NORD Drivesystems BU0260 - Manual (Page 86)

Supplementary Manual CANopen for NORDAC SK 20E
86 Subject to technical amendments BU 0260 GB
7.2.1.3 Setpoint 1 (SW1)
The function of the first setpoint is set in the parameter "Function bus -setpoint 1" (SK 200E: (P546[01]) or
SK 500E: (P546)) (see relevant frequency inverter manual).
In the order telegram, setpoint 1 follows immediately after the control word. Setpoint 1 is pre-set to the transfer
of a setpoint frequency (16 bit value).
PZD1 PZD2 PZD3 PZD4
STW SW1 SW2 SW3
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
The setpoint is transferred as an integer in the range -32768 to 32767 (8000 hex to 7FFF hex), whereby 16384
(4000 hex) is exactly 100% and -16383 (C000 hex) corresponds to -100%. Due to this resolution, setpoints
(depending on function) of up to ± 200% can be transferred.
A setpoint of 100% corresponds to the respective nominal value:
Setting 100% is equal to
Off
Setpoint frequency, actual frequency PID, actual
frequency PID limited, actual frequency PID monitored,
frequency addition, frequency subtraction, maximum
frequency Maximum frequency
Torque current limit Torque current limit (P112)
Current limit Inverter nominal current
Servo mode torque Nominal torque
Lead torque Lead torque (P214)
7.2.1.4 Setpoints 2 and 3 (SW2/3)
In addition to setpoint 1, two further setpoints can be transferred in the words "PZD3" and "PZD4".
PZD1 PZD2 PZD3 PZD4
STW SW1 SW2 SW3
The definition of these two setpoints corresponds to that of setpoint 1.
If the transfer of a 32 bit setpoint is necessary (Example: position setpoint), this must be divided into two 16 bit
values, i.e. into two PZDs (Position Low and High words). It does not matter in which of the three process
data words (PZD 2 ... 4) the two position words are transferred.
The definition in the frequency inverter can then, for example, be made via the parameters:
PZD3:
„Bus function - setpoint 2" (SK 200E: (P546[02]) or SK 500E (P547)) and
PZD4: „Bus function - setpoint 3" (SK 200E: (P546[03]) or SK 500E (P548))
Example
If a position setpoint is to be transferred (Prerequisite: posicon inverter functionality) this can be performed
either as a 16 bit or 32 bit value. The resolution is always 0.001 rotations/step.
As a 16 bit value, a range of +32767 (= 32,
767 revolutions) to -32768 (= -32, 768 revolutions) is possible. Here,
exactly one PZD word is required in order to transfer the position.
As a 32 bit value, the full position range of +/- 50000.000 revolutions is available. Here, exactly two PZD words
are required in order to transfer the position.