GB BU 0270 EtherCAT® Bus module Supplementary Manual for NORDAC SK 200E
NORDAC SK 200E 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.
Supplementary Manual EtherCAT for NORDAC SK 200E About this document Documentation Designation: BU 0270 GB Part No.: 607 27 01 Device series: EtherCAT for SK 200E Device types: SK TU4-ECT(-C) with SK TI4-TU-BUS Version list Designation of previous issues Software Version Comments BU 0270 GB, July 2010 V 1.2 R0 First issue Part. No. 607 2701 / 2610 Publisher Getriebebau NORD GmbH & Co. KG Rudolf-Diesel-Str. 1 • D-22941 Bargteheide • http://www.nord.com/ Tel.
Supplementary Manual EtherCAT 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 any 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.
Table of Contents 1 GENERAL INFORMATION ......................................................................................................7 1.1 Overview...............................................................................................................8 1.2 Delivery.................................................................................................................8 1.3 Scope of supply ...............................................................................................
Supplementary Manual EtherCAT for NORDAC SK 200E 7 ERROR MONITORING AND ERROR MESSAGES.............................................................. 61 7.1 Error monitoring................................................................................................. 61 7.1.1 Error monitoring details........................................................................................... 61 7.1.2 EMCY message...............................................................................................
1 General 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 EtherCAT for NORDAC SK 200E 1.
1 General 1.3 Scope of supply Standard version: SK TU4-ECT(-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 EtherCAT for NORDAC SK 200E 1.
1 General 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 EtherCAT for NORDAC SK 200E 2 Assembly and installation 2.1 Installation and assembly Only external technology units (Technology Units) are available for EtherCAT. These are tailored to the NORDAC SK 200E frequency inverter series. These are used to connect SK 200E series speed regulated drive units to overriding automation systems via the EtherCAT field bus.
2 Assembly and installation 2.1.1 Overview of the EtherCAT modules Bus Module Description EtherCAT module*) SK TU4-ECT(-C) Part No. 275281117 (IP55) Part No. 275281167 (IP66) This option enables control of the NORDAC SK 200E via EtherCAT. This option is installed externally to the frequency inverter. According to the installation location, at least one "BUS connection unit"* is required. Connection unit for TU4 SK TI4-TU-BUS Part No. 275280000 (IP55) Part No.
Supplementary Manual EtherCAT for NORDAC SK 200E 2.1.2 Installing the SK TU4-ECT 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 technology unit remote from the frequency inverter is possible with the additional wall mounting kit SK TIE4-WMK-TU.
2 Assembly and installation 2.1.2.3 Mounting the SK TI4-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 EtherCAT for NORDAC SK 200E 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 2.2.2.1 Field bus(EtherCAT) The field bus cable must only be connected to the two M12 sockets mounted on the front. Care must be taken that the incoming bus cable is connected to the "In" socket and that the outgoing cable is connected to the "Out" socket. If this is the last participant, the "Out" socket must be left vacant. A termination resistor is not necessary.
Supplementary Manual EtherCAT for NORDAC SK 200E The double spring terminal bar is divided into 2 potential levels (system bus and digital outputs). A separate power source should be used 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. However, in this case it should be noted that there is an increased risk of introducing interference into the bus cables.
2 Assembly and installation Control connection details Terminal/ Function Data External 24V supply (System bus) 24VDC -/+20% Description / wiring suggestion Parameter System bus power supply - Designation 1 24V 2 min 100 mA reverse polarity protected Max. permissible current load: 3A 3 DIN5 Digital input 5 P174 [I/O EtherCAT DIN5] 4 5 DIN7 DIN6 Digital input 7 [I/O EtherCAT DIN7] Low 0V ... 5V High 15V ... 30V Ri = 10kΩ Each digital input has a reaction time of 1ms.
Supplementary Manual EtherCAT for NORDAC SK 200E Terminal/ Function Data Description / wiring suggestion Parameter Reference potential for digital signals As for terminal 7 - As for terminal 1 - As for terminal 3 P174 [I/O EtherCAT DIN4] As for terminal 3 P174 Reference potential for digital signals As for terminal 7 - As for terminal 1 - Designation 21 GND 22 23 24V External 24V supply 24 25 DIN2 Digital input 2 [I/O EtherCAT DIN2] 26 27 DIN4 GND Digital input 4 28 29 24V
2 Assembly and installation 2.2.3 Configuration and addressing The configuration of the bus module via the hardware is restricted to the possibilities for • termination of the system bus, if the bus module forms the physical termination at the system bus level, and the • addressing at the field bus level ("Second Address"), if automatic addressing via the NMT master is not desired. For this, 11 DIP switches are available in a 12 pin DIP switch block on the inside of the bus module.
Supplementary Manual EtherCAT for NORDAC SK 200E Field bus addressing: 2nd Address Termination of system bus DIP switch 12-part Technology Unit SK TU4-ECT DIP switches Term.
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 EtherCAT for NORDAC SK 200E 3.1.1.2 Technology unit SK TU4-ECT LEDs LINK ACT in and LINK ACT out The single colour LEDs LINK/ACT (Link / Activity) indicate the physical status of the EtherCAT connection(s) LEDs RUN and ERR The single colour LEDs RUN (EtherCAT RUN) and ERR (EtherCAT ERROR) indicate the EtherCAT 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 EtherCAT 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 6.2.
Supplementary Manual EtherCAT for NORDAC SK 200E 3.1.2.2 EtherCAT displays The communication status of the EtherCAT module is indicated by the LEDs RUN and ERR. RUN = EtherCAT - Bus status machine ERR = EtherCAT- Bus status. Displays of the EtherCAT bus status machine LED (green) Significance RUN OFF ... Flashing = (0.4s cycle) ...
3 Displays and diagnosis The physical status of the field bus system (EtherCAT) is indicated by the L/A - LEDs, which are located directly next to the M12 screw connectors on the front panel. Displays of the EtherCAT bus connections LED (green) Significance ... RUN OFF Flickering = (0.
Supplementary Manual EtherCAT for NORDAC SK 200E 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 EtherCAT for NORDAC SK 200E 4 Commissioning After installation of the components, and connection of the control and signal cables to the control terminal bar of the module and the configuration of the hardware (DIP switches) the module must be integrated into the field bus. Then the EtherCAT module must be implemented in the automation concept. In this section, the design of hardware in the TwinCAT System Manager is shown as an example.
4 Commissioning 4.2.2 Parameterisation of the SK 500E frequency inverter The following settings must be made on the SK 500E: • Control via "CANopen" • Setpoints via "CANopen" • Setting of setpoints via P546, P547 and P548 • Setting of actual values via P543, P544 and P545 • Setting of system bus monitoring via P513 = 0.
Supplementary Manual EtherCAT for NORDAC SK 200E • The missing modules can be added in the TwinCAT System Manager. For this, the SK TU4-ECT box is highlighted and the index "Slots" is selected (see illustration below). TwinCAT System Manager, editing the slots • Here, the required configuration can be produced. After the settings are complete, the new configuration must be loaded into the SK TU4-ECT.
4 Commissioning 4.4 XML File The XML file contains a description of the device properties for the SK TU4-ECT and its parameters as well as the parameters of the SK 200E and SK 500E frequency inverters.
Supplementary Manual EtherCAT for NORDAC SK 200E 5 EtherCAT data transmission EtherCAT communication is based on the single master principle. Although the bus modules can communicate from "Slave to Slave" in the process data channel, and therefore two or more devices can be coupled together, an EtherCAT master is always required for this function. 5.1 NMT State Machine The NMT State Machine defines various communication states of the SK TU4-ECT.
5 EtherCAT - Data transfer 5.2 Process data (PDO communication) The process data is transmitted via PDOs These are fixed and cannot be changed. Control words and setpoints are transferred from the bus master to the SK TU4-ECT as process data and in return, the status word and actual values from the SK TU4-ECT are sent to the bus master from the FI. This transfer is carried out cyclically and the master can access these process values directly, as they are stored in the I/O area.
Supplementary Manual EtherCAT for NORDAC SK 200E 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.
5 EtherCAT - Data transfer EtherCAT 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.
Supplementary Manual EtherCAT for NORDAC SK 200E 5.2.1.1 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(hex).
5 EtherCAT - Data transfer 5.2.1.2 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. For example, the status word "Ready for switch-on" corresponds to 0B31(hex).
Supplementary Manual EtherCAT for NORDAC SK 200E 5.2.1.
5 EtherCAT - Data transfer It is also possible to only transmit the Low component of the position. This results in a limited value range (16Bit) from +32,767 rotations 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. 5.2.2 The status machine The frequency inverter passes through a status machine.
Supplementary Manual EtherCAT for NORDAC SK 200E 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 4 5 f = 0 reached (fast stop complete) 2 Sw itch-on disabled 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: Disabl
5 EtherCAT - Data transfer 5.3 Parameter data (SDO communication) The transfer of parameter data is carried out cyclically with low priority. Transfer is carried out in CoE (CAN over Ether CAT®) protocol via the SDO transfer. All parameters of the FI and the bus module can be accessed. All parameter requests are handled by a single SDO channel.
Supplementary Manual EtherCAT for NORDAC SK 200E Index Sub Object Description Access Type 0x1A000x1A04* 0 Largest sub-index Number of elements RO U8 0x1A00 0-1 TxPDO Mapping Process data for the inputs of the SK TU4-ECT RO U32 0x1A010x1A04 0-4 TxPDO Mapping Actual values for FI 1 (0x1A01) to FI 4 (0x1A04) RO U32 0x1C00 0-4 Sync Manager Com.
5 EtherCAT - Data transfer 5.4 Examples 5.4.1 Configuration examples The configuration examples described here are intended as supplementary and summary support in addition to the detailed descriptions in this manual during the configuration of the system bus or field bus (EtherCAT). 5.4.1.1 PZD exchange via PDO telegrams 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 EtherCAT for NORDAC SK 200E Relevant bus system Field bus (EtherCAT) System bus Serial No.
6 Parameterisation 6 Parameterisation In order to enable communication via EtherCAT, the frequency inverter and the EtherCAT Technology Unit must be parameterised accordingly. With the EtherCAT protocol, all parameter requests are handled via a single SDO channel and are mapped in the area above 2000hex (see also Section 5.3). 6.
Supplementary Manual EtherCAT for NORDAC SK 200E 6.1.2 Control terminal parameters (P400) Parameter {Factory setting} P420 … [-01] ... … [-04] Setting value / Description / Note Device Parameter set Supervisor Digital inputs 1 to 4 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". 0 ... 72 { [-01] = 01 } { [-02] = 02 } ...
6 Parameterisation 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).
Supplementary Manual EtherCAT for NORDAC SK 200E 6.1.3 Supplementary parameters (P500) Parameter {Factory setting} P509 Setting value / Description / Note Device Supervisor S Control word source 0 ... 4 Parameter set 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.
6 Parameterisation 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 participants must have the same baud rate setting.
Supplementary Manual EtherCAT for NORDAC SK 200E Parameter {Factory setting} P543 … [-01] ... … [-03] Setting value / Description / Note Device Supervisor Parameter set S Actual bus value 1 3 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 of (P418).
6 Parameterisation Parameter {Factory setting} P552 … [-01] … [-02] 0 / 0.1 … 100.0 ms {0} Setting value / Description / Note Device System bus master cycle time Supervisor Parameter set S In this parameter, the cycle time for the system bus master mode and the CAN open encoder is set (see P503/514/515): … [01] = Cycle time for system bus master functions … [02] = Cycle time for system absolute value encoder With the setting 0 = "Auto" the default value (see table) is used.
Supplementary Manual EtherCAT for NORDAC SK 200E 6.1.4 Information parameters (P700) Parameter {Factory setting} P700 Setting value / Description / Note Device Supervisor Parameter set Actual error 0.0 ... 21.4 Actual 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.
6 Parameterisation Parameter {Factory setting} P741 ... [-01] ... Setting value / Description / Note Device Supervisor Parameter set S Process data bus Out ... [-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]) ...
Supplementary Manual EtherCAT for NORDAC SK 200E 6.2 Parameterisation of the bus module (SK TU4-…) The following parameters affect the bus modules. 6.2.1 BUS module standard parameters (P150) Parameter {Factory setting} P150 Setting value / Description / Note Device Supervisor Parameter set Set relays 0 ... 4 0 = Via bus {0} 1 = Outputs OFF 2 = Output 1 to (DO1) 3 = Output 2 to (DO2) 4 = Outputs 1 and 2 ON P151 Timeout for external bus 0 ...
6 Parameterisation 6.2.2 BUS module information parameters, general (P170) Parameter P170 Setting value / Description / Note ... [-01] ... [-02] 0 ... 9999 Device Supervisor Parameter set Actual error Actual error present. Further details in Section 7.2 "Error messages".
Supplementary Manual EtherCAT for NORDAC SK 200E Parameter P173 0 ...
6 Parameterisation Parameter P176 Setting value / Description / Note ... [-01] ... Device Supervisor Parameter set Process data bus In ... [-17] -32768 ...
Supplementary Manual EtherCAT for NORDAC SK 200E 6.2.3 Module information parameters specific to the bus (P180) Parameter Setting value / Description / Note P180 Device Supervisor Parameter set NMT State 0 ... 8dec Display of communication level P181 1 = Init 4 = Save-Operational 2 = Pre-Operational 8 = Operational Second Address 0 ... 2047 Display of the "Second Address" set via the DIP switches P182 EtherCAT Watchdog 0 ...
7 Error monitoring and error messages 7 Error monitoring and error messages 7.1 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 basic information, please refer to the relevant main manual of the frequency inverter.
Supplementary Manual EtherCAT for NORDAC SK 200E General process data monitoring of 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.
7 Error monitoring and error messages The allocation of special error codes for Nord inverters is carried out as follows: Error code Error register FI error number (corresponds to (P700)) 0x0000 0 0x1000 1 --- 0x2200 3 4.0 / 4.1 0x2310 3 3.0 0x2311 3 3.2 0x2312 3 3.3 0x3110 5 5.1 0x3120 5 6.1 0x3130 5 7.0 0x3210 5 5.0 0x3230 5 6.0 0x4210 9 1.1 0x4310 9 2.0 / 2.1 / 2.2 0x5000 1 10.8 0x5110 1 11.0 0x5300 1 17.0 0x5510 1 20.0 0x5520 1 20.8 0x5530 1 8.
Supplementary Manual EtherCAT for NORDAC SK 200E 7.2 Error messages 7.2.1 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 Fault Cause Text in the ParameterBox Remedy Group Details in P700 / P701 E010 10.
7 Error monitoring and error messages 7.2.2 Table of possible error messages in the bus module The following error messages concern bus-related messages, which are indicated on the EtherCAT module SK TU4-ECT(-…)) Error number Fault Cause Group Text in the ParameterBox Remedy EEPROM error Module faulty System bus 24V missing Check connections and supply cables Details in P170 E1000 1000 1010 Ensure 24V voltage supply 1020 System bus timeout Check time set in parameter (P151).
Supplementary Manual EtherCAT for NORDAC SK 200E 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 8.2 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.
Supplementary Manual EtherCAT for NORDAC SK 200E 8.2.2 Connection with M12 round plug connectors In order to implement detachable connections, the cable connections for the 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)).
8 Additional information 8.2.3.1 M12 flanged connector The following flanged plugs and flanged couplings are available for installation in devices. System components Description Data System bus M12 round plug connector A coded, 5 pin, adjustable direction SK TIE4-M12-SYSS Part No.
Supplementary Manual EtherCAT for NORDAC SK 200E 8.2.3.2 M12 round plug connector (cable connector) The following plug connectors are recommended by Getriebebau NORD GmbH. M12 connector D coded 1 Supplier 2 3 Part no. Designation straight angled Franz Binder GmbH Plug M12, 6..8mm, 4-pin, screwed, IP67 99 3729 810 04 99 3729 820 04 Phoenix Contact Plug M12, 6..
8 Additional information 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. M12wrench Supplier Designation MURR Elektronik M12 wrench set for M12 round connectors with calibrated torque of 0.6Nm Franz Binder GmbH M12 torque wrench for M12 round connectors with calibrated torque of 0.6Nm Part no.
Supplementary Manual EtherCAT for NORDAC SK 200E 8.4 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 9 Index Index Keyword Index: Address Assigned or defined designation of a bus subscriber ASIC "Application Specific Integrated Circuit” Baud rate The transmission rate for serial interfaces in bits per second Binary code The designation for a code in which messages are communicated by "0" and "1" signals. Bit / Byte A bit (binary digit) is the smallest unit of information in the binary system. A byte has 8 bits.
Supplementary Manual EtherCAT for NORDAC SK 200E Abbreviations used: 74 Abs.
9 10 Index Keyword index A E P Accessories.................................. 9 EMC ........................................... 67 ParameterBox.............................28 Actual value.......................... 36, 37 EMC Directive .............................. 9 Parameterisation.........................47 Adapter cable RJ12.................... 29 EMCY ......................................... 62 PDO............................................43 Emergency Message..................
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