, Bus System). The display is in plain text when the ParameterBox is used.
5 Commissioning 5 Commissioning When commissioning the PosiCon applications, it is recommended that a specific sequence is adhered to. The individual steps are described in the following sections. Information concerning individual error symptoms can also be found in Section 7 , Troubleshooting. 1. Step: commissioning the axis without closed loop speed or position control After the input of all parameters the axis should first be commissioned without control of the position or speed.
SK 2x5E with "PosiCon Functionality" The size of the P amplification which is set in P310 of the position control depends on the dynamic characteristics of the system as a whole. In principle: the greater the masses and the smaller the friction if the system, the greater is the tendency of the system to oscillate and the smaller is the maximum possible P amplification.
6 Synchronous control 6 Synchronous control 6.1 General information The implementation of synchronous positioning with the SK 2X5E is possible by coupling the devices via the system bus. The master device transmits its "Actual Position" and its "Actual Setpoint Speed After the Frequency Ramp" to the slave device(s). The slave devices use the speed as specified and compensate the remainder via the position control.
SK 2x5E with "PosiCon Functionality" 6.3 Settings for slave ramp time and maximum frequency In order for the slave to be able to perform the control, the ramp times should be selected somewhat smaller than for the master and the maximum frequency should be selected somewhat higher. Slave device settings: P102Slave P103Slave P105Slave P410Slave P411Slave = 0.5 ... 0.95 * P102Master = 0.5 ... 0.95 * P103Master = 1.05 ... 1.
6 Synchronous control 6.6 Achievable precision / Position monitoring The achievable precision, i.e. the deviation of the master and slave drives depends on several factors. Here, in addition to the settings of the speed control and the position control, the path, i.e. the drive or the mechanics of the system,play a decisive role. The minimum value of the achievable precision is however determined by the type of transmission. A deviation of at least 0.1 rotations should be expected.
SK 2x5E with "PosiCon Functionality" For position detection with an absolute measuring system a reference point run is not necessary. Absolute position detection should be always given preference for systems, e.g. portal lifting gear, in which no deviation may occur. 6.
7 Troubleshooting 7 Troubleshooting 7.1 Error messages 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 operating instructions for the basic device, Manual SK 2X5E, BU0200. The following table shows all the faults which are attributable to the PosiCon function.
SK 2x5E with "PosiCon Functionality" Display in the ControlBox Fault Cause text in the ParameterBox E013 / E14.5 Pos. diff. <> Speed Change of position and speed do not match Remedy Check the position detection and the control setting in P630 E013 / E14.6 Diff. between Abs. and Inc. Difference encoders between absolute and incremental Check the position detection and the control setting in P631 Position change for the absolute and incremental encoders do not match E013 / E14.7 Max.
7 Troubleshooting 7.2.2 General causes of faults Symptom Additional test Position exceeded Possible cause Position control P amplification considerably too large Speed control (servo mode) not optimally adjusted (Set I-amp. to approx. 3%/ms, P-amp. to approx.
SK 2x5E with "PosiCon Functionality" 8 Repairs The device must be sent to the following address if it needs repairing: Nord Electronic Drivesystems GmbH Tjüchkampstr. 37 26605 Aurich, Germany For queries about repairs, please contact: Getriebebau NORD GmbH & Co. KG Tel.: 04532 / 401-515 Fax: 04532 / 401-555 If a frequency inverter or accessories are sent in for repair, no liability can be accepted for any added components, e.g. such as line cables, potentiometer, external displays, etc.
9 Keyword Index / Abbreviations 9 Keyword Index / Abbreviations Keyword Index: Absolute (rotary) encoder, single-turn Rotary encoder, which outputs coded information for each measurement step within a rotation. The data is retained even after a power failure. The data continues to be recorded even without power. Absolute (rotary) encoder, multi-turn Rotary encoder, as for absolute single-turn (rotary) encoder, however, the number of rotations are additionally recorded.
SK 2x5E with "PosiCon Functionality" Abbreviations used: 54 Abs. Absolute DIN: Digital IN DOUT Digital OUT FI Frequency inverter GND Earth Inc Incremental IO IN / OUT P In Section 4: parameter which depends on a parameter set Pos.
10 Additional information 10 Additional information 10.1 Maintenance and servicing information In normal use, NORDAC SK 200E frequency inverters are maintenance free. Please note the "general data" in Section 7.1. If the frequency converter is being used in a dusty environment, then the cooling-vane surfaces should be regularly cleaned with compressed air. If air intake filters have been built into the control cabinet, then these should also be regularly cleaned or replaced.
SK 2x5E with "PosiCon Functionality" Internet information You can also find the comprehensive manuals in German and in English on our Internet site. www.nord.
Fehler! Verweisquelle konnte nicht gefunden werden.Index 11 Index A Absolute rotary encoders Absolute encoders ..... 12, 16, 38 B Baud rate........................ 12, 17, 35 C CANopen.............................. 16, 38 CE ................................................ 9 Commissioning........................... 44 Connection ........................... 10, 12 D I Q I- amplification ............................ 45 Queries ....................................... 56 IEC 61800-3 .................
SK 2x5E with "PosiCon Functionality" 12 Agencies / Branches N O R D Subsidiaries Worldwide: Brazil NORD Motoredutores do Brasil Ltda. Rua Dr. Moacyr Antonio de Morais, 700 Parque Santo Agostinho Guarulhos – São Paulo CEP 07140-285 Tel.: +55-11-6402 88 55 Fax: +55-11-6402 88 30 info@nord-br.com Mexico Canada NORD Gear Limited 41 West Drive Brampton, Ontario L6T 4A1 Tel.: +1-905-796 36 06 Tel.: +1-800-668 43 78 Fax: +1-905-796 81 30 info@nord-ca.
12 Agencies / Branches N O R D Branches in Europe: Austria Belgium Croatia Getriebebau NORD GmbH Deggendorfstr. 8 A - 4030 Linz NORD Aandrijvingen Belgie N.V. Boutersem Dreef 24 B - 2240 Zandhoven NORD Pogoni d.o.o. Obrtnicka 9 HR - 48260 Krizevci Tel.: +43-732-318 920 Fax: +43-732-318 920 85 Tel.: +32-3-4845 921 Fax: +32-3-4845 924 Tel.: +385-48 711 900 Fax: +385-48 270 494 info@nord-at.com info@nord-be.com info@nord-hr.com Czech. Republic Denmark Finland NORD Pohánèci Technika s.r.
NORD offices in Germany Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Str. 1 22941 Bargteheide Telefon 04532 / 401 - 0 Telefax 04532 / 401 - 253 info@nord-de.com www.nord.com South Branch Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Str. 1 22941 Bargteheide Getriebebau NORD GmbH & Co. KG Katharinenstr. 2-6 70794 Filderstadt-Sielmingen Telefon 04532 / 401 – 0 Telefax 04532 / 401 - 253 Tel.: +49 7158 / 95608 – 0 Fax +49 7158 / 95608 - 20 NL-Nord@nord-de.com NL-Stuttgart@nord-de.
