NORD Drivesystems BU0270 - Manual (Page 5)

Table of Contents
BU 0270 GB 5
1 GENERAL INFORMATION ......................................................................................................7
1.1 Overview...............................................................................................................8
1.2 Delivery.................................................................................................................8
1.3 Scope of supply....................................................................................................9
1.4 Certifications.........................................................................................................9
1.4.1 European EMC Directive...........................................................................................9
1.4.2 RoHS compliance .....................................................................................................9
1.5 Type code / Optional BUS modules ...................................................................10
1.6 Version with protection class IP55 / IP66...........................................................11
2 ASSEMBLY AND INSTALLATION ........................................................................................12
2.1 Installation and assembly ...................................................................................12
2.1.1 Overview of the EtherCAT modules........................................................................13
2.1.2 Installing the SK TU4-ECT Technology Unit... ........................................................14
2.2 Electrical connection ..........................................................................................16
2.2.1 Cable glands ...........................................................................................................16
2.2.2 Control connections ................................................................................................17
2.2.3 Configuration and addressing .................................................................................21
3 DISPLAYS AND DIAGNOSIS ................................................................................................23
3.1 LED displays.......................................................................................................23
3.1.1 Device-specific display versions .............................................................................23
3.1.2 Signal status LEDs..................................................................................................25
3.2 RJ12 Diagnostic socket......................................................................................28
4 COMMISSIONING...................................................................................................................30
4.1 Cable runs: topology ..........................................................................................30
4.2 Parameter settings of the frequency inverter .....................................................30
4.2.1 Parameter settings of the SK 200E frequency inverter ...........................................30
4.2.2 Parameterisation of the SK 500E frequency inverter ..............................................31
4.3 Integration into TwinCAT System Manager (Example) / Gateway mode...........31
4.4 XML File ............................................................................................................33
5 ETHERCAT DATA TRANSMISSION .....................................................................................34
5.1 NMT State Machine............................................................................................34
5.2 Process data (PDO communication)..................................................................35
5.2.1 Process data (PZD) in USS standard .....................................................................37
5.2.2 The status machine.................................................................................................41
5.3 Parameter data (SDO communication) ..............................................................43
5.3.1 Parameters according to EtherCAT ........................................................................43
5.3.2 Error codes – cancellation of parameter communication ........................................44
5.4 Examples............................................................................................................45
5.4.1 Configuration examples ..........................................................................................45
5.4.2 Example for switching the frequency inverter on and off.........................................46
5.5 Timeout monitoring.............................................................................................46
6 PARAMETERISATION ...........................................................................................................47
6.1 Parameterising the SK 200E frequency inverter ................................................47
6.1.1 Basic parameters (P100) ........................................................................................47
6.1.2 Control terminal parameters (P400)........................................................................48
6.1.3 Supplementary parameters (P500) .........................................................................50
6.1.4 Information parameters (P700) ...............................................................................54
6.2 Parameterisation of the bus module (SK TU4-…)..............................................56
6.2.1 BUS module standard parameters (P150) ..............................................................56
6.2.2 BUS module information parameters, general (P170) ............................................57
6.2.3 Module information parameters specific to the bus (P180) .....................................60