4 examples 5.4.1 – NORD Drivesystems BU0270 User Manual
Page 45
5 EtherCAT - Data transfer
BU 0270 GB
Subject to technical amendments
45
5.4 Examples
5.4.1
Configuration examples
The configuration examples described here are intended as supplementary and summary support in addition
to the detailed descriptions in this manual during the configuration of the system bus or field bus (EtherCAT).
5.4.1.1 PZD exchange via PDO telegrams
Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a
single speed and a single position.
Given:
Serial No.
Device type
Designation
Motor
Other
1
SK 2x5E
frequency inverter
FI 1
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value
encoder (AG1)
2
SK 2x5E
frequency inverter
FI 2
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value
encoder (AG2)
3
SK 2x5E
frequency inverter
FI 3
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value
encoder (AG3)
4
SK TU4-ECT
(with connection unit SK TI4-TU-Bus)
Technology Unit
(EtherCAT)
(external)
Bus module
The bus module and FI 3 should always be the last physical participants on the system bus.
Relevant
bus system
Serial
No.
Step
Comments
1
Set up system bus
24V supply required! (see Section 2.2.2 )
2
Set termination
resistor
• DIP switch "Bus termination, system bus" on ECT module "ON"
• DIP switch "Bus termination, system bus" on FI 3 "ON"
• All other DIP switches to "OFF"
3
Set system bus
addresses
Setting of FI addresses preferably via DIP switches (see manual
BU0200):
• Bus module:
fixed (at 5)
• FI 1:
to 32
• FI 2:
to 34
• FI 3:
to 36
• AG1:
to 33
• AG2:
to 35
• AG3:
to 37
4
System bus baud
rate
set to 250kBaud for FI and AG
(For FI: SK 200E is pre-set accordingly)
System bus
5
System bus
communication
Make settings on each FI
• (P509):
{ 3 } "System bus"
• (P510 [-01 … -02]): { 0 } "Auto"
• (P543 [-01]):
{ 1 } "Actual frequency"
• (P543 [-02]):
{ 10 } "Actual position in inc. Low-Word"
• (P543 [-03]):
{ 15 } "Actual position in inc. High-Word"
• (P546 [-01]):
{ 1 } "setpoint frequency"
• (P546 [-02]):
{ 23 } "Setpoint position in inc. Low-Word"
• (P546 [-03]):
{ 24 } "Setpoint position in inc. High-Word"