NORD Drivesystems BU0210 - Manual (Page 19)

3 Function description
BU 0210 GB Subject to technical amendments 19
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.
After the setting or selection of the encoder type in parameter P604 "Encoder Types" the function of the
encoder can be tested via parameter P601 "Current Position".
ATTENTION
The function "Automatic Configuration" may only be used for encoder types approved by NORD.
See Section 2.2.2.
3.2.2.4 Manual commissioning of the CANopen absolute encoder
In addition to "automatic" configuration (Auto) a "manual" setting (Manual) of the encoder is also possible. With
"Auto" the parameterisation is carried out by the frequency inverter. With manual commissioning, a CAN bus
master is required in addition to the SK 2X5E and the encoder. This must switch the encoder into the bus
status "Operational" and set the following parameters.
- Parameters 0x6001 and 0x6002: resolution, according to the settings in P605 "Absolute Encoder".
- Parameter 0x62000:cycle time. The parameterisation of a value ≤ 20ms is recommended. The
selected cycle time influences the reaction speed of the positioning control in the SK 2X5E.
3.2.2.5 Encoder errors
If a CANopen encoder is parameterised in the SK 2X5E and the positioning control is enabled in parameter
P600 "Positioning Control", the function of the encoder is permanently monitored. Although the encoder
position is displayed when "Positioning Control" P600 is not enabled, no error messages are generated in case
of problems. Therefore emergency or manual operation is always possible.
On the occurrence of one of the following conditions, the fault or error message E14.4 3 is triggered:
 five seconds after switching on the SK 2X5E there is no contact with the encoder
 the encoder does not respond to an SDO command from the SK 2X5E
 The parameters set in the SK 2X5E do not correspond to the possibilities for the encoder (e.g. P605
resolution of the CANopen absolute encoder)
 the SK 2X5E does not receive a position value over a period of 50ms
In case of encoder error, the last valid position is retained in the SK 2X5E.
3 Error messages are only possible of the positioning is enabled