Intelligent Drivesystems, Worldwide Services SUPPLEMENTARY MANUAL BU 0260 GB CAN OPEN FOR FREQUENCY INVERTER NORDAC SK 200E Illustration of devices with options BU 0260 GB Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Straße 1 D-22941 Bargteheide, Germany Tel.
Supplementary Manual CANopen for NORDAC SK 200E 2 BU 0260 GB
Supplementary Manual CANopen for NORDAC SK 200E Safety information NORDAC frequency inverter Safety and operating instructions for drive power converters (as per: Low Voltage Directive 73/23/EEC ) 1.General 4. Installation During operation, drive power converters may, depending on their protection class, have live, bare, moving or rotating parts or hot surfaces. The installation and cooling of the equipment must be implemented according to the regulations in the corresponding documentation.
Supplementary Manual CANopen for NORDAC SK 200E About this document Documentation Designation: BU 0260 GB Part No.: 607 26 01 Device series: CANopen for SK 200E Device types: SK CU4-CAO SK TU4-CAO(-C) with SK TI4-TU BUS SK TU4-CAO-M12(-C) with SK TI4-TU BUS Version list Designation of previous issues Software version Comments BU 0260 GB, September 2009 V 2.0 R3 First issue Part. No. 607 2601 / 3809 Publisher Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Str.
Supplementary Manual CANopen for NORDAC SK 200E About this document Intended use of the frequency inverter Compliance with the operating instructions is necessary for fault-free operation and the acceptance of possible warranty claims. These operating instructions must be read before working with the device! These operating instructions contain important information about servicing. They must therefore be kept close to the device.
Supplementary Manual CANopen for NORDAC SK 200E 1 GENERAL INFORMATION...................................................................................................... 9 1.1 Overview ............................................................................................................ 10 1.2 Delivery .............................................................................................................. 10 1.3 Scope of supply .................................................................
Table of Contents 6 ERROR MONITORING AND ERROR MESSAGES...............................................................76 6.1 Error monitoring ..................................................................................................76 6.1.1 Error monitoring details ........................................................................................... 76 6.1.2 EMCY message ..................................................................................................... 78 6.
Supplementary Manual CANopen for NORDAC SK 200E 8 BU 0260 GB
1 General information 1 General information Various technology options are available for Getriebebau Nord frequency inverters. General information regarding these can be found in the relevant main manual of the frequency inverter series (e.g. Manual BU0200 for the SK 200E frequency inverter series). Further information concerning special technology options (e.g. the field bus module) is included in the relevant supplementary operating instructions.
Supplementary Manual CANopen for NORDAC SK 20E 1.
1 General information 1.3 Scope of supply Standard version: SK CU4-CAO IP20 or SK TU4-CAO(-M12)(-C) IP55 (optionally IP66) Operating instructions as PDF file on CD ROM including NORD CON, (Windows PC-based parameterisation software) Available accessories: SK TI4-TU-BUS(-C) (bus connection unit, required for SK TU4…) SK TIE4-WMK-TU, wall-mounting kit TU4 M12 round plug connector (Section 8.
Supplementary Manual CANopen for NORDAC SK 20E 1.5 Type code / Optional BUS modules BUS = Bus module or I/O extension SK TU4-CAO (-C-M12-WMK-TU) Wall-mounting kit: for external technology units TU4 M12 system connectors: only TU4, alternative to terminals IP protection class: Standard = IP55, C = “coated” IP66 Option type: CAO = CANopen, PBR = Profibus, DEV = DeviceNet, IOE = I/O-extension Option series: TU4 = external Technology Unit CU4 = internal customer unit (...
1 General information 1.6 Version with protection class IP55 / IP66 NORDAC SK 200E frequency inverters and the external additional modules are available in all sizes and powers in the protection classes IP55 (standard) or IP66 (optional). The protection class IP66 must always be stated when ordering! There are no restrictions or differences to the scope of functions in either protection class.
Supplementary Manual CANopen for NORDAC SK 20E 2 Assembly and installation 2.1 Installation and assembly Internal and external technology modules designed for NORDAC SK 200E series are available for CANopen. Except for the number of digital inputs and outputs, the functionalities of the various CANopen modules are identical. These are used to connect SK 200E series speed regulated drive units to overriding automation systems via the CANopen field bus.
2 Assembly and installation The external technology modules (Technology Unit, SK TU4-...) – designated as the technology unit – are externally attached to the SK 200E connection unit and are therefore easy to access. Mounting of the SK TU4... separate from the frequency inverter is possible by means of the wall mounting kit SK TIE4-WMK-TU. The electrical connection to the SK 200E is made via the internal system bus.
Supplementary Manual CANopen for NORDAC SK 20E 2.1.1 Overview of the CANopen modules Bus Module Description Data CANopen Module SK CU4-CAO Part No. 275271001 (IP20) Similar to illustration This option enables control of the NORDAC SK 200E via CANopen. This option is integrated into the connection unit of the frequency inverter. CANopen module*) SK TU4-CAO(-C) Part No. 275281101 (IP55) Part No. 275281151 (IP66) This option enables control of the NORDAC SK 200E via CANopen.
2 Assembly and installation 2.1.2 Installing the Customer Unit SK CU4-CAO WARNING Installation must be carried out by qualified personnel only, paying particular attention to safety and warning instructions. Modules must not be inserted or removed unless the device is free of voltage. The slots may only be used for the intended modules. Installation of the SK CU4-... customer unit remote from the frequency inverter is not permitted.
Supplementary Manual CANopen for NORDAC SK 20E 2.1.3 Installing the SK TU4-CAO Technology Unit WARNING Installation must be carried out by qualified personnel only, paying particular attention to safety and warning instructions. Modules must not be installed or removed unless the device is free of voltage. The slots may only be used for the intended modules. Mounting of the external technology unit remote from the frequency inverter is possible with the additional wall-mounting kit (SK TIE4-WMK-TU).
2 Assembly and installation 2.1.3.3 Mounting the SK T14-TU-BUS on the SK 200E The screw fittings and seals required for installation are enclosed with the modules or are fitted to the intended locations. Mounting of the technology unit on the SK 200E must be carried out as follows: 1. Switch off the mains. 2. Remove the two M25 caps on the required side of the frequency inverter (right / left). 3. Remove the printed circuit board (with terminal bar) from the BUS connection unit. 4.
Supplementary Manual CANopen for NORDAC SK 20E 2.2 Electrical connection WARNING THE DEVICES MUST BE EARTHED. Safe operation of the devices presupposes that qualified personnel install and commission it in compliance with the instructions provided in these operating instructions. In particular, the general and regional mounting and safety regulations for work on high voltage systems (e.g.
2 Assembly and installation 2.2.2 Control connections The CANopen modules must be provided with a 24V DC (±20%, 100mA) control voltage. Wire end sleeves must be used for flexible cables. Designation Data Rigid cable cross-section 0.14 … 2.5mm² Flexible cable cross-section 0.14 … 1.5mm² AWG standard AWG 26-14 Tightening torque (for screw terminals) 0.5…0.6Nm Within the terminal box (unshielded cable section) the data cables (e.g.
Supplementary Manual CANopen for NORDAC SK 20E 2.2.2.1 Control connections SK CU4-CAO The terminal bar of the customer unit SK CU4-CAO is divided into two potential levels.
2 Assembly and installation Control connection details Terminal/ Function Data Description / wiring suggestion Parameter Designation 4424V External 24V supply (system bus) 40 GND C1 DIN1 Reference potential for digital signals 24VDC ±20% ≈ 50mA reverse polarity protected max. permissible current load: 2A Digital input 1 Low 0V ... 5V [I/O CANopen DIN1] High 15V ... 30V Ri = 8.
Supplementary Manual CANopen for NORDAC SK 20E 2.2.2.2 Control connections of the SK CU4-CAO(-...) The double spring-loaded terminal bar of the technology unit is colour coded, and therefore indicates the three different potential levels. A separate power source should be used particularly for the supply of the DOs. However, by bridging the 24V o and GND o to one of the terminals of the system bus level (24V and GND) it is possible to implement the supply of the DOs.
2 Assembly and installation Control connection details Terminal/ Function Data Description / wiring suggestion Parameter Supply voltage for the CANopen controller / field bus - Designation 24V BUS External 24V bus supply (CAO) (field bus) 1 24VDC -/+20% ≈ 50 mA reverse polarity protected 2 Max.
Supplementary Manual CANopen for NORDAC SK 20E Terminal/ Function Data Description / wiring suggestion Parameter Designation 23 24V External 24V supply As for terminal 11 - 24 25 26 DIN2 DIN4 Digital input 2 [I/O CANopen DIN2] Low 0V ... 5V High 15V ... 30V Ri = 8.1k Each digital input has a reaction time of 1ms.
2 Assembly and installation 2.2.3 Configuration The configuration for all CANopen module versions is identical. All necessary settings are made using the hardware via a DIP- switch element (3+8- part switching block).
Supplementary Manual CANopen for NORDAC SK 20E Baud rate The baud rate is set in binary code via two DIP switches (only applies to field bus level). Setting Baud rate DIP2 DIP1 1 125 kBaud OFF OFF 2 250 kBaud OFF ON 3 500 kBaud ON OFF 4 1 MBaud ON ON CANopen baud rate E.g.: SK CU4‐CAO Configuration example A CANopen subscriber SK TU4-CAO is connected to an SK 200E series frequency inverter via a BUS connection unit SK T14-TU-BUS.
3 Displays and diagnosis 3 Displays and diagnosis Various diagnosis possibilities are available, depending on the device. Operating conditions or errors are visualised by means of LEDs. PC-based communication or the connection of a parameterisation unit is possible via an RS232 interface (RJ12 diagnostic socket).
Supplementary Manual CANopen for NORDAC SK 20E 3.1.1.2 Customer unit SK CU4-CAO LEDs CR and CE The single-colour LEDs CR(CANopen RUN) and CE (CANopen ERROR) indicate the CANopen communication status. LEDs DS and DE The dual colour LEDs DS (Device State) and DE (Device Error) indicate the status of the module and the status of the system bus.
3 Displays and diagnosis 3.1.2 Signal status LEDs This manual only describes the LED signal statuses of the CANopen modules. Information for the frequency inverter LEDs (SK 200E) can be found in the relevant manual (BU0200). The statuses indicated by the LED can be read out with the aid of a parameterisation tool from Getriebebau Nord (NORDCON software ParameterBox) and also of course via the information parameter (P173) “Module Status” (See Section 5.2.
Supplementary Manual CANopen for NORDAC SK 20E 3.1.2.2 CANopen displays The status of the CANopen module is indicated by the CR and CE LEDs. CR (CANopen RUN) indicates the status of the CANopen bus status machine. CR (CANopen ERROR) indicates the status of the CANopen bus state. Displays of the CANopen bus status machine LED (green) CR CANopen RUN Significance ... Single flashing = (0.2s cycle) ... Double flashing (1.6s cycle, flashing interval 0.
3 Displays and diagnosis 3.1.2.3 I/O Displays The status of additional digital inputs and outputs on the BUS module is indicated by corresponding LEDs (except for SK TU4-CAO(-C)).
Supplementary Manual CANopen for NORDAC SK 20E 3.2 RJ12 Diagnostic socket All participants which are coupled via a common system bus (field bus module / frequency inverter (up to 4 devices)) can be read out and edited/parameterised via an RJ12 diagnostic socket. This can be either the diagnostic socket of the frequency inverter or that of the BUS connection units.
3 Displays and diagnosis Alternatively, diagnosis can be performed via a Windows PC with the aid of NORD CON software (available free of charge from www.nord.com). The necessary connection cable (RJ12 - SUB D9) is available from Getriebebau Nord GmbH as part number 278910240. If necessary, an interface converter from SUB D9 to USB2.0 is commercially available.
Supplementary Manual CANopen for NORDAC SK 20E 4 Commissioning In addition to the electrical connection to the BUS system and the hardware configuration of the nodes, operation of a frequency inverter in a CANopen network also requires the definition of the various monitoring functions. For the operation of an SK 200E frequency inverter or the relevant BUS modules (SK xU4-CAO) in a CANopen network managed by an NMT master, the available objects are saved in an EDS file.
4 Commissioning The following mapping (or re-parameterisation) is possible Enabling of PDO 5, in order to ensure access to the digital I/Os of the bus module. ((P160) or objects 0x1404 or 0x1804) Switching on the "Velocity Mode" to DS402 if control is to be carried out in Profile Mode. ((P168) or objects 0x6048, 0x6049) Adaptation of the inhibit and event time to optimise transmission by the PDOs ((P163) and (P164) or objects 0x1800 ...
Supplementary Manual CANopen for NORDAC SK 20E The following check list provides and overview for the commissioning of a relevant network.
4 Commissioning 4.4 Gateway function Up to four frequency inverters can be controlled via the bus module (see also Section 8.4 "System bus"). Each FI is allocated its own PDO channel for the process data. For parameterisation, each FI in the bus module has a separate allocated SDO channel. The allocation of the individual channels can be seen in the table in Section 4.9.1 "Predefined Connection Set". 4.
Supplementary Manual CANopen for NORDAC SK 20E 4.5.2.1 Changing the COB-ID (address) of a PDO Changes to the identifier of a PDO can only be made when the NMT status machine of the inverter is in the "Pre-Operational" state. Setting of the COB-ID of a PDO is made via the parameters (P160) and (P161) (and therefore in the objects 0x1400-0x1404 Sub. 1 or 0x1800-0x1804 Sub. 1). If possible, the default settings of these parameters should be retained.
4 Commissioning 4.5.2.2 PDO operating modes (transmission type) The "transmission type" determines when a transmit PDO is transmitted and when the data from a receive PDO is processed (see also Section 8.3.2.1 "PDO (Process Data Object)"). These settings are made in parameter (P162) (and therefore in objects 0x1400-0x1404 Sub. 2 for Rx -PDOs or 0x1800-0x1804 Sub. 2 for Tx -PDOs).
Supplementary Manual CANopen for NORDAC SK 20E 4.5.2.6 PDO transmission / access in USS Protocol Mode The internal status machine of the frequency inverter (USS) applies for the transfer of process data. Access to the individual frequency inverters is according to the following pattern (see Section 4.9.4 "Frequency inverter objects (2000hex - 3005hex )").
4 Commissioning Actual PDO value 1st frequency inverter Actual value - PDO in USS Protocol Mode Sequence in CAN telegram Index Sub-index Description 0x3001 1 Status word (ZSW) Indication in word Gateway mode 0 1 2nd frequency inverter 2 Sequence in CAN telegram Indication3 in word 0x3003 1 Actual value 1 (IW1) Actual value - PDO in USS Protocol Mode 0x3003 2 Actual value 2 (IW2) Index Sub-index Description 0x3003 3 Actual value 3 (IW3) 0 0x3001 2 Status word (ZSW) 1 3rd frequency inverter
Supplementary Manual CANopen for NORDAC SK 20E CANopen also enables direct access to the inputs and outputs of the BUS module. An example of the linking of the relevant objects in the control unit is shown in the illustrations above.
4 Commissioning DS 402 PDO setpoint Frequency inverter Setpoint - PDO in „Drive and Motion Control“ Sequence in CAN telegram Index Indication in word Actual PDO value Subindex Description 0 0x6040 0 Status word 1 0x6042 0 Setpoint speed value Frequency inverter Actual value - PDO in "Drive and Motion Control" Sequence in CAN telegram Index Subindex Description 0 0x6041 0 Status word 1 0x6044 1 Actual speed value Indication in word Illustration in the tables: Association wit
Supplementary Manual CANopen for NORDAC SK 20E The definition of addresses is summarised in Section 4.9.1 "Predefined Connection Set". An SDO telegram is divided into a configuration area and a data area. "Little Endian" format is also used for SDOs. Configuration area Control byte Byte 0 E.g.: "Download" Byte Data area Index Byte 1 Sub-index Byte 2 Byte 3 E.g.: "Parameter number" E.g.: "Array" Low byte High byte Byte Data Byte 4 Byte 5 Byte 6 Byte 7 E.g.
4 Commissioning Load a 32 bit value (0x1800 Sub 01) Control byte Index Sub-index Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x40 0x00 0x18 0x01 0x00 0x00 0x00 0x00 Response (0x1800 Sub 1 = 0x40000182) Status byte Index Sub-index Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x43 0x00 0x18 0x01 0x82 0x01 0x00 0x40 If the query is faulty, the response in byte 0 = 0x80. 4.5.4.
Supplementary Manual CANopen for NORDAC SK 20E 4.9 Object dictionary The object dictionary describes the complete functionality of the CANopen devices and is organised in the form of a table (see also the table in Section 7.2 "Structure of reference data"). In addition to standardised data types and objects of the CANopen communication profile, this dictionary also contains the device profiles of Nord product-specific objects (inverter and module parameters).
4 Commissioning 4.9.1 Predefined Connection Set The bus module is equipped with 5 Transmit and Receive PDOs and 4 SDO channels. The Predefined Connection Set of the CANopen standard DS301 does not provide so many PDO and SDO channels. Therefore there is a danger of address conflicts with devices which use the Predefined Connection set defined in DS301. In order to keep this danger as small as possible, the additional channels are divided into the address space (Node-ID) 64 to 127.
Supplementary Manual CANopen for NORDAC SK 20E 4.9.2 CANopen profile DS301 The available objects are defined according to communication profile DS301. 4.9.2.1 Communication objects (1000hex - 1200hex ) Index Sub Object 0x1000 0 Device type Description Unit Access Type Device type and functionality RO U32 The Error Register is set to 1 (=generic error) if one of the connected frequency inverters is in an error state. In addition, it is monitored whether a registered inverter goes missing.
4 Commissioning Index 0x1200 Sub Object 4 Serial number REC 0 0x1200 0x12010x1203 0x1201 0x1202 0x1203 BU 0260 GB Description Serial number Unit Access Type RO U32 RO U8 Default server SDO Server SDO Largest sub-index Number of elements 1 Identifier of Receive SDO (600h+ID) COB-ID Server>Client SDO for FI 1 and the bus module (rx) (see parameter (P161 [-03])) RO U32 2 Identifier of Receive SDO (580+ID) COB-ID Server>Client SDO for FI 1 and the bus module (tx) (see parameter (P161
Supplementary Manual CANopen for NORDAC SK 20E 4.9.2.2 PDO objects (1400hex - 1A04hex ) Index* Sub 0x14000x1404 REC Object Description Unit Receive PDO communication Receive PDO characteristics parameter 0 Largest sub-index 1 COB-ID used by PDO 2 Transmission type Access Type RW Number of elements RO U8 Receive PDO identifier (see parameter (P161 [-11,-13,-15,-17,-19])) RW U32 RW U8 Receive PDO type (see Section 4.5.2.
4 Commissioning 4.9.3 CANopen objects DSP402 – drive profile From the device profile DS402, the operating mode "Velocity Mode" is supported by the CANopen modules SK xU4-CAO(-...). In order to use this drive profile, the operating mode "Profile" must be switched on in parameter (P168 [-01]) and the PDOs mapped to the objects used (e.g.
Supplementary Manual CANopen for NORDAC SK 20E Index Sub Object Description Vl_velocity_deceleration Speed deceleration 0 Largest sub-index Number of elements 1 Delta_speed Delta speed (see parameter (P168 [-04, -08, -12, -16])) 2 Delta_time Delta time 0x6049 Unit Access Type RO U8 rpm RW U32 S RW U16 RO U32 RW U32 (see parameter (P168 [-05, -09, -13, -17])) 0x60FD Digital inputs profile PDO data (00 0X 00 00) 0x60FE 54 Digital outputs profile 0…15 = Reserved 16 = Digita
4 Commissioning 4.9.
Supplementary Manual CANopen for NORDAC SK 20E 4.9.5 Error codes – cancellation of parameter communication The following table gives an overview of the possible error codes which may be generated on cancellation of parameter communication.
4 Commissioning The allocation of special error codes for Nord inverters is carried out as follows: Error code FI error number (corresponds to (P700)) 0x1000 --- 0x4210 1.0 / 1.1 0x4310 2.0 / 2.1 / 2.2 0x2310 3.0 0x7112 3.1 0x2311 3.2 0x2312 3.3 0x2200 4.0 / 4.1 0x3210 5.0 0x3110 5.1 0x3230 6.0 0x3120 6.1 0x3130 7.0 0x6310 8.0 0x5530 8.1 / 8.2 0x8100 10.0 / 10.1 / 10.2 Explanation The error number transmitted by FI is not known to the technology unit.
Supplementary Manual CANopen for NORDAC SK 20E 5 Parameterisation In order to enable communication via CANopen, the frequency inverter and the CANopen Technology Unit must be parameterised accordingly. With the CANopen protocol, the inverter parameters are mapped in the range above 2000hex i.e. for parameterisation via the bus, 2000hex must be added to the parameter numbers (e.g. (P508): 508dez = 1FDhex → 2000hex+1FDhex=21FDhex). 5.
5 Parameterisation 5.1.2 Control terminal parameters (P400) Parameter {Factory setting} P420 … [-01] ... … [-04] Setting value / Description / Note Device Parameter set Supervisor Digital inputs 1 to 4 { [-01] = 01 } 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".
Supplementary Manual CANopen for NORDAC SK 20E Parameter {Factory setting} P481 ... [-01] ... ... [-10] 0 ... 39 Setting value / Description / Note Device Supervisor Parameter set Function Bus I/O Out bits The bus I/O Out bits are perceived as multi-function relay outputs. They can be set to the same functions (P434). { all 0 } These I/O bits can also be used in combination with the AS Interface (SK 225E or SK 235E) or the I/O extension (SK CU4-IOE or SK TU4-IOE).
5 Parameterisation 5.1.3 Supplementary parameter (P500) Parameter {Factory setting} P509 Setting value / Description / Note Device Supervisor Control word source 0 ... 4 Parameter set S Selection of the interface via which the FI is controlled. 0 = Control terminals or keyboard control** with the SimpleBox (if (P510)=0), the ParameterBox or via BUS I/O Bits. {0} 1 = Only control terminals *, the FI can only be controlled via the digital and analog input signals or via the bus I/O bits.
Supplementary Manual CANopen for NORDAC SK 20E Parameter {Factory setting} P514 Setting value / Description / Note Device CAN baud rate (system bus) 0 ... 7 Supervisor Parameter set S Setting of the transfer rate (transfer speed) via the system bus interface. All bus subscribers must have the same baud rate setting.
5 Parameterisation Parameter {Factory setting} P543 … [-01] ... … [-03] Setting value / Description / Note Device Supervisor Actual bus value 1 3 Parameter set S 0 ... 22 The return value can be selected for bus actuation in this parameter. { [-01] = 01 } NOTE: { [-02] = 04 } … [-01] = Actual bus value 1 { [-03] = 09 } … [-02] = Actual bus value 2 P For further details, please refer to the description for (P418).
Supplementary Manual CANopen for NORDAC SK 20E Parameter {Factory setting} P552 … [-01] … [-02] 0 / 0.1 … 100.
5 Parameterisation 5.1.4 Information parameters (P700) Parameter {Factory setting} P700 Setting value / Description / Note Device Supervisor Parameter set Current error 0.0 ... 21.4 Current error present. Further details are described in the frequency inverter manual (BU0200). SimpleBox: Descriptions of the individual error numbers can be found under "Error messages". ParameterBox: Errors are displayed in plain text, further information can be found under "Error messages". P701 ... [-01] ... ...
Supplementary Manual CANopen for NORDAC SK 20E Parameter {Factory setting} P741 ... [-01] ... Setting value / Description / Note Device Process data bus Out Supervisor Parameter set S ... [-10] 0000 ... FFFF (hex) This parameter provides information about the actual status word and the actual values that are transferred via the bus systems. … [-01 ] = Status word Status word ... [-02] = Actual value 1 (P543 [-01]) ... [-03] = Actual value 2 (P543 [-02]) ... [-04] = Actual value 3 (P543 [-03]) .
5 Parameterisation 5.2 Parameterisation of the bus module (SK CU4-… or SK TU4-…) The following parameters affect the bus modules. With access via CANopen, 0x2000 must be added to the parameter. Counting of the sub-indices begins with 1. 5.2.1 BUS module standard parameters (P150) Parameter {Factory setting} P150 Setting value / Description / Note Device Supervisor Parameter set Set relays 0 ...
Supplementary Manual CANopen for NORDAC SK 20E 5.2.2 CANopen parameter (P160) This parameter reflects the 0x1xxx communication parameters of CANopen. Therefore they can be read out or set by means of NORDCON or a ParameterBox. A summary of the objects can be found in Sections 8.4.2 and 8.4.3. Parameter {Factory setting} P160 Setting value / Description / Note ... [-01] ... Device Supervisor Parameter set COB-ID ON/OFF ... [-10] 0 ... 4 Sets the validity of the SDO and PDO objects.
5 Parameterisation Parameter {Factory setting} P162 ... [-01] ... Setting value / Description / Note Device Supervisor Parameter set PDO transmission type ... [-10] Setting of transmission type. (see objects 1400 (hex) …1404 (hex) and 1800 (hex) …1804 (hex), each Sub-index 2) 0 ... 255 { 255 } P163 (FI 1) [-06] = PDO3 RX (FI 3) [-02] = PDO1 RX (FI 1) [-07] = PDO4 TX (FI 4) [-03] = PDO2 TX [-08] = PDO4 RX (FI 4) [-01] = PDO1 TX ... [-01] ...
Supplementary Manual CANopen for NORDAC SK 20E Parameter {Factory setting} P165 ... [-01] ... Setting value / Description / Note Device Parameter set Supervisor PDO mapping parameter ... [-34] 0 ... FFFFFFFF(hex) Definition of the mapping for transmitted and received process data.
5 Parameterisation Parameter {Factory setting} P167 Setting value / Description / Note Device Parameter set Supervisor Life time factor Factor for the monitoring of the master by the slave 0 ... 255 (see objects 100D (hex)) {0} 0 = "OFF" P168 ... [-01] ... Profile parameters ... [-17] 0 ... 3FFF(hex) {see table on right} Parameter setting for the profile parameters (Velocity Mode of the drive profile DSP 402).
Supplementary Manual CANopen for NORDAC SK 20E 5.2.3 BUS module information parameters, general (P170) Parameter P170 Setting value / Description / Note ... [-01] ... [-02] 0 ... 9999 Device Supervisor Parameter set Current error Current error present. Further details in Section 6.2 "Error messages".
5 Parameterisation Parameter P173 0 ...
Supplementary Manual CANopen for NORDAC SK 20E Parameter P176 Setting value / Description / Note ... [-01] ... Device Supervisor Parameter set Process data bus In ... [-17] -32768 ...
5 Parameterisation 5.2.4 Module information parameters specific to the bus (P180) Parameter P180 1 ... 63 Setting value / Description / Note Device Supervisor Parameter set CANopen address Each module transmitting on the bus must be allocated a unique address. After the new setting of addresses, all the devices on this bus must be restarted by switching the power supply off and on again. Setting of addresses (node address / node ID) is only made via DIP- switches (see Section 2.2.3 "Configuration").
Supplementary Manual CANopen for NORDAC SK 20E 6 Error monitoring and error messages 6.1 Error monitoring The majority of bus module and frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the bus module or inverter reacts with a warning or an error message. For detailed information, please refer to the relevant main manual of the frequency inverter.
6 Error monitoring and error messages General process data monitoring... relevant parameters … of a technology unit (TB) … of a frequency inverter (FI) Option monitoring Node / Life Guarding Heartbeat (P151) (P513) (P120) (P166 [-01]) x (P167) (P166[-02]) Bus nodes Bus node relate to... ... basic bus communication ... ... of the TO ... of the FI ... to the TB TB FI FI Bus nodes Bus master { 500 ms} { 0.
Supplementary Manual CANopen for NORDAC SK 20E Option monitoring With the parameter (P120) "Option monitoring", SK 200E 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). Except for the setting { -0.1 } this parameter (P513) therefore has no effect.
6 Error monitoring and error messages 6.2 Error messages 6.2.1 Table of possible error messages (caused by the bus) in the frequency inverter The following error messages concern bus-related messages which are indicated on the frequency inverter. A complete list of error messages for the frequency inverter (SK 200E) can be found in the relevant manual (BU0200). Error code display on the SimpleBox Group Details in P700 / P701 E010 10.
Supplementary Manual CANopen for NORDAC SK 20E 6.2.2 Table of possible error messages in the bus module The following error messages concern bus-related messages, which are indicated on the CANopen module (SK CU4-CAO or SK TU4-CAO(-…)).
7 CANopen Data transfer 7 CANopen data transfer CAN / CANopen communication is based on a multi-master principle. Although the network can be overridden by a so-called NMT master (Network Management Master), this only takes over control of the functions of all connected nodes (subscribers) and can can change their operating statuses (initialisation / pre-operational / operational / stopped (previously: prepared)).
Supplementary Manual CANopen for NORDAC SK 20E Example: Excerpt from the object dictionary of an SK 200E. Object dictionary Index Sub-index Data Comments 2102 - 200 Parameter (P102), setting 2.00s) 2103 - 200 Parameter (P103), setting 2.00s) … … Structure of an SDO Control byte Byte 0 E.g.: "Download" Index Byte 1 Sub-index Byte 2 Byte 3 E.g.: "Parameter number" E.g.: "Array" Data Byte 4 Byte 5 Byte 6 Byte 7 E.g.
7 CANopen Data transfer ATTENTION If parameter changes are made, care must be taken that the maximum number of permissible writing cycles to the frequency inverter EEPROM (100,000 cycles) is not exceeded. I.e. continuous cyclical writing must be prevented. For certain applications it is sufficient if the values are only saved in the RAM memory of the frequency inverter. The corresponding setting is made via parameter (P560) "Save in EEPROM".
Supplementary Manual CANopen for NORDAC SK 20E 7.2.1.1 Control word (STW) In the order telegram, in the area of the process data the control word (STW) is transferred to the frequency inverter as the first word (taking into account the "Little Endian" format). For example, a control word "ready for switch-on" corresponds to 047E(hex), whereby in Byte 0 the value 7E(hex) and in Byte 1 the value 04(hex) are transferred.
7 CANopen Data transfer 7.2.1.2 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 (taking into account the "Little Endian" format. For example, a status word "ready for switch-on" corresponds to 0B31(hex), whereby in Byte 0 the value 31(hex) and in Byte 1 the value 0B(hex) are transferred.
Supplementary Manual CANopen for NORDAC SK 20E 7.2.1.3 Setpoint 1 (SW1) The function of the first setpoint is set in the parameter "Function bus -setpoint 1" (SK 200E: (P546[01]) or SK 500E: (P546)) (see relevant frequency inverter manual). In the order telegram, setpoint 1 follows immediately after the control word. Setpoint 1 is pre-set to the transfer of a setpoint frequency (16 bit value).
7 CANopen Data transfer 7.2.1.5 Actual value 1 (IW1) The function of the first setpoint is set in the parameter "Function bus -actual value 1" (SK 200E: (P543[01]) or SK 500E: (P543)) set (see relevant frequency inverter manual). In the order telegram, actual value 1 follows immediately after the control word. Setpoint 1 is pre-set to the transfer of the current output frequency of the frequency inverter (16 bit value).
Supplementary Manual CANopen for NORDAC SK 20E 5 Internal status machine Sw itching on the inverter Bit2 = 0: Fast stop 1 3 4 5 6 Not on standby 8 6 Fast stop active Bit1 = 0: Disable voltage v Bit2 = 0: Fast stop Loading relay applied 2 4 5 2 Sw itch-on disabled f = 0 reached (fast stop complete) 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 Standby 5 Bit 3 = 0: Disable
7 CANopen Data transfer 7.3 Structure of reference data in the standard drive profile (DS402) The structure of reference data associated with the profile DSP402 is standardised by the CiA users organisation (see also Section 8.1.4 "CiA (CAN in Automation) recommendations"). 7.4 Examples 7.4.
Supplementary Manual CANopen for NORDAC SK 20E Relevant bus system Serial No. 1 Step Set up system bus Comments 24V supply of the system bus level necessary (see Section 2.2.2.2 "Control connections of the SK CU4-CAO(-...
7 CANopen Data transfer 7.4.1.2 PZD exchange via PDO telegram according to CANopen DS 301 Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a single speed and a single position. Given: Serial No.
Supplementary Manual CANopen for NORDAC SK 20E Relevant bus system Serial No. Field bus (CANopen) 6 System bus Field bus (CANopen) Step Configure bus module for field bus 7 Field bus communcation 8 Monitoring at system bus level 9 Monitoring at field bus level (node monitoring) 10 Checking system bus communication 11 Checking field bus communication System bus Field bus (CANopen) Comments 24V supply of the field bus level necessary (see Section 2.2.
7 CANopen Data transfer 7.4.2 Example telegrams Various example telegrams are shown below to clarify the control and parameterisation of the frequency inverter with the various field bus systems. 7.4.2.1 Example for switching the frequency inverter on and off In this example, a FI will be operated with a setpoint (setpoint frequency) and an actual value (actual frequency). The "maximum frequency" is 50Hz.
Supplementary Manual CANopen for NORDAC SK 20E Mapping Byte 1 Rx-PDO1 Byte 2 Obj 0x3000 (Sub 1) (control word) 1 Tx-PDO1 3 0bj. 0x3002 Sub1 (Setpoint 1) 2 Obj 0x3000 (Sub 1) (status word) 4 3 4 0bj. 0x3003 Sub1 (Actual value 1) NOTE Objects 3002hex and 3003hex can be used to specify which setpoint or actual value is to be transferred.
7 CANopen Data transfer 7.4.2.3 Application-specific mapping Instead of using the default mapping, an application-specific mapping can define which data is to be transmitted by means of PDOs. For this, the module must be in "Pre-Operational" status or should be put in this status with the NMT service "Enter Pre-Operational". The procedure for an application-specific mapping is explained on the basis of a specific example.
Supplementary Manual CANopen for NORDAC SK 20E These objects are stored with the aid of SDO transfers: Map object 0x3000 Transmit CAN-ID Data 0x0600 0x23 00 1A 01 10 01 00 30 Set object 0x1A00 Sub-index 1 to object 0x3000 Sub-index 1 and 16 bit data width Map object 0x3002 Transmit CAN-ID Data 0x0600 0x23 00 1A 02 10 03 02 30 Set object 0x1A00 Sub-index 2 to object 0x3002 Sub-index 3 and 16 bit data width Number of mapping objects = 2, enter into Sub-index 0 CAN-ID Data Transmit 0x0600 0x
7 CANopen Data transfer Sub-index 2: Transmission Type = 3 CAN-ID Data Transmit 0x0600 0x2F 00 18 02 03 xx xx xx Receive 0x0580 0x60 00 18 02 xx xx xx xx Sub-index 1: Set COB-ID = 432 for the PDO and set the PDO from invalid to valid CAN-ID Data Transmit 0x0600 0x23 00 18 01 32 04 00 00 Receive 0x0580 0x60 00 18 01 xx xx xx xx As soon as the module is set to the status "Operational" with the command "Start Remote Node", the PDOs become active and the TxPDO object can be used for the transmi
Supplementary Manual CANopen for NORDAC SK 20E 8 Additional information 8.1 Bus configuration In an industrial environment the correct installation of the bus system is particularly important in order to reduce potential interference. The following points are designed to help prevent interference and problems right from the start. The installation guidelines are not complete and applicable safety and accident prevention guidelines must be complied with. 8.1.
8 Additional information 8.1.3 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.
Supplementary Manual CANopen for NORDAC SK 20E 8.2 Cable glands and shielding connections Nowadays, field bus systems are a normal part of plant technology. The sensitivity of these systems to electromagnetic interference (EMC) means that it is essential to protect bus systems from outside interference by means of uninterrupted or complete screening. Therefore the use of shielded cables and metal screw couplings or plug connectors has become standard. Assuming correct installation (e.g.
8 Additional information 8.2.2 Connection with M12 round plug connectors In order to implement detachable connections, the cable connections for the field and system bus and for sensors and actuators, as well as for the 24V- supply voltage can be designed with plug-in connectors. Here, freely adjustable M12 flanged connectors with metric M16 x 1.5 threads should be used for installation in the relevant housing (SK TI4-…(-BUS)).
Supplementary Manual CANopen for NORDAC SK 20E 8.2.3.1 M12 flanged connector The following flanged plugs and flanged couplings are available for installation in devices. System components Description Data CANopen M12 round plug connector A coded, 5 pin, adjustable direction SK TIE4-M12-CAO Part No.
8 Additional information 8.2.3.2 M12 round plug connector (cable connector) The following plug connectors are recommended by Getriebebau NORD GmbH. M12 connector ---- shield ---- + 24V A coded ---- CAN-H ---- GND ---- CAN-L Supplier Part no. Designation straight angled MURR Elektronik M12 plug, 6..8mm, 5-pin, screwed, IP67, shielded 7000-13321-0000000 7000-13361-0000000 Franz Binder GmbH M12 plug, 6..
Supplementary Manual CANopen for NORDAC SK 20E NOTE For preference, pre-assembled CAN bus cables and connection components should be used. For certain applications, vibration-proof round plug connectors should be used. 8.2.3.3 Assembly tools The observance of the tightening torques for making plug connections is of vital importance. For M12 plug connectors, the optimum torque is 0.6Nm Suitable assembly tools are commercially available.
8 Additional information 8.3 CANopen technology and protocol The CAN bus is a high-speed standardised bus system. Because of its structure it is possible to design a bus structure without a central master, i.e. with partners with entirely equal rights. With the aid of the CANopen system, based on CAN and the defined profiles for communication and application categories which it contains (I/O profile or Drive profile), this system is comparatively easy to configure.
Supplementary Manual CANopen for NORDAC SK 20E 8.3.2 Overview /Communication possibilities CANopen provides various possibilities for communication, so that there is always an exchange of telegrams. The structure of a telegram complies with the CAN telegram format.
8 Additional information 8.3.2.2 SDO (Service Data Object) An SDO telegram primarily serves for the exchange of parameter data (for changes in the object dictionary of a subscriber) and for status queries. The configuration of functions, i.e. the parameterisation of the frequency inverter is carried out with the aid of SDOs. However, SDOs are also used for PDO mapping (user-specific specification of the sequence of process data of a PDO message). SDO messages have comparatively low priorities.
Supplementary Manual CANopen for NORDAC SK 20E 8.5 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 Index 9 Index Keyword Index: ACK error Detection of a negative ACK bit (Incorrectly sent telegram, Incorrectly received telegram, Telegram not received (subscriber faulty) (Mechanism of the detection of errors in a CAN telegram (or a PDO)) Address Assigned or defined designation of a bus subscriber Arbitration Control of access, comparison of the priority of simultaneously transmitted messages and assignment of validity Baud rate The transmission rate for serial interfaces in bits per second Bin
Supplementary Manual CANopen for NORDAC SK 20E ISO The International Standards Organisation is the international association of standardisation organisations and produces international standards in all fields, with the exception of electricity and electronics. Little Endian describes the sequence in which the bytes are processed in a data word. Here: first Low-Byte, then High-Byte Monitoring a participant which transmits, receives its telegram simultaneously.
9 Index Abbreviations used: BE Bus error (fault) BG Bus module BR Bus ready BS BUS state (status) CAO CANopen CE CANopen error (fault) CiA CAN in Automation CR CANopen ready CU Customer Unit (customer interface - internal technology unit) D, DI, DIN Digital IN DE DEVICE error (fault) DO, DOUT Digital OUT DS DEVICE state (status) DSP Draft Standard Proposal (CiA device profile) EMC Electromagnetic compatibility FI Frequency inverter GND Earth HW Hardware I16 16 bit value
Supplementary Manual CANopen for NORDAC SK 20E 10 Keyword index A E Accessories ................................11 EMC ................................... 99, 100 Actual value .............. 42, 44, 45, 87 EMC Directive ............................ 11 Adapter cable RJ12 ....................35 EMCY ................................... 56, 78 Addressing ..................................27 Emergency Message ........... 56, 78 Error messages .................... 79, 80 B Basic parameters ..........
11 Subsidiaries / Agencies BU 0260 GB 113
Supplementary Manual CANopen for NORDAC SK 20E 11 Representatives / Branches NORD Subsidiaries Worldwide: Brazil Australia NORD Drivesystems 18 Stoney Way 3030 Derrimut Vic Tel.: +61 (0) 488 588 200 NORD Motoredutores do Brasil Ltda. Rua Dr. Moacyr Antonio de Morais, 700 Parque Santo Agostinho Guarulhos – São Paulo CEP 07140-285 mark.alexander@nord.com Tel.: +55-11-6402 88 55 Fax: +55-11-6402 88 30 info@nord-br.com Mexico India NORD DRIVE SYSTEMS SA DE CV Mexico Regional Office Av.
11 Subsidiaries / Agencies NORD 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 Tel.: 04532 / 401 - 0 Fax: 04532 / 401 - 253 info@nord-de.com www.nord.com North Branch South Branch Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Str. 1 22941 Bargteheide Getriebebau NORD GmbH & Co. KG Katharinenstr. 2-6 70794 Filderstadt-Sielmingen Tel.: 04532 / 401 - 0 Fax: 04532 / 401 - 253 Tel.: +49 7158 / 95608 - 0 Fax +49 7158 / 95608 - 20 NL-Nord@nord-de.com NL-Stuttgart@nord-de.
