NORD Drivesystems BU0210 - Manual (Page 4)

SK 2x5E with "PosiCon Functionality"
4 Subject to technical amendments BU 0210 GB
1 GENERAL INFORMATION ...................................................................................................... 6
1.1 Safety and installation Information ...................................................................... 7
1.2 Certifications ........................................................................................................ 9
1.2.1 European EMC Directive .......................................................................................... 9
1.2.2 UL Approval - File No. E171342 (in preparation) ...................................................... 9
1.2.3 C-Tick labeling .......................................................................................................... 9
1.2.4 RoHS compliance ..................................................................................................... 9
2 ENCODER CONNECTIONS .................................................................................................. 10
2.1 Incremental encoder connection ....................................................................... 10
2.1.1 Colour and contact assignments for the incremental encoders .............................. 10
2.2 CANopen absolute encoder connection ............................................................ 12
2.2.1 General information ................................................................................................ 12
2.2.2 Approved CANopen absolute encoders for automatic encoder recognition ............ 12
2.2.3 Assignment of the system bus interface for the SK 2x5E ....................................... 12
3 FUNCTION DESCRIPTION ................................................................................................... 13
3.1 Introduction ........................................................................................................ 13
3.2 Position detection .............................................................................................. 13
3.2.1 Position detection with incremental encoders ......................................................... 13
3.2.2 Position detection with CANopen absolute encoders ............................................. 16
3.2.3 Encoder monitoring ................................................................................................. 20
3.2.4 Positioning with absolute / incremental encoders in absolute mode ....................... 21
3.3 Specifying the setpoint ...................................................................................... 23
3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits ...... 23
3.3.2 Position increment array– relative setpoint position via digital inputs or BUS I/O
In Bits ................................................................................................................... 24
3.3.3 Bus setpoints .......................................................................................................... 24
3.3.4 Bus - Specification of absolute setpoint via field bus .............................................. 25
3.3.5 Bus increments – specification of relative setpoint via field bus ............................. 25
3.4 Teach - In function via digital inputs or Bus I/O In Bits ...................................... 25
3.5 Conversion ratio of the setpoint and actual values (P607 and P608) ............... 26
3.6 Position control functions (P600) ....................................................................... 27
3.7 Position Control ................................................................................................. 28
3.8 Output messages .............................................................................................. 29
3.8.1 Digital output ........................................................................................................... 29
3.8.2 Output messages via BUS I/O Out Bits (P481)....................................................... 30
4 PARAMETER SETTINGS ...................................................................................................... 31
5 COMMISSIONING .................................................................................................................. 43
6 SYNCHRONOUS CONTROL ................................................................................................ 45
6.1 General information ........................................................................................... 45
6.2 Communication settings .................................................................................... 45
6.3 Settings for slave ramp time and maximum frequency ..................................... 46
6.4 Setting the speed and position controls ............................................................ 46
6.5 Taking a speed ratio between master and slave into account .......................... 46
6.6 Achievable precision / Position monitoring ........................................................ 47
6.7 Significance of P630 for synchronous operation ............................................... 47
6.8 Notes on reference point runs with synchronous operation .............................. 47
6.9 Offset switching in synchronous operation ........................................................ 48