NORD Drivesystems BU0570 - Manual (Page 4)

EtherCAT bus module for NORD frequency inverters SK 5xxE
4 Subject to technical amendments BU 0570 GB-0312
1 INTRODUCTION ...................................................................................................................... 6
1.1 General information ............................................................................................. 6
1.2 The bus system ................................................................................................... 6
1.3 Delivery................................................................................................................ 7
1.4 Scope of supply ................................................................................................... 7
1.5 Certifications........................................................................................................ 7
1.5.1 European EMC Directive .......................................................................................... 7
1.5.2 RoHS compliance ..................................................................................................... 7
1.6 Identification System ........................................................................................... 7
2 MODULES................................................................................................................................ 8
2.1 SK 5xxE frequency inverters ............................................................................... 8
2.2 EtherCAT - BUS Module ..................................................................................... 9
2.2.1 Mounting................................................................................................................... 9
2.2.2 Technical data ........................................................................................................ 10
2.2.3 Connections............................................................................................................ 10
2.2.4 Status display via LED............................................................................................ 11
3 COMMISSIONING.................................................................................................................. 13
3.1 Cabling............................................................................................................... 13
3.1.1 Topology................................................................................................................. 13
3.1.2 EMC........................................................................................................................ 13
3.2 Commissioning the bus module ........................................................................ 14
3.2.1 Connecting the bus module .................................................................................... 14
3.2.2 Parameter settings of the frequency inverter .......................................................... 14
3.3 Configuration in the Bus system........................................................................ 15
3.3.1 Integration into TwinCAT System Manager (Example) ........................................... 15
3.3.2 Addressing.............................................................................................................. 16
4 COMMUNICATION ................................................................................................................ 17
4.1 NMT State Machine........................................................................................... 17
4.2 Process data...................................................................................................... 18
4.2.1 Process data structure............................................................................................ 18
4.2.2 Control word ........................................................................................................... 19
4.2.3 Status word............................................................................................................. 20
4.2.4 FI Status Machine................................................................................................... 21
4.2.5 Setpoint and actual values...................................................................................... 23
4.2.6 Beispiel für FU das Ein- / Ausschalten des Frequenzumrichters ............................ 24
4.2.7 Timeout monitoring ................................................................................................. 24
4.3 Parameterübertragung EtherCAT ..................................................................... 25
4.3.1 Ablauf der Parameterübertragung .......................................................................... 25
4.3.2 Error codes for SDO parameter access.................................................................. 25
4.4 XML File............................................................................................................. 27
5 PARAMETER ......................................................................................................................... 28
5.1 Parameterisation of the EtherCAT module SK TU3-ECT ................................. 28
5.1.1 EtherCAT parameters............................................................................................. 28
5.1.2 BUS module standard parameters (P15x) .............................................................. 28
5.1.3 BUS module information parameters, general (P17x) ............................................ 29
5.1.4 BUS module information parameters, bus-specific (P18x) ..................................... 30
5.2 SK5xxE inverter parameters (selection)............................................................ 31
5.2.1 Extra functions ........................................................................................................ 31
5.2.2 Information parameters........................................................................................... 34