NORD Drivesystems BU0260 - Manual (Page 36)

Supplementary Manual CANopen for NORDAC SK 20E
36 Subject to technical amendments BU 0260 GB
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.
For the devices described in this manual, in addition to various freely configurable monitoring functions,
Getriebebau Nord GmbH also enables pure process data communication (PDO) and communication via
SDOs. With the aid of various parameters of the bus modules, participants can be individually adapted to a
CANopen network. However, for reasons of compatibility the default settings should be retained as far
as possible. For more simple applications the drive profile "Velocity Mode" from device profile DSP402 is
available.
Sections 4.2 to 4.8 contain detailed explanations for the individual commissioning steps. Explanations for
process data and examples are summarised in Section 7 "CANopen data transfer".
4.1 Quick commissioning
The bus modules SK xU4-CAO are designed so that for normal applications no software settings (mapping) on
the BUS module are required for basic operation.
Commissioning therefore comprises the following steps
 Installation
(see Section2.1.2 " Installing the Customer Unit SK CU4-CAO " and
Section 2.1.3 "Installing the SK TU4-CAO Technology Unit ")
 Connection
(see Section 2.2 " Electrical connection ")
NOTE
If possible, a separate 24V power supply should be used for each potential level (system
bus, field bus, DOs) in order to minimise interference on the bus cables.

Configuration (addressing and bus termination - via DIP switches) - (see Section 2.2.3 "Configuration")
 Integration of the EDS file into the control unit.
 After connection of the 24V supply voltage and a brief initialisation phase, the BUS module switches to
"Pre-Operational" mode. Via the bus module, up to 4 frequency inverters can be accessed, each with one
control word and up to 3 setpoints (in exchange with the status word and up to 3 actual values).
 The allocation of the functions for the setpoints and actual values is carried out on the relevant frequency
inverter (e.g. SK 200E series). Here, the settings are made via parameter (P546) or (P543) (see
frequency inverter manual BU0200).
The following optimisations are recommended
 Disabling of the transmission and reception channels for PDOs which are not required (reduces bus load)
((P160) or objects 0x1400 ... 0x1414 or 0x1800 ... 0x1804)