NORD Drivesystems BU0260 - Manual (Page 6)

Supplementary Manual CANopen for NORDAC SK 200E
6 BU 0260 GB
1 GENERAL INFORMATION ...................................................................................................... 9
1.1 Overview ............................................................................................................ 10
1.2 Delivery .............................................................................................................. 10
1.3 Scope of supply ................................................................................................. 11
1.4 Certifications ...................................................................................................... 11
1.4.1 European EMC Directive ........................................................................................ 11
1.4.2 RoHS compliance ................................................................................................... 11
1.5 Type code / Optional BUS modules .................................................................. 12
1.6 Version with protection class IP55 / IP66 .......................................................... 13
2 ASSEMBLY AND INSTALLATION ....................................................................................... 14
2.1 Installation and assembly .................................................................................. 14
2.1.1 Overview of the CANopen modules ........................................................................ 16
2.1.2 Installing the Customer Unit SK CU4-CAO ............................................................. 17
2.1.3 Installing the SK TU4-CAO Technology Unit .......................................................... 18
2.2 Electrical connection .......................................................................................... 20
2.2.1 Cable glands ........................................................................................................... 20
2.2.2 Control connections ................................................................................................ 21
2.2.3 Configuration .......................................................................................................... 27
3 DISPLAYS AND DIAGNOSIS ................................................................................................ 29
3.1 LED displays ...................................................................................................... 29
3.1.1 Device-specific display versions ............................................................................. 29
3.1.2 Signal status LEDs ................................................................................................. 31
3.2 RJ12 Diagnostic socket ..................................................................................... 34
4 COMMISSIONING .................................................................................................................. 36
4.1 Quick commissioning ......................................................................................... 36
4.2 EDS file .............................................................................................................. 38
4.3 Hardware configuration of the CANopen bus modules ..................................... 38
4.4 Gateway function ............................................................................................... 39
4.5 Communication .................................................................................................. 39
4.5.1 Network Management (NMT).................................................................................. 39
4.5.2 PDO communication ............................................................................................... 39
4.5.3 PDO communication in drive profile DS 402 ("Velocity Mode") .............................. 44
4.5.4 SDO communication ............................................................................................... 45
4.6 Timeout monitoring ............................................................................................ 47
4.7 Saving the parameters ...................................................................................... 47
4.8 Special features of CANopen communication ................................................... 47
4.9 Object dictionary ................................................................................................ 48
4.9.1 Predefined Connection Set ..................................................................................... 49
4.9.2 CANopen profile DS301 ......................................................................................... 50
4.9.3 CANopen objects DSP402 – drive profile ............................................................... 53
4.9.4 Frequency inverter objects (2000
hex
- 3005
hex
) ...................................................... 55
4.9.5 Error codes – cancellation of parameter communication ........................................ 56
4.9.6 Error messages (EMCY message) ......................................................................... 56
5 PARAMETERISATION .......................................................................................................... 58
5.1 Parameterising the SK 200E frequency inverter ............................................... 58
5.1.1 Basic parameters (P100) ........................................................................................ 58
5.1.2 Control terminal parameters (P400) ........................................................................ 59
5.1.3 Supplementary parameter (P500) ........................................................................... 61
5.1.4 Information parameters (P700) ............................................................................... 65
5.2 Parameterisation of the bus module (SK CU4-… or SK TU4-…) ...................... 67
5.2.1 BUS module standard parameters (P150) .............................................................. 67
5.2.2 CANopen parameter (P160) ................................................................................... 68
5.2.3 BUS module information parameters, general (P170) ............................................ 72
5.2.4 Module information parameters specific to the bus (P180) ..................................... 75