NORD Drivesystems BU0060 - Manual (Page 6)

CANopen – Supplementary manual options for NORD - Frequency Inverters
6 BU 0060 GB-4112
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Table of Contents
=== Ende der List e f ür T ext mar ke I nhalts verz eichnis ===
1. Introduction ............................................................................................................................................... 11
1.1 General ............................................................................................................................................ 11
1.2 The bus system ................................................................................................................................ 11
1.2.1 CAN Bus ............................................................................................................................. 11
1.2.2 CANopen ............................................................................................................................ 11
1.2.3 CANnord ............................................................................................................................. 12
1.3 CAN for NORD frequency inverters ................................................................................................. 12
1.3.1 CAN Bus features, physics ................................................................................................. 12
1.3.2 CANopen features .............................................................................................................. 12
1.3.3 CANnord features ............................................................................................................... 12
1.4 Delivery ............................................................................................................................................ 12
1.5 Scope of delivery.............................................................................................................................. 13
1.6 Certifications .................................................................................................................................... 13
1.6.1 European EMC Directive .................................................................................................... 13
1.6.2 RoHS compliant .................................................................................................................. 13
1.7 Type code ........................................................................................................................................ 14
2. Modules ...................................................................................................................................................... 15
2.1 Modular assemblies SK 5xxE .......................................................................................................... 15
2.1.1 SK 5xxE CANnord / CANopen, overview ........................................................................... 16
2.1.2 CANnord / CANopen, internal RJ45 connection (SK 511E and above) .............................. 17
2.1.3 RJ45 WAGO- Connection module ...................................................................................... 19
2.1.4 CANopen module, SK TU3-CAO ........................................................................................ 20
2.1.5 Installing ............................................................................................................................. 21
2.2 Modular units SK 700E (SK 750E) ................................................................................................... 22
2.2.1 SK TU1- CANnord / CANopen module, overview ............................................................... 23
2.2.2 CANnord module, SK TU1-CAN ......................................................................................... 23
2.2.3 CANopen module, SK TU1-CAO ........................................................................................ 24
2.2.4 Installation of the SK TU1 technology unit .......................................................................... 25
2.2.5 CANnord module, SK CU1-CAN ........................................................................................ 26
2.2.6 CANnord module, SK CU1-CAN-RJ ................................................................................... 27
2.2.7 Installation of the SK CU1-xxx customer unit...................................................................... 28
2.3 Modular units trio SK 300E and SK 750E ........................................................................................ 31
2.3.1 SK TU2- CANopen module, overview ................................................................................ 31
2.3.2 CANopen module, SK TU2-CAO ........................................................................................ 32
2.3.3 Installation of the SK TU2 technology unit .......................................................................... 33
2.3.4 Recommended connector and accessory components ...................................................... 34
3. Bus Configuration ..................................................................................................................................... 37
3.1 Laying the bus cables ...................................................................................................................... 37
3.2 Cable material .................................................................................................................................. 37
3.3 Cable layout and shielding (EMC measures) ................................................................................... 38
4. Communication and Protocol .................................................................................................................. 39
4.1 Processing of Process Data in the Frequency Inverter .................................................................... 39
4.1.1 Process data - General (PZD) ............................................................................................ 39
4.1.2 Control word (STW) ............................................................................................................ 40
4.1.3 Status word (ZSW) ............................................................................................................. 41
4.1.4 Frequency inverter status machine ..................................................................................... 42
4.1.5 Setpoint (SW) ..................................................................................................................... 44
4.1.6 Actual value (IW) ................................................................................................................ 46
4.1.7 Standardisation of setpoint / target values .......................................................................... 48
4.2 The CANnord protocol ..................................................................................................................... 49
4.2.1 Message objects ................................................................................................................. 49
4.2.2 Identifier .............................................................................................................................. 49
4.2.3 Identifier example ............................................................................................................... 50
4.2.4 Sequence of data transfer .................................................................................................. 50
4.2.5 Broadcast telegrams ........................................................................................................... 51
4.2.6 Parametrerisation in CAN mode ......................................................................................... 52
4.3 The CANopen protocol ..................................................................................................................... 56