pro fib us

Manual

Profibus DP

for NORDAC Frequency Inverters

SK TU1-PBR, -24V, -KL SK CU1-PBR

SK 700E / SK 750E

SK TU2-PBR, -24V trio SK 300E / SK 750E

SK TU3-PBR, -24V SK 500E / SK 520E / SK 530E

Profibus mc vector mc

Illustration of the units with options

BU 0020 GB

Getriebebau NORD GmbH & Co. KG

NORDAC Profibus DP Manual

2 BU 0020 GB

NORDAC Frequency Inverters

Safety and Operating Instructions for Drive Converters

(Compliant: Low voltage directive 73/23/EEC)

1. General information

During operation, drive converters can have, depending on their degree of protection, electrically live, uninsulated and possibly also moving or rotating parts as well as hot surfaces.

Inadmissibly removing the required covers, improper use, and incorrect installation or operation may result in severe damages and injuries.

See the documentation for further information.

Only qualified personnel are to carry out work involving transportation, installation and startup as well as maintenance (observe IEC 364 or CENELEC HD 384 or DIN VDE 0100 and IEC 664 or DIN VDE 0110 and national accident prevention regulations).

Qualified personnel in the context of these basic safety notes are persons familiar with installation, assembly, startup and operation of the product and who possess the necessary qualifications.

2. Proper use

Drive converters are components which are intended to be built into electrical systems or machines.

When being installed into machines, commissioning the drive converters (i.e. initiation of proper operation) is not permitted until it is determined that the machines comply with the provisions of EC directive 89/392/EEC (Machinery Safety Directive); EN 60204 should be observed.

Commissioning (i.e. initiation of proper operation) is only allowed upon compliance with the EMC directive (89/336/EEC).

The drive converters fulfil the requirements of the low voltage directive 73/23/EEC. They are subject to the standardized norms, series prEN 50178/DIN VDE 0160 in conjunction with EN 60439-1/ VDE 0660 part 500 and EN 60146/ VDE 0558.

The technical data and the information on electrical connection conditions are listed on the rating plate as well as in the documentation, and must be observed under all circumstances.

3. Transport, storage

You must observe the instructions on transportation, storage and proper handling.

4. Installation

Installation and cooling of the devices must take place according to the specifications in the relevant documentation.

Protect the drive converters from excessive stress. In particular, no components may be bent or insulating distances altered during transport and handling. Avoid contact with electronic components and contacts.

Drive converters contain electrostatically sensitive components, which are easily damaged through improper handling. Electrical components must not be mechanically damaged or destroyed (potential health risks).

5. Electrical connection

When working on live drive converters, the applicable national accident prevention rules must be complied with (e.g. VBG 4).

Electrical installation shall be carried out according to pertinent regulations (e.g. conductor cross sections, fusing, protective conductor / PE connection). Further instructions are found in the documentation.

You will find notes on EMC-compliant installation, such as shielding, earthing, arrangement of filters and routing of lines, in the documentation for the drive converter. These notes must also always be observed when using CE-marked drive converters. The compliance with limit values required by the EMC legislation is the responsibility of the manufacturer of the machine or system.

6. Operation

If necessary, systems including drive converters must be equipped with additional monitoring and protection devices according to the applicable safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents, etc.). Changes to the drive converters by means of the operating software are allowed.

Immediately after a drive converter has been disconnected from the voltage supply, no live components and power connections should be touched because capacitors can still be charged. Note the respective warning signs on the drive converter.

All protective covers must be kept closed during operation.

7. Maintenance and servicing

Refer to the manufacturer's documentation.

Note: This supplemental operating manual is only valid in conjunction with the product-specific operating manual delivered with each drive converter.

About this document

BU 0020 GB 3

Documentation

Description: BU 0020 GB

Mat. no.: 607 02 02

Unit series: Profibus DP for SK 300E, SK 500/520/530E, SK 700E, SK 750E, vector mc

Version list

Description of previous editions Software Release

Remarks

BU 0020 GB, February 2005 V. 1.0 R0 First edition, pilot series

BU 0020 GB, May 2006 V. 1.1 R0 Correction and initiation of the frequency inverter series SK 500/520E and SK 750E, right-angle plug for SK TU2-PBR-24V not possible (Chap. 2.2)

BU 0020 GB, August 2006

Mat. No. 607 02 02 / 3806

V. 1.1 R0 Parameter adjustment for SK 500/520/530E, correction of the recommended M8/M12 plug, SW2/3 and IW2/3 adjustment, correction P513 = 0,1s

Publisher


Rudolf- Diesel- Str. 1 D-22941 Bargteheide http://www.nord.com/

Telephone +49 (0) 45 32 / 401-0 Fax +49 (0) 45 32 / 401-555

Proper use of the frequency inverter

As a prerequisite to fault-free operation and fulfilment of warranty claims, you must adhere to the information in the operating manual. Therefore, you must first read the operating manualbefore starting work with the unit.

The operating manual contains important service notes. Keep it near the unit.

The Profibus module may only be used with the frequency inverter production series for which it is intended. Only the SK CU1-... modules used with SK 700E and SK 750E or the SK TU2-... with SK 300E and SK 750E may be used with the entire production series. Using this module on other units is not permitted and may lead to their destruction.

The Profibus modules and the associated frequency inverters are units intended for stationary installation in switching cabinets or decentralised assemblies. All specifications referring to the technical data and the permissible conditions where the unit is operated must be observed.

Commissioning (i.e. the initiation of proper use) is not permitted until it has been ensured that the machine complies with the EMC directive 89/336/EEC and that conformity with machine directive 89/392/EEC is established for the finished product (observe EN 60204).

Getriebebau NORD GmbH & Co. KG, 2006


4 BU 0020 GB

Table of contents

BU 0020 GB 5

1 INTRODUCTION........................................................6

1.1 General ............................................................6

1.2 The bus system ...............................................6

1.3 PROFIBUS DP used with NORDAC frequency inverters .........................6

2 SUBASSEMBLIES....................................................7

2.1 NORDAC SK 500E / 520E / 530E...................7

2.1.1 Profibus module SK TU3-PBR...........................8

2.1.2 Profibus module SK TU3-PBR-24V ...................8

2.1.3 Mounting the SK TU3 Technology box ..............9

2.2 NORDAC SK 700E........................................10

2.2.1 SK TU1-PBR ...................................................11

2.2.2 SK TU1-PBR-24V............................................11

2.2.3 Mounting the SK TU1 Technology box ............12

2.2.4 SK CU1-PBR...................................................13

2.2.5 Mounting the SK CU1 customer interface........14

2.3 NORDAC trio SK 300E/ 750E .......................17

2.3.1 SK TU2-PBR ...................................................18

2.3.2 SK TU2-PBR-24V............................................19

2.3.3 SK TU2-PBR-KL..............................................20

2.3.4 Subassembly status messages .......................20

2.3.5 Recommended plug components ....................21

2.3.6 Mounting the SK TU2 Technology box ............24

2.4 NORDAC vector mc ......................................25

2.4.1 Profibus module used with vector mc ..............26

2.4.2 Mounting the Technology box mc....................26

3 THE PROFIBUS PROTOCOL ............................... 27

3.1 Overview........................................................27

3.2 PROFIBUS masters ......................................27

4 BUS ARCHITECTURE........................................... 28

4.1 Laying the bus cables....................................28

4.2 Conductive material.......................................28

4.3 Cable routing and shielding (EMC measures) ...........................................28

4.4 Recommendations from the PROFIBUS Nutzerorganisation e.V. [PROFIBUS User Organisation] ....................29

5 SETTING PARAMETERS ......................................30

5.1 BUS parameter SK 300E/ 700E/ 750E/ vector mc ..................30

5.2 Bus parameters SK 500E/ 520E/ 530E .........35

5.3 Fault monitoring .............................................40

6 DATA TRANSFER..................................................41

6.1 Utility data structure .......................................41

6.2 PPO types......................................................42

6.2.1 PPO types SK 300E/ 700E/ 750E/ vector mc.. 43

6.2.2 PPO types SK 500E/ 520E/ 530E ................... 43

6.3 Process data (PZD) .......................................44

6.3.1 Process data with SK 300E/ 700E/ 750E/ vector mc.................... 44

6.3.2 Process data with SK 500E/520E/530E .......... 44

6.3.3 The control word.............................................. 45

6.3.4 The status word (ZSW) ................................... 46

6.3.5 Setpoint 1 (SW1) ............................................. 47

6.3.6 Second and third setpoint (SW2/3).................. 48

6.3.7 Actual value 1 (IW1) ........................................ 48

6.3.8 Actual value 2 and actual value 3 (IW2/3) ....... 49

6.4 The status machine .......................................49

6.5 Parameter section (PKW)..............................51

6.5.1 Parameter label (PKE) .................................... 51

6.5.2 Subindex (IND)................................................ 54

6.5.3 Parameter value (PWE) .................................. 54

7 SAMPLE TELEGRAMS..........................................55

7.1 Starting disabled Ready to start ................55

7.2 Enable with 50% setpoint value.....................56

7.3 Writing a parameter .......................................57

8 ADDITIONAL INFORMATION ...............................58

8.1 Device master data – GSD file ......................58

8.2 PROFIDRIVE standard parameters ..............58

8.3 Consistent data transfer.................................58

8.4 Repair ............................................................59

9 INDEX ......................................................................60

10 REPRESENTATIVES AND OFFICES .................62


6 We reserve the right to make technical changes BU 0020 GB

1 Introduction

1.1 General

This PROFIBUS DP documentation is only valid for the NORDAC trio SK 300E, SK 500E/ 520E/ 530E, SK 700E, SK 750E and vector mc series.

All basic units are delivered with a blank cover for the Technology box slot. The basic design includes no components for configuration or control.

A Profibus customer interface or a Profibus technology component (depending on the unit series) must be installed in order to establish communication with the Profibus DP.

1.2 The bus system

A multitude of differing automation devices can exchange data using Profibus. PLC, PC, operating and monitoring units are able to communicate via a single bus in serial bit mode. PROFIBUS DP is chiefly used in the area of communication between sensor and actuator, in which quick system reaction times are necessary. PROFIBUS DP is suitable as a replacement for cost-intensive parallel signal transmission using 24V and is suited for the transmission of measured values. This PROFIBUS variant, optimised for speed, is used for applications such as operating frequency inverters connected to automation devices.

In Germany, directives on data exchange have been defined in DIN 19245 parts 1 and 2 as well as in application specific supplements constituting part 3 of this standard. In the course of European field bus standardisation, PROFIBUS will be integrated into the European field bus standard EN 50170.

1.3 PROFIBUS DP used with NORDAC frequency inverters

Features:

Electrically isolated bus interfaces

Standard transfer rate up to 1.5Mbit/s, up to 12Mbit/s possible, depending on design.

Problem-free connection to the inverter using a 9-pin sub-D plug, an M12 round plug, screw terminals

(Technology box) or tension spring clamps (customer interface)

Status display with 2 LEDs (Technology box)

Problem-free programming of all frequency inverter parameters

Controlling the frequency inverter using the Profibus connection

Transmitting setpoint positions for SK 700E/750E with the PosiCon option

Transmitting the current frequency inverter status during operation

Up to 126 frequency inverters can be connected to one bus

2 Subassemblies

BU 0020 GB We reserve the right to make technical changes 7

2 Subassemblies

2.1 NORDAC SK 500E / 520E / 530E

By using various modules for display, control and configuration, the NORDAC SK 500E / 520E / 530E may be conveniently adapted to the most diverse requirements.

For simple operation, alpha-numeric display and operating modules may be used. For complex tasks, you may select from various connections to your PC or automation system.

The Technology box (Technology unit, SK TU3-...) is mounted externally on the frequency inverter. This allows easy access and means that it can be exchanged at any time.

As delivered, without the Technology box, 2 LEDs (green/red) are externally visible. These indicate the current unit status.

The green LED indicates that mains voltage is available. During operation, through a flash code that increases in speed, it indicates the degree of overload at the frequency inverter output.

The red LED indicates that faults are present by flashing with a frequency that corresponds with the numerical code of the fault (manual BU 0500, chap. 6).

LEDred/green



GND

RTS

6

15

9

+5V

A data

B data

SK TU3 Profibus module

The Profibus DP communication assemblies SK TU3-PBR and SK TU3-PBR-24V serve as interface units for drives of the unit series SK 500E/ 520E/ 530E onto higher-level automation systems via Profibus DP.

WARNING

NOTE

Installing or removing the modules should only take place when the power is disconnected. The slots may only be used for the designated modules.

It is not possible to mount a Technology box remote from the frequency inverter; it must be directly attached to the frequency inverter.

2.1.1 Profibus module SK TU3-PBR

This Profibus module is supplied internally with power from the frequency inverter. Thus, this Profibus slave is recognised by the master system only when the frequency inverter is connected to the mains supply.

Terminating resistor

The terminating resistor for the final bus slave is the Profibus standard plug.

A transfer rate of up to 1.5Mbit/s may be used.

2.1.2 Profibus module SK TU3-PBR-24V

This Profibus module is supplied with voltage via an external 24V connection. Thus, this Profibus slave is recognised by the master system even when the frequency inverter is not connected to the mains supply. The information required for this is set using a rotary coding switch. This information is transferred when the 24V supply is connected.

A transfer rate of up to 12Mbit/s may be used.

Connecting the power supply

The power supply is 24V DC 25% (terminal 45 = 24V, terminal. 46 = GND, approx. 100mA). The connection is made using screw terminals with a maximum cable cross section of 2.5 mm². When using flexible cables, conductor end sleeves should be used.

The socket assignment is identical to the SK TU3-PBR option.


The terminating resistor for the final bus slave is in the Profibus standard plug.

Profibus Status LEDs

BR (green) Bus Ready

BE (red) Bus Error

2 Subassemblies


Setting the PPO type

The rotary coding switch for the PPO type allows you to choose between the 4 PPO types (chap. 6.2). 1 to 4 means the address range 00 to 99; with +100, you can set addresses from 100 to 127.

When set to PGM, the value from parameter P507 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.

Setting the Profibus address

The Profibus addresses may be set as decimals (0 to 99) using the rotary coding switches, labelled "x10" and "x1".If the PPO switch is set to PGM, the value from parameter P509 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.

Notice: The settings made with the rotary coding switches are not transmitted to or saved in the frequency inverter.

NOTEThe cable shield must be connected to the functional ground

1 (normally, the electrically

conductive mounting platform) in order to avoid EMC interference in the unit.

Technology box: In order to achieve this, the Profibus plug should be comprehensively connected with the metal case of the D-sub plug and the functional ground in the cable shield.

2.1.3 Mounting the SK TU3 Technology box

Technology boxes are mounted as follows:

1. Disconnect mains voltage, observe waiting period.

2. Remove or slide the control terminal cover a little to the bottom.

3. Loosen the release on the lower edge of the blank cover and remove the cover with an upwardly turning motion. In some cases, the locking screw next to the latch will need to be removed.

4. Hook the Technology box on the upper edge and click it into place using light pressure. Be sure that the connector strip makes full contact. When needed, fix it into place with the screw (accessories kit).

5. Close the control terminal cover.

1 Electrical operating equipment is generally connected to a functional ground in systems and plants. As a piece of

operating equipment, the functional ground serves to discharge compensation and interference currents, and to secure EMC properties, so that it must be installed and used in terms of these high frequency technologies.



2.2 NORDAC SK 700E

By using various modules for display, control and configuration, the NORDAC SK 700E may be conveniently adapted to fulfil the most diverse requirements.

For simple operation, alpha-numeric display and operating modules may be used. For complex tasks, you may select from various connections to your PC or automation system.

The Technology box (Technology unit, SK TU1-...) is mounted externally on the frequency inverter. This makes it easily accessible and means that it can be replaced at any time.

Additionally, other modules (customer interfaces and special options) can be installed within the frequency inverter. These may be used to process digital and analogue signals; they are also suitable for speed control or positioning.

SK TU1 Profibus module

The Profibus DP communication subassemblies SK TU1-PBR and SK TU1-PBR-24V serve as interface units for drives of the unit series SK 700E onto higher-level automation systems through the Profibus DP.

WARNING

NOTE



2 Subassemblies


GND

RTS

6

15

9

+5V

A data

B data

2.2.1 SK TU1-PBR

This Profibus option is supplied internally with

power from the frequency inverter. Thus, this

Profibus slave is recognised by the master system

only when the frequency inverter is connected to

the mains supply.



A transfer rate of up to 1.5Mbit/s may be used.

2.2.2 SK TU1-PBR-24V

This Profibus option is supplied with voltage via an external 24V connection. Thus, this Profibus slave is recognised by the master system even when the frequency inverter is not connected to the mains supply. The information required for this is set using a rotary coding switch. This information is transferred when the 24V supply is connected.


Connecting the power supply

The power supply is 24V DC 25% (terminal 45 = 24V, terminal. 46 = GND, approx. 100mA). The 24V connection is made via insulation displacement connectors (IDC). The maximum cable cross section is 2.5 mm². When using flexible cables, conductor end sleeves should be used.

The socket assignment for the 9-pin D-Sub socket is identical to the SK TU1-PBR option.





When set to PGM, the value from parameter P507 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.


The Profibus addresses may be set as decimals (0 to 99) using the rotary coding switches PGM , labelled "x10"and "x1". If the PPO switch is set to PGM, the value from parameter P509 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.

Note: The settings made with the rotary coding switches are not transmitted into or saved in the frequency inverter. Until the end of 2005, "x16" hex-coding switches were used. This led to a differing determination of the bus address.


2 (normally, the electrically

conductive mounting platform) in order to avoid EMC interference in the unit.

Technology box: In order to achieve this, the Profibus plug should be solidly connected comprehensively with the metal case of the D-sub plug and the functional ground in the cable shield.

2 Electrical operating equipment is generally connected to a functional ground in systems and plants. As a piece of

operating equipment, the functional ground serves to discharge compensation and interference currents, and to secure EMC properties, so that it must be installed and used in terms of these high frequency technologies.

Profibus Status LEDs


BE (red) Bus Error





1. Switch off mains voltage, observe waiting period.

2. Remove the blank cover by pressing on the release on the upper and lower edge.

3. Use light pressure to press the Technology box onto the mounting surface until it audibly clicks into place.

WARNING

NOTE



700E

N O R D A C700E

N O R D A C

2 Subassemblies


Detail: DIP switch

2.2.4 SK CU1-PBR

In addition to the data connections, all bus customer interfaces also have conventional digital inputs and outputs.

The relay contact can transmit a braking control or also a warning to another system.

Various digital functions can be programmed for the input. The digital input is equipped to evaluate a temperature sensor with a switching threshold of 2.5V.

The bus terminating resistor (Rab) can be connected. To do this, both switches must be set at "On". A transfer rate of up to 1.5Mbit/s may be used.

NOTICE: All control voltages refer to a

common reference potential. The AGND /0V and GND /0V are linked within the unit.

Bus system data cable:

Profibus (terminal 81-82, PBR A/B)

SPC output: 2.5 ... 33V

Output relay: max. 2.0A 28V DC /230 V AC

Digital input 1 (P420)

Power supply: 5V, max. 300 mA

Power supply: 15V, max. 300mA

DIP switch for terminating resistor, only at this position with Profibus.

NOTICE:Internal 5V power supply

- do not use -

NOTICE: 83 RTS = ready to send... only required with a few

Profibus modules

X6.1

X6.2

X6.3

01 REL1.1

02 REL1.2

47 PBR +5V

48 PBR 0V

81 PBR A

82 PBR B

40 GND / 0V

41 VO +5V

83 PBR RTS

X6.4

81 PBR A

82 PBR B

90 SHIELD

21 DIG IN 1

42 VO +15V

RTA

RTB

3 Electrical operating equipment is generally connected to a functional ground in systems and plants. As a piece

of operating equipment, the functional ground serves to discharge compensation and interference currents, and to secure EMC properties, so that it must be installed and used in terms of these high frequency technology.


3

(normally, the electrically conductive mounting platform) in order to avoid EMC interference in the unit.

Profibus, SK CU1-PBR

Functions Maximum cross section

X6.1 Output relay 1.5 mm2

X6.2 Digital input 1.5 mm2

X6.3 Data lines 1.5 mm2

X6.4 Data lines, parallel 1.5 mm2



Kundenschnittstelle

Sondererweiterung

TechnologieboxVerrieglungsstift

CLOSED

OPEN

Verriegelung geschlossen

Verriegelung geöffnet

Customerinterface

Spezial extension

Technology unit Locking lever

Lock closed

Lock open

2.2.5 Mounting the SK CU1 customer interface

WARNING

NOTE

Only qualified personnel, carefully observing all safety and warning instructions, may install this device.




2. Remove the cover grid of the connection area by loosening 2 screws and either pry off (slots) or pull off the housing cover.

3. Move the locking lever to the "open" position.

4. Insert the customer interface into the upper guide rail with light pressure until it clicks into place.

5. Move the locking lever to the "closed" position.

6. Pull out the connection plug by pressing on the release and make the required connections. Next, insert the plug until it clicks into place.

7. Replace all covers.

2 Subassemblies


Removing the customer interface


2. Remove the cover grid of the connection area by loosening 2 screws and either pry off (slots) or pull off the housing cover

3. Move the locking lever to the "open" position.

4. Using a screwdriver (as shown), detach the customer interface from the locking position and, pull it out completely by hand.

5. Move the locking lever to the "closed" position.

6. Replace all covers.

NOTE

After installing, exchanging or removing modules, message E017, "Change to customer interface", will be displayed after the unit is switched on again.

This message can be immediately reset using the normal measures.



Different positions of the customer interface for units 30 kW and larger:

NOTE

WARNING


Never connect or disconnect the customer interface while it is supplied with power.

After installing, exchanging or removing modules, message E017, "Change to customer interface", will be displayed after the unit is switched on again

The procedure is the same as that described on the previous pages, except that there is no locking lever. Click the modules into place by pressing inward on the front edge.

... or different removal procedures for the customer interface for units 30 kW and larger:

Simply pry out, as shown, on the upper edge. If this is too difficult, simply loosen the hooks on the front edge.

NOTE: Be sure to pay attention that the network voltage is shut off and that a sufficient waiting time has elapsed.

Getriebebau NORDGmbH & Co. KG

D-22941 Bargteheide / Germany

Typ/Part-No: SK_XU1_POS 7820055/10C195890

Input: 6 x digital 15V / 24V

Output: 2 x relay 5A 250V~/AC1

Interface: 1 x encoder A,B,N RS422

1 x SSI DAT/CLK RS422

X10.1 X10.2 X10.3

5

DIG

IN

1

6 D

IG IN

2

7 D

IG IN

3

8 D

IG IN

4

11 +

15

V

1

RE

L1

.1

2

RE

L1

.2

3

RE

L2

.1

4

RE

L2

.2

9 D

IG IN

3

10 D

IG IN

4

12

0V

/ G

ND

13 S

SI C

LK

+

14 S

SI C

LK

-

15 S

SI D

AT

+

16 S

SI D

AT

-

17

+5

V

18 0

V /

GN

D

19 S

PU

R A

+

20 S

PU

R A

-

23 S

PU

R N

+

21 S

PU

R B

+

22 S

PU

R B

-

24 S

PU

R N

-

X10.3



Typ/Part-No/ID: SK_CU1_MLT 7820051/10C195890

Input: 2 x analog -10...10V / 0...20mA

6 x digital 15V / 24V

Output: 2 x analog 0...10V

2 x relay 5A 250V~/AC1

X2.1 X2.2 X2.3

11 V

RE

F 1

0V

12

AG

ND

/0V

14

AIN

1 +

16

AIN

2 +

17

AO

UT

1

21 D

IG IN

1

22

DIG

IN

2

23

DIG

IN

3

24

DIG

IN

4

42

VO

+15V

1 R

EL

1.1

2 R

EL

1.2

3 R

EL

2.1

4 R

EL

2.2

25

DIG

IN

5

26

DIG

IN

6

18

AO

UT

2

41

VO

+5V

40

GN

D/0

V

0/4

...2

0m

A (

ON

)

AIN 1

-10/0

...1

0V

(O

FF

)

0/4

...2

0m

A (

ON

)

AIN 2

-10/0

...1

0V

(O

FF

)

Customer interface

Specialextension



Typ/Part-No: SK_XU1_POS 7820055/10C195890

Input: 6 x digital 15V / 24V

Output: 2 x relay 5A 250V~/AC1

Interface: 1 x encoder A,B,N RS422

1 x SSI DAT/CLK RS422

X10.1 X10.2 X10.3

5

DIG

IN

1

6 D

IG IN

2

7 D

IG IN

3

8 D

IG IN

4

11 +

15

V

1

RE

L1

.1

2

RE

L1

.2

3

RE

L2

.1

4

RE

L2

.2

9 D

IG IN

3

10 D

IG IN

4

12

0V

/ G

ND

13 S

SI C

LK

+

14 S

SI C

LK

-

15 S

SI D

AT

+

16 S

SI D

AT

-

17

+5

V

18 0

V /

GN

D

19 S

PU

R A

+

20 S

PU

R A

-

23 S

PU

R N

+

21 S

PU

R B

+

22 S

PU

R B

-

24 S

PU

R N

-

X10.3



Typ/Part-No/ID: SK_CU1_MLT 7820051/10C195890

Input: 2 x analog -10...10V / 0...20mA

6 x digital 15V / 24V

Output: 2 x analog 0...10V

2 x relay 5A 250V~/AC1

X2.1 X2.2 X2.3

11 V

RE

F 1

0V

12

AG

ND

/0V

14

AIN

1 +

16

AIN

2 +

17

AO

UT

1

21 D

IG IN

1

22

DIG

IN

2

23

DIG

IN

3

24

DIG

IN

4

42

VO

+15V

1 R

EL

1.1

2 R

EL

1.2

3 R

EL

2.1

4 R

EL

2.2

25

DIG

IN

5

26

DIG

IN

6

18

AO

UT

2

41

VO

+5V

40

GN

D/0

V

0/4

...2

0m

A (

ON

)

AIN 1

-10/0

...1

0V

(O

FF

)

0/4

...2

0m

A (

ON

)

AIN 2

-10/0

...1

0V

(O

FF

)

Customer interface

Specialextension

2 Subassemblies


2.3 NORDAC trio SK 300E/ 750E

Technology boxes (Technology Unit) are optional subassemblies which bring increased functionality to the frequency inverter, adapting it to the application requirements. Whichever Technology box is used, the frequency inverter retains its high degree of protection.

SK TU2 Profibus modules

The Profibus DP communication subassemblies SK TU2-PBR, SK TU2-PBR-KL and SK TU2-PBR-24V serve as interface units for drives of the unit series trio SK 300E/750E with higher-level automation systems via the Profibus DP.

Technology box:

SK TU2-... Description Specifications

Profibus module

SK TU2-PBR

This interface enables the NORDAC trio SK 300E/ 750E to be controlled over the serial Profibus port.

2x 5 pin M12 system plug

Transfer rate up to 1.5Mbit/s

Profibus module

SK TU2-PBR-24V

This interface allows for the NORDAC trio SK 300E/ 750E to be controlled over the serial Profibus port.

2x 5 pin M12 system plug

1 power supply 24V/100mA, M8

Transfer rate up to 12Mbit/s

Profibus module

SK TU2-PBR-KL

This interface allows for the NORDAC trio SK 300E/ 750E to be controlled over the serial Profibus port.

8 pin screw terminal / Sub-D9 plug


WARNING

NOTE


A separate earthing wire should be used to earth each module.


Be sure to check for proper sealing after mounting is completed. (Do not forget the rubber seal).



2.3.1 SK TU2-PBR

2x M12, 5-pin plug

No additional power supply



The terminating resistor for the last bus slave can be connected to the output of the last frequency inverter as an end plug.

External M12 bus connection

Special connection accessories are required to connect an SK 300E / 750E with the Profibus option in an existing Profibus network. M12 connectors, which ensure the high IP55/66 type of protection, are used here. The M12 components recommended below are specially designed for Profibus applications. Shielding is provided, and the coding (B-coded) meets Profibus standards. When choosing a connector, be sure not to use the conventional A-coded M12 components.

Standard assignment

M12 pin Signal

1 + 5V

2 A data

3 GND

4 B data

5 Screen

2 Subassemblies


2.3.2 SK TU2-PBR-24V

This Profibus option is supplied with power via an external 24V connection (M8 round plug). Thus, this Profibus slave is recognised by the master system even when the frequency inverter is not connected to the mains supply. The information required for this is set using a rotary coding switch. This information is transferred when the 24V supply is connected.


Connection assignments 24V dc

M8 pin Signal

1 24V DC 25%

3 GND

4 n.c.

External M12 Bus connection

Special connection accessories are required to connect an SK 300E / 750E with the Profibus option in an existing Profibus network. M12 connectors, (straight), which ensure the high IP55/66 type of protection, are used here. The M12 components recommended below are specially designed for Profibus applications. Shielding is provided, and the coding (B-coded) meets Profibus standards. When choosing a connector, be sure not to use conventional A-coded M12 components.


The terminating resistor for the last bus slave can be connected to the output of the last frequency inverter as an end plug.

Rotary coding switches

The rotary coding switches are located under the corresponding screw covers.



When set to PGM , the value from parameter P507 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.


The Profibus addresses may be set as decimals (0 to 99) using the rotary coding switches, labelled "x10" (tens position) and "x1" (ones position); with +100, addresses from 100 to 127 may be set. When set to PGM, the value from parameter P509 of the frequency inverter is used. In this case, the frequency inverter must be supplied with power.

Example: Profibus address = 30dec = x10=3, x1=0

Note: The settings made with the rotary coding switches are not transmitted into or saved in the frequency inverter. Until the end of 2005, "x16" hex-coding switches were used. This led to a differing determination of the bus address.

NOTE

Only commercial straight M12 plugs and sockets may be used with the SK TU2-PBR-24V module. Angled plugs may not be used.

Standard assignments

M12 pin Signal

1 + 5V

2 A Data

3 GND

4 B Data

5 Screen



Resistor Network(Profibus)

engaged

not engaged

ON

OFF

2.3.3 SK TU2-PBR-KL

8 x 2.5 mm2 screw terminals

Terminating resistor network (220/390 ) can be connected.

Sub-D9 plug only for finished product testing.

The cable enters through the 2-piece M16 screw connection. There are thus no plug-in contacts outside of the housing. Commercial series terminals are used for this option. The high degree of protection (IP55/66) is effected with the cover/(lid).

The bus and data cables lie parallel to terminals 3 / 6 (A data) and 4 / 7 (B data). In this way, incoming and outgoing cables can be easily distinguished from one another. An additional 24V power supply is not necessary. The frequency inverter supplies the power.

A terminating resistor (220 ) and pull-up / pull-down resistors (390 ) for the last bus slave can be connected with the micro-switch.

SK TU2-PBR-KL terminals Signal

1 + 5V

2 GND

3 A data

4 B data

5 RTS

6 A data

7 B data

8 Screen

2.3.4 Subassembly status messages

To enable quick recognition, the Profibus module's communication status is shown by two LEDs. These indicate various states of the module and communication with colours and flashing cycles.

Further information about the status messages is found in chapter 5.3, "Fault monitoring".


4 (normally, the electrically conductive

mounting platform) in order to avoid EMC interference in the unit.

Technology box with D-sub plug: In order to achieve this, the Profibus plug should be solidly connected with the metal case of the D-sub plug and the functional ground in the cable shield.

4 Electrical operating equipment is generally connected to a functional ground in systems and plants. As a piece

of operating equipment, the functional ground serves to discharge compensation and interference currents, and to secure EMC properties, so that it must be installed and used in terms of high frequency technology.


BE (red) Bus Error

2 Subassemblies


2.3.5 Recommended plug components

M12 plug

B-coded

Item no. Supplier Description

straight angled

MURR Elektronik Plug M12 straight B-coded 6..8 mm 7000-14001-0000000 ---

LUMBERG Plug M12 straight B-coded 0976 PMC 101 ---

Binder Plug M12 B-coded 99 1437 810 05 ---

plug



M12 socket

B-coded

Item no. Supplier Description

straight angled

MURR Elektronik Socket M12 straight B-coded 6..8 mm 7000-14021-0000000 ---

LUMBERG Socket M12 straight B-coded 0976 PFC 101 ---

Binder Socket M12 B-coded 99 1436 810 05 ---

socket

2 Subassemblies



B-coded

Supplier Description Item no.

MURR Elektronik Bus terminating resistor M12 7000-14041-0000000

LUMBERG Profibus terminating resistor M12 0979 PTX 101

Binder --- ---

24V power supply

M8 socket

Supplier Description Item no.

LUMBERG M8 coupling with screw terminals RKMCK 3

Binder Sensor plug connector series 768 (M8x1), screw terminals

99-3400-100-03

Binder Cable socket extruded, screw connection, 3 m 79 3406 42 03

If needed, the manufacturers listed above can also provide pre-assembled Profibus cables.

NOTE / RECOMMENDATION: We recommend that you use pre-assembled M8 cable boxes for the 24V supply to the modules.

plug

socket




WARNING

NOTE






2. Remove the blank cover by loosening the 6 hexagonal socket screws.

3. Disconnect the PE (earthing) connection and fasten it securely to the Technology box.

4. Make sure that the plug-in contacts and cover seal are properly seated.

5. Place the Technology box into position and fasten screws firmly.

NOTE Pay attention to the earthing wire!

The plug-in earthing wire, which is provided on the metallic cover of the standard unit and on each Technology box, must not be disregarded. Be sure to connect this wire when you install the Technology box to ensure that the device is completely earthed and provides safe operation.

Earthing the cover plate

Mounting screws on the Technology box

2 Subassemblies


2.4 NORDAC vector mc

The NORDAC vector mc frequency inverter is normally provided without an operating module.

Parameters can only be set via the RS485 interface (control terminals) using USS protocol.

The following my be selected as an option:

o RS232 mc

o CANbus mc

o CANopen mc

o DeviceNet mc

o Profibus mc

o ControlBox mc (parameter setting / control panel)

o ParameterBox (Clear text control panel)

Please observe that there may be additional components or software necessary with the above subassemblies.

NOTEThe necessary parameter settings may be made using, for example, the ControlBox mc (option) or the RS485 customer interface with NORD CON software. The parameter numbers and values are displayed via the 4-digit, 7-segment LED display or the PC monitor.

It is possible to operate the RS485 interface with the Profibus mc module in parallel.

It is not possible to mount a Profibus mc module remote from the frequency inverter; it must be directly attached to the inverter.

NOTE on compatibility Current Profibus mc modules of version 2.1 or higher (see name plate) are only compatible with

NORDAC vector mc frequency inverters with software versions 27.4 and above (see parameter P707).

Older versions are not endorsed for the Profibus mc module and are only executable on older NORDAC vector mc frequency inverters.



Tech

nolo

gy

box

mc

2. 3.

1.

GND

RTS

6

15

9

+5V

A data

B data

2.4.1 Profibus module used with vector mc

The Profibus DP communication subassembly "Profibus mc" serves as interface units for drives of the unit series vector mc onto higher-level automation systems through the Profibus DP.

Transfer rate:

The standard design can be operated at a maximum of 1.5Mbit/s.

A 12Mbit/s variant is available upon special order (please note when ordering).

Terminating resistor:

The terminating resistor for the final bus slave is incorporated into the Profibus standard plug (not included in the delivery package).

WARNING

NOTE




2.4.2 Mounting the Technology box mc

The Profibus mc Technology box is mounted as follows:


2. Remove the blank cover by simply pressing on the upper edge.

3. First hook the Profibus mc module on the lower end and then on the upper end with light pressure towards the top and click it audibly into place.

In a short time after connection to the mains, the device is ready for operation.

vector mc

- side view -

3 Bus protocol


3 The Profibus protocol

3.1 Overview

The second level of the ISO/OSI model defines, among other things, the

- General format of telegrams required for data transfer

- Bus access procedures

- Backup mechanisms

- Times to be ensured

- Possible transfer services

There is little that the user can do to vary the structure of level 2, since almost all services are included in the PROFIBUS-ASICs available so far.

3.2 PROFIBUS masters

PROFIBUS masters are field units which initiate data exchange with field units operating as slaves. Within the bus configuration, a master has sole access rights to the slaves (if there are several devices with master status, when it has been assigned access rights).

Before the system is started up, all of the data that a PROFIBUS master requires to exchange data (e.g. the I/O

range) must be prepared and loaded into the master ( GSD / master file).

The main tasks of a master are to:

- Exchange data with the designated slaves

- Co-ordinate access to the bus

- Undertake fault handling

- Make the data from the slaves available to the user

The following transfer services are defined for the PROFIBUS DP:

- SRD: Send and request data with acknowledgement. In one message cycle, the master transmits output data to a slave and receives input data from the slave as an answer within the same cycle.

- SDN: Send data with no acknowledgement. Allows broadcast telegrams to be transmitted (unacknowledged telegrams).

PROFIBUS DP masters are available as:

- A subassembly within an PLC

- A CPU assembly with an integrated PLC unit

- A standard PC subassembly

- A stand-alone board



4 Bus architecture

One bus segment consists of a maximum of 32 slaves. Multiple segments can be joined together using repeaters. In this way, a total of 126 slaves can participate in the application data exchange. Note that reaction times increase as more slaves are added.

The physical requirements for data transfer using a twisted and shielded two-wire conductor, which a serial bus system is supposed to meet, are defined in the specifications of the interference-resistant RS485 interface.

4.1 Laying the bus cables

In an industrial environment, proper installation of the bus system is extremely important to reduce possible interference. The following points are meant to provide some helpful information on how you may avoid interference and other problems right from the start. These cable laying instructions cannot be comprehensive. You must still follow the applicable safety and accident prevention rules.

4.2 Conductive material

The frequency inverter is generally coupled to the PROFIBUS system by a twisted, schielded two-wire cable. This bus cable is specified as conductor type A in the EN 50 170 standard. In order for the guaranteed transfer rates and distances to be actually available and without interference, the specified cable parameters must be observed.

Based on the cable types described above, the following lengths of cable in a bus segment yield these results.

Transfer rate

[kBit/s]9.6 19.2 45.45 93.75 187.5 500 1500 3000 6000 12000

Cable length 1200 1200 1200 1200 1000 400 200 100 100 100

4.3 Cable routing and shielding (EMC measures)

If no measures are taken to ensure electromagnetic compatibility, high-frequency interference, which is mainly caused by switching operations or through lightning strokes, will often disturb the electronic components in devices connected to the bus. Thus, trouble-free operation cannot be guaranteed.

Shielding the bus cable in a technically proficient manner suppresses the electrical interference received from other devices in an industrial area. The measures listed below should help you obtain optimal shielding characteristics:

Keep the cable connection between devices connected to the bus no shorter than 1 m.

Route long connections between devices connected to the bus in the shortest way possible.

The bus cable shielding must be solidly connected to the plug housing on both ends.

Avoid using spur lines to connect field devices to the bus.

Avoid using plug-and-socket connectors to extend bus cables.

A minimum distance of 20 cm should be kept between bus cables and other lines which carry more that 60V. This applies to canlöe routing both inside and outside switching cabinets.

4 Bus architecture


Note: With the shielding connected at both ends, a compensating current, liable to damage electronic components, may flow if the earth potentials differ. Potential differences must be reduced by sufficient potential equalisation.

4.4 Recommendations from the PROFIBUS Nutzerorganisation e.V. [PROFIBUS User Organisation]

Please pay special attention to the information given in Profibus "Technical guidelines"

- "Installation Guidelines for PROFIBUS DP/FMS", September 1998, order no. 2.111.

- "Guideline Assembling" version 1.06, order no. 8.021/8.022

- "Guideline Commissioning" version 1.01, order no. 8.031/8.032

- Planning recommendations are being prepared

This technical information is available from the Internet in the download area at www.profibus.com/pb/.The pertinent files are found under "Installation Guide" ... "Handbook PROFIBUS Installation Guideline".



5 Setting parameters

In order for the frequency inverter to operate with the Profibus protocol, some settings must be made on the frequency inverter, in addition to the bus connection to the master.

The inverter parameters are mapped in the range 1000 to 1999 in the Profibus protocol. That means that

when configuring via the bus, you must add 1000 to the parameter numbers (e.g. P508 P1508).

5.1 BUS parameter SK 300E/ 700E/ 750E/ vector mc

To address the frequency inverter via Profibus, the Profibus address must be set in P508 and the PPO type in P507 or with the rotary coding switches on SK TU3-PBR-24V, both corresponding to the control configuration.

You can set the parameters for the frequency inverter at any time. The control signal source can be selected with the P509 (control word) parameter and the P510 (setpoint source) parameter. Telegram time-out P513 can be selected according to the bus system involved.

NOTE

Some parameters or parameter settings may be different or limited depending on the frequency inverter type and components involved.

Control terminal parameters

Parameter Setting value / Description / Note Availability with option

P480 ... - 01 ... ... - 10

Function bus I/O in bits Always visible

Bus I/O in bits are seen as digital inputs. Whose function is transmitted over the serial interface. You will find the functions for the bus in bits in the table of functions for the digital inputs P420...P425.

In order to use this function, one of the bus setpoints (P546, P547, P548) should be set at > Digital in bit 0...7 <. The desired function is then assigned to the corresponding bit.

[01] = Bus I/O in bit 0








[09] = Flag 1

[9] = Flag 2

0 ... 62

[ 12 ]

5 BUS Parameters SK 300E/ 700E/ 750E/ vector mc



P481 ... - 01 ... ... - 08

Function bus I/O out bits Always visible

Bus I/O out bits are seen as digital outputs. Whose function is transmitted over the serial interface. You will find the functions for the bus out bits in the table of functions for the digital outputs (relay function) P434...P441.

In order to use this function, one of the bus actual values (P543, P544, P545) should be set at > Digital out bit 0...7 <. The desired function is then to assigned to the corresponding bit.

[01] = Bus I/O out bit 0






[07] = Bus I/O out bit 6 / Flag 1


0 ... 38

[ 10 ]

P482 ... - 01 ... ... - 08

Normalisation: Bus I/O out bits Always visible

-400 … 400%

[ 100 ]

Adjustment of the limit values for the relay functions / bus out bits. With a negative value, the output function is reported negative.

The relay switch closes upon reaching the limit value and with positive setting values. The relay switch closes with negative setting values.

P483 ... - 01 ... ... - 08

Hysteresis: Bus I/O out bits Always visible

1 … 100%

[ 10 ]

The difference between the point in time for starting and stopping in order to avoid an oscillation in the output signal.

Additional parameters


P507 PPO type Always visible

1 ... 4

[ 1 ]PPO type used (see chap. 6)

P508 Profibus address Always visible

1 ... 126

[ 1 ]Profibus address




P509 Interface Always visible

0 ... 21

[ 0 ]

Selection of the interface which is used to control the inverter.

0 = Control terminal or keyboard control using the ControlBox (option), the ParameterBox (option) or the potentiometer option.

1 = Only control terminal. Controlling the frequency inverter is only possible through the 4 digital and the one analogue inputs.

8 = Profibus setpoint. The frequency setpoint is transferred via the Profibus. Control using the digital inputs remains active

9 = Profibus control word. The control signals (Enable, rotational direction,...) are transferred over the Profibus, while the setpoint is transferred via the analogue input or the fixed frequencies.

10 = Profibus. All of the control information is transferred via the Profibus. The analogue input and the digital outputs are inactive (except for some safety functions, see below).

P510 Interface: secondary setpoint Always visible

Selection of the interface which is used to control the inverter. 0 ... 6

[ 0 ]

onlySK 700/750E

0 = Auto: The secondary setpoint is automatically taken from the interface used to transmit the primary setpoint (see P509 >Interface<).

1 = USS

2 = CANbus

3 = Profibus

4 = InterBus

5 = CANopen

6 = DeviceNet

7 = reserved

P513 Telegram time-out Always visible

-0.1 / 0.0 /0.1 ... 100.0 s

[ 0.0 ]

This function monitors whichever bus interface is active. After a valid telegram has been received, the next one must arrive within the period of time set by this parameter. If this is not the case, the inverter signals a fault and disconnects, giving the fault message E010 >Bus time-out<.

Setting the value at 0 deactivates monitoring.

0.0 = off: Monitoring is switched off.

-0.1 = no error: The FI will continue to operate as programmed even when the communication between BusBox and FI is interrupted (e.g. 24V error, the box having been pulled off, ...).

Hinweis: Depending on the Bus-Master, this setting could be overwritten (inactive).

P543 (P) Bus – Actual value 1 Always visible

When the inverter is bus-controlled, feedback value 1 (IW1) is set by this parameter. 0 ... 12

[ 1 ] 0 = Off

1 = Actual frequency

2 = Actual speed

3 = Current

4 = Torque current

5 = Status of digital inputs and relays 4

6 = Actual position (only with posicon SK 700/750E)

7 = Setpoint position (only with posicon SK 700/750E)

8 = Setpoint frequency

9 = Fault code

10 = Actual position increment 5

(only with posicon SK 700/750E)

11 = Setpoint position increment 5

(only with posicon SK 700/750E)

12 = BUS I/O out bits 1-7

4 Assignment of the digital inputs for P543/ 544/ 545 = 5 for SK 700/750E

Bit 0 = DigIn 1 Bit 1 = DigIn 2 Bit 2 = DigIn 3 Bit 3 = DigIn 4

Bit 4 = DigIn 5 Bit 5 = DigIn 6 Bit 6 = DigIn 7 (POS or ENC) Bit 7 = DigIn 8 (POS)

Bit 8 = DigIn 9 (POS) Bit 9 = DigIn 10 (POS) Bit 10 = DigIn 11 (POS) Bit 11 = DigIn 12 (POS)

Bit 12 = Rel 1 Bit 13 = Rel 2 Bit 14 = Rel 3 (POS) Bit 15 = Rel 4 (POS) 5 The set-position or actual-position as for an 8192 line encoder.

5 BUS Parameters SK 300E/ 700E/ 750E/ vector mc





[ 0 ] This parameter is identical to P543.

PPO 2 or PPO 4 type (P507) is required.




PPO 2 or PPO 4 type (P507). is required.

P546 (P) Bus – Setpoint value 1 Always visible

0 ... 6

[ 1 ]

When the inverter is bus-controlled, this parameter allocates a function to the transmitted setpoint 1 (SW1).

0 = Off

1 = Setpoint frequency (16 bit)

2 = 16 bit setpoint position (only with posicon, SK 700E/750E option)

3 = 32 bit setpoint position (only with posicon, SK 700E/750E option and when PPO type 2 or 4 is selected).

4 = Control terminal posicon6 (only with posicon, SK 700E/750E, 16 bit option)

5 = Setpoint position (16 bit) increment (only with posicon SK 700E/750E)

6 = Setpoint position (32 bit) increment (only with posicon SK 700E/750E)


When the inverter is bus-controlled, this parameter allocates a function to the transmitted setpoint 2 (SW2).

0 ... 20

[ 0 ]0 = Off


2 = Torque current limit

3 = Actual frequency PID

4 = Frequency addition

5 = Frequency subtraction

6 = Current limit

7 = Maximum frequency

8 = Actual frequency PID-limited

9 = Actual frequency PID-monitored

10 = Torque

11 = Derivative action relating to torque

12 = Control terminal posicon6

(only with posicon using SK 700E/750E)

13 = Multiplication

14 = Process controller actual value

15 = Process controller setpoint

16 = Process controller derivative action

17 = BUS IO in bits 0-7

18 = Curve travel computer (only with posicon usingSK 700E/750E)

19 = Set relays (P541)

20 = Set analogue output (P542)


0 ... 20

[ 0 ]

When the inverter is bus-controlled, this parameter allocates a function to the transmitted setpoint 3

(SW3). This is identical to parameter P547, but it is only available if P546 3 and 6.

6

"Reference point tracking", "Teach-In" and "Reset position" can also be controlled via the additional bits:

Bit 0: Position array/Position increment array Bit 1: Position array/Position increment array Bit 2: Position array/Position increment array

Bit 3: Position array/Position increment array Bit 4: Position array/Position increment array Bit 5: Position array/Position increment array

Bit 6: Reference point tracking Bit 7: Reference point tracking Bit 8: Teach-In

Bit 9: Quit Teach-In Bit 10: Reset position



Information parameters


P745 Subassemblies version Always visible

0 ... 32767

Software version of the installed subassembly

Array level for SK 700/750E:

[01] Technology box:

[02] Customer interface

[03] Special expansion

P746 Subassembly status Always visible

0000 ... FFFF hex

Status of the installed subassemblies

Array level for SK 700/750E:

[01] Technology box:

[02] Customer interface

[03] Special expansion

NOTEUpon activation, the functions disable voltage, quick stop, remote control and faultacknowledgement are only available on the control terminal (local). To operate the drive, a "high" signal must be applied to the digital inputs which are used prior to the drive being released for operation.

5 Bus Parameters SK 500E/ 520E/ 530E


5.2 Bus parameters SK 500E/ 520E/ 530E

To address the frequency inverter via Profibus, the Profibus address must be set in P508 and the PPO type in P507 or with the rotary coding switches on SK TU3-PBR-24V, both corresponding to the control configuration.

You can set the parameters for the frequency inverter at any time. The control signal source can be selected with the P509 (control word) parameter and the P510 (setpoint source) parameters. Telegram time-out P513 can be selected according to the bus system involved.

NOTE

Some parameters or parameter settings may be different or limited depending on the frequency inverter type and components involved.

Control terminal parameters

Parameter Setting value / Description / Note Device Supervisor Parameter set

P480 ... - 01

... ... - 12

Function bus I/O in bits S

Bus I/O-In bits are seen as digital inputs, whose function is transmitted over the serial interface. You will find the functions for the bus in bits in the table of functions for the digital inputs P420...P425.

In order to use this function, one of the bus setpoints (P546, P547, P548) should be set at > Digital in bit 0...7 <. The desired function is then to assigned to the corresponding bit.

0 ... 62

[ 12 ]









[09] = Flag 1

[10] = Flag 2

[11] = Bit 8 bus control word

[12] = Bit 9 bus control word

P481 ... - 01

... ... - 10

Function bus I/O out bits S

Bus I/O-Out bits are seen as digital outputs, whose function is transmitted over the serial interface. You will find the functions for the bus out bits in the table of functions for the digital outputs (relay function) P434...P441.

In order to use this function, one of the bus actual values (P543, P544, P545) should be set at > digital out bit 0...7 <. The desired function is then to assigned to the corresponding bit.

0 ... 38

[ 10 ]









[09] = Bit 10 bus status word

[10] = Bit 13 bus status word




P482 ... - 01

... ... - 08

Normalisation: Bus I/O out bits S

-400 … 400%

[ 100 ]

Adjustment of the limit values for the relay functions / bus out bits. With a negative value, the output function is reported negative.

With positive setting values, the relay switch closes upon reaching the limit value. The relay switch opens with negative setting values.

P483 ... - 01

... ... - 08

Hysteresis: Bus I/O out bits S

1 … 100%

[ 10 ] The difference between the point in time for starting and stopping in order to avoid an oscillation in the output signal.

Additional parameters


P507 PPO type

1 ... 4

[ 1 ]PPO type used (see chap. 6)

P508 Profibus address

1 ... 126

[ 1 ]Profibus address

P509 Source: Control word

0 ... 9

[ 0 ]

Selection of the interface which is used to control the frequency inverter (FI).

0 = Control terminal or keyboard control ** using the ControlBox (if P510=0), the ParameterBox (not ext. p-box) or using bus I/O bits.

1 = Only control terminal.* Controlling the FI is only possible through the digital and analogue inputs or through bus. I/O bits.

2 = USS control word.* The control signals (enable, rotational direction,...) are transferred over the RS485 interface, while the setpoint is transferred via the analogue input or the fixed frequencies.

3 = CAN control word *

4 = Profibus control word *

5 = Interbus control word *

6 = CANopen control word *

7 = DeviceNet control word *

8 = reserved

9 = CAN Broadcast *

*) Keyboard control (ControlBox, ParameterBox) is disabled,parameters can still be set.

**) If communication is interrupted with the keyboard during control (time-out 0.5 sec.),the FI blocks without an error message.




P510 ... - 01

... - 02Source: Setpoint value S

Choosing the setpoint source to be configured:

[01] = Source: Main setpoint value [02] = Source: Secondary setpoint value

Selection of the interface which provides the FI with its setpoint value.

0 ... 8

[ 0 ]

0 = Auto: The source of the main and secondary set-point values is automatically derived from the para-meter setting P509 >Interface<.

1 = Control terminal: Digital and analogue inputs control the frequency, including the fixed frequencies.

2 = USS

3 = CAN

4 = Profibus

5 = InterBus

6 = CANopen

7 = DeviceNet

8 = reserved

P513 Telegram time-out S

-0.1 / 0.0 /0.1 ... 100.0 s

[ 0.0 ]

This function monitors whichever bus interface is active. After a valid telegram has been received, the next one must arrive within the period of time set by this parameter. If this is not the case, the inverter signals a fault and disconnects, giving the fault message E010 >Bus time-out<.

Setting the value at 0 deactivates monitoring.

0.0 = off: Monitoring is switched off.

-0.1 = no error: The FI will continue to operate as programmed even when the communication between BusBox and FI is interrupted (e.g. 24V error, the box having been pulled off, ...).

Hinweis: Depending on the Bus-Master, this setting could be overwritten (inactive).

P543 Bus – Actual value 1 S P

When the inverter is bus-controlled, feedback value 1 is set by this parameter. 0 ... 21

[ 1 ]

0 = Off

1 = Actual frequency

2 = Actual speed

3 = Current

4 = Torque current (100% = P112)

5 = State of digital inputs and outputs 5

6 = ... 7 reserved


9 = Fault code

10 = ... 11 reserved

12 = Bus I/O out bits 0...7


17 = Analogue input value 1 (P400)

18 = Analogue input value 2 (P405)

19 = Setpoint frequency master value (P503)

20 = Setpoint frequency acc. to ramp master value

21 = Actual frequency without slip master value


0 ... 21



5 Assignment of digital inputs for P543/ 544/ 545 = 5

Bit 0 = DigIn 1 Bit 1 = DigIn 2 Bit 2 = DigIn 3 Bit 3 = DigIn 4 Bit 4 = DigIn 5 Bit 5 = DigIn 6 Bit 6 = DigIn 7 Bit 7 = reserved Bit 8 = reserved Bit 9 = reserved Bit 10 = reserved Bit 11 = reserved Bit 12 = Out 1 Bit 13 = Out 2 Bit 14 = Out 3 Bit 15 = Out 4





0 ... 21



P546 Function Bus setpoint value 1 S P

When the inverter is bus-controlled, this parameter allocates a function to the transmitted setpoint 1.

0 ... 24

[ 1 ]

0 = Off

1 = Setpoint frequency (16 bit)

2 = Torque current limit (P112)

3 = Actual frequency PID

4 = Frequency addition

5 = Frequency subtraction

6 = Current limit (P536)

7 = Maximum frequency (P105)

8 = Actual frequency PID-limited

9 = Actual frequency PID-monitored

10 = Torque, servomode (P300)

11 = Derivative action relating to torque (P214)

12 = reserved

13 = Multiplication

14 = PI process controller actual value

15 = PI process controller setpoint

16 = PI process controller derivative action

17 = Digital in bits 0...7

18 = reserved

19 = Output state(P434/441/450/455 = 38)

20 = Analogue output value (P418 = 31)



0 ... 24



0 ... 24




Information parameters


P745 Subassemblies version

0.0 ... 999.9 Execution state for the subassemblies installed, but only when they have their own processor.

P746 Subassembly status

0000 ... FFFF (hex) Status of the installed subassemblies (when active).

NOTEWhen activated, the functions disable voltage, quick stop, remote control and fault acknowledgement are only available on the control terminal (local). To operate the drive, a "high" signal must be applied to the digital inputs which are used prior to the drive being released for operation.



5.3 Fault monitoring

The PROFIBUS module monitors the following functions:

Connection to the master: Faults, for example when the bus cable is pulled out.

Baud rate recognition

Process data reception from the PROFIBUS: After a valid telegram has been received, the next one must arrive within the period of time set by the frequency inverter parameter "USS time-out".

Process data reception from the inverter: If the connection to the frequency inverter is broken, a fault message (2 bytes: 0x02 0x04) is logged in the PROFIBUS telegram in the expanded diagnosis.

The state of the PROFIBUS subassembly can be read out in parameter P746. If you have a customer interface, this can be done using a Technology box or ControlBox. When using a Technology box, the parameter must be read out using an additional bus subassembly with a USS or CAN interface. With the Technology box, there are also 2 LEDs available for diagnosis (see below).

Parameter P746 is a subindex parameter. Subindex 0 shows the status of the PROFIBUS Technology box; Subindex 1 shows the status of the PROFIBUS customer interface.

The parameter contains binary-coded information, which is displayed in hexadecimals:

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Subassembly ID PROFIBUS=6 Subassembly ready

Connection to the master

Initialisation is active

Reserved (0)

Subassembly error

Time-out error

Reserved (0)

Reserved (0)

Technology box LED display:

The status of the PROFIBUS Technology box is indicated by the two built-in LEDs.

Green LED

BR Bus Ready

Red LED

BE Bus Error

Meaning

... flashing slowly = 1 Hz (1 sec. cycle), flashing quickly = 2 Hz (0.5 sec. cycle)

ON OFF Operation normal, data is transferred at cyclic intervals via the PROFIBUS.

flashing slowly OFF No process data has been received since initialisation

e.g. No connection to the master

flashing slowly brief illuminated PROFIBUS module initialisation (upon initialisation or change of a Profibus parameter on the frequency inverter).

flashing slowly ON Time-out in process data reception. The watchdog time configured by the Profibus master has expired. No new process data has been received for a maximum of 3 sec. (e.g. baud rate not recognised, cable interruption).

flashing slowly flashing slowly Time-out in process data reception: The time set in P513 has expired. No new process data has been received.

flashing slowly flashing quickly Software version 3.3 R0 and above

ON flashing slowly Up to software version 3.2 R0

Communication between the inverter and the PROFIBUS subassembly is inter-rupted

6 Data transfer


6 Data transfer

6.1 Utility data structure

This section describes the cyclic data traffic between the master and the inverter.

The utility data is divided into two categories:

PKW category (Configuration; Parameter- Kennung- Wert/"Parameter Label Value")

PZD category (Process data)

The PKW category of utility data allows for parameter values to be read and written. All tasks which are transferred using the PKW interface are generally tasks regarding configuration, monitoring and diagnosis.

The PZD (process data) category is used for controlling the frequency inverter. Control words, status words as well as setpoint and actual values are transferred in process data.

An access operation always consists of a task telegram and a reply telegram. Utility data is transferred from the master to the slave in the task telegram. Utility data is transferred from the slave to the master in the task telegram. The structure of both telegrams is the same.

MASTER SLAVE

parameter task control word + setpoint

parameter reply status wort + actual value

PKW section PZD section

task telegram

reply telegram

processing

Illustration: Telegram traffic / Utility data section structure

The process data is immediately processed in the frequency inverter (high priority) to enable quick responses to control commands or to notify the master of status changes without delay.

In contrast, a lower priority is assigned to the processing speed of PKW data. Therefore, it can take considerably longer to process them.



6.2 PPO types

The parameter process data object (PPO) is defined for cyclic data traffic. Using PPOs, both process data (PZD) and parameters (PKW) can be transferred from the master to the inverter. The frequency inverter can process PPO types 1, 2, 3 or 4.

Type Task

PPO1 Extended parameter telegram with 32 bits of parameter value and process data

PPO2Telegram with extended process data (main setpoint and two secondary setpoints) and 32 bits of parameter value

PPO3 Process data telegram with main setpoint, without parameter data

PPO4Telegram with extended process data with main setpoint and secondary setpoints, without parameter data.

PPO3 and PPO4 are pure process data objects for uses where no cyclic parameter processing is necessary.

Abbreviations used:

PPO Parameter process data object STW Control word

PKW Parameter label value ZSW Status word

PZD Process data SW1..3 Setpoint value 1-3

PKE Parameter label IW1..3 Actual value 1-3

IND Index

PWE Parameter value

Note: Usually, the only way for a stored program controller (PLC) to consistently transmit double words is to access I/O memory. Whenever longer data formats are to be transmitted (with PKW channels, always; with PZD data, when PPO2 or PPO4 types are involved) system functions must be used (e.g. SFC14, read consistent data; SFC15, write consistent data).

NOTE

Protocol definition requires that 6 words each be reserved for the process data (PZD) address range for PPO types 2 and 4. The last two words are not used for the process data telegrams; they are reserved for other uses.

6 Data transfer


6.2.1 PPO types SK 300E/ 700E/ 750E/ vector mc

The following table provides an overview of the PPO types that are supported.

PKW PZD

PKE IND PWE PWE PZD1 PZD2 PZD3 PZD4

STW SW1 SW3 SW2

ZSW IW1 IW3 IW2

1st word 2

nd word 3

rd word 4

th word 5

th word 6

th word 7

th word 8

th word

PPO 1

PPO 2

1st word 2

nd word 3

rd word 4

th word

PPO3

PPO4

6.2.2 PPO types SK 500E/ 520E/ 530E

The following table provides an overview of the PPO types that are supported. Please note the arrangement of SW2/SW3 and IW2/IW3.

PKW PZD

PKE IND PWE PWE PZD1 PZD2 PZD3 PZD4

STW SW1 SW2 SW3

ZSW IW1 IW2 IW3

1st word 2

nd word 3

rd word 4

th word 5

th word 6

th word 7

th word 8

th word

PPO 1

PPO 2

1st word 2

nd word 3

rd word 4

th word

PPO3

PPO4



6.3 Process data (PZD)

In the PZD process data section, control words and setpoint values are transferred from the master to the inverter, and, in response, the inverter sends status words and actual values to the master. The structure of the PZD range remains the same as far as the order of its elements (words) is the concerned. However, different terms are used

depending on the direction of data transfer (master inverter or inverter master.

The process data section of the utility data has the following structure:

- STW: Control word;length 16 bit, task telegram contains control bits (e.g. enable, quick stop, fault acknowledgement

- ZSW: Status word; length 16 bit, reply telegram contains status bits (e.g. FI working, fault)

- SW1...3: Setpoint values; maximum 3 possible, 16 or 32 bit, task telegram e.g. frequency setpoint, position setpoint, torque setpoint

- IW1...3: Actual values; maximum 3 possible, 16 or 32 bit, reply telegram e.g. actual frequency value, actual position value, actual torque value

6.3.1 Process data with SK 300E/ 700E/ 750E/ vector mc

1st word 2

nd word 3

rd word 4

th word

PZD section with 1x16 bit setpoint

STWZSW

SW1IW1

PP0 types 1.3

PZD section with up to 3 16 bit setpoints

STWZSW

SW1IW1

SW3IW3

SW2IW2

PP0 types 2.4

PZD section with 1x 32 bit setpoint and 1x 16 bit

STWZSW

SW1IW1

SW2IW2

PP0 types 2.4

6.3.2 Process data with SK 500E/520E/530E

1st word 2

nd word 3

rd word 4

th word

PZD section with 1x16 bit setpoint

STWZSW

SW1IW1

PP0 types 1.3

PZD section with up to 3 16 bit setpoints

STWZSW

SW1IW1

SW2IW2

SW3IW3

PP0 types 2.4

Note: 32 bit setpoints are composed of a high and a low word (each 16 bit).

6 Data transfer


6.3.3 The control word

In task telegrams, the control word (STW) is the first word transferred to the frequency inverter in the process data section.

PZD1 PZD2 PZD3 PZD4

STW SW1 SW2/3 SW2/3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Meaning of the individual bits:

Bit Value Meaning Remarks

0 0 OFF 1 Reverse with the brake ramp, with disconnection from supply at f=0Hz

1 ON Ready for operation

1 0 OFF 2 Cut off voltage; the inverter output voltage is switched off; the FI enters a state where switching on is disabled.

1 Operating condition OFF 2 is cancelled

2 0 OFF 3 Quick stop with programmed quick stop time; with disconnection from supply at f=0Hz; the FI switches to starting disabled condition.

1 Operating condition OFF 3 is cancelled

3 0 Disable operation Cut off voltage; the inverter output voltage is switched off; the FI enters a state where switching on is enabled.

1 Enable operation The output voltage is enabled; ramp to the setpoint applied

4 0 Lock ramp generator Ramp generator is set to zero; no disconnection from supply at f=0Hz; FI remains in the operation enabled state.

1 Operating condition Enable ramp generator

5 0 Stop ramp generator The setpoint currently provided by the ramp generator is "frozen" (frequency is maintained).

1 Enable ramp generator Enable setpoint on ramp generator

6 0 Disable setpoint Selected setpoint value is set to zero on the ramp generator.

1 Enable setpoint Selected ramp generator setpoint is activated.

7 0

1 Acknowledge A change of value from 0 to 1 begins acknowledgement of faults which are no longer active.

Notice: When a digital input has been programmed for the "ack.fault" function, this bit must not permanently be set to 1 via the bus (otherwise, edge evaluation would be prevented).

8 0/1 Reserved

9 0/1 Reserved

10 0 PZD invalid The transmitted process data is invalid

1 PZD valid Valid process data is being transferred from the master

Notice: If only setpoints are being transferred from the bus (setting: interface), this bit must be set in order for the transferred setpoint to become valid.

11 0

1 Rotational direction: right

Rotational direction right – ON

12 0

1 Rotational direction: left

Rotational direction left – ON

13 0/1 Reserved

14 0/1 Bit 0 to switch parameter set

15 0/1 Bit 1 to switch parameter set

00 = Parameter set 1






6.3.4 The status word (ZSW)

In inverter reply telegrams, the status word (ZSW) is the first word transferred to the frequency inverter in the process data section.

PZD1 PZD2 PZD3 PZD4

ZSW IW1 IW2/3 IW2/3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Meaning of the individual bits:

Bit Value Meaning Remarks

0 0 Not ready to start

1 Ready to start Initialisation completed, charging relay ON, output voltage disabled

1 0 Not ready for operation Causes: No command has been activated, fault is signalled, OFF2 or OFF3 activated, starting disabled state activated

1 Ready for operation ON command activated, no faults present. The inverter can be started with the command ENABLE OPERATION

2 0 Operation disabled

1 Operation enabled The output voltage is enabled; ramp to the existing setpoint

3 0 No fault

1 Fault Drive fault resulting in stoppage; this state is changed to starting disabled after the fault has been successfully acknowledged

4 0 OFF2 OFF2 command applied

1 No OFF2

5 0 AUS3 OFF3 command applied

1 No OFF3

6 0 Starting not disabled

1 Starting disabled Switches first to OFF1, then to ready-to-start status

7 0 No warning

1 Warning Drive operation continues, no acknowledgement necessary

8 0 Actual value not o.k. Actual value does not match setpoint (with posicon: failure to reach setpoint position)

1 Actual value o.k. Actual value matches required setpoint (setpoint has been reached)

(with posicon: setpoint has been reached

9 0 Local guidance Guidance on local device has been activated

1 Guidance requested The master has been requested to assume guidance.

10 0 Actual MFR 1 value below reference value

Programmed function of MFR 1 has not been executed or actual value < programmed reference value

1 MFR 1 value has been equalled

Programmed function of MFR 1 has been executed

or actual value > programmed reference value

11 0

1 Rotational direction: right

Inverter output voltage is turning right

12 0

1 Rotational direction: left

Inverter output voltage is turning left

13 0 Actual MFR 4 value below reference value

Only with SK 700E/750E with posicon extension Status MFR 4 = 0

1 MFR 4 value has been equalled

Only with SK 700E/750E with posicon extension Status MFR 4 = 1

14 0/1 Currently active parameter set 0

15 0/1 Currently active parameter set 1





6 Data transfer


6.3.5 Setpoint 1 (SW1)

The function of the 1st setpoint is selected in parameter P546. The following options are available:

Setpoint frequency (16 bit)

In setpoint 1, the setpoint frequency is always transferred as a 16 bit value. In a task telegram, setpoint 1 is transferred as the second word to the frequency inverter in the process data section.

PZD1 PZD2 PZD3 PZD4

STW SW1 SW2/3 SW2/3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The setpoint is transferred as an integral number corresponding to the value range from -32768 to 32767 (8000 hex to 7FFF hex). The value 16384 (4000 hex) is equivalent to 100%. The value C000 hex is equivalent to -100%. A 100% setpoint is equal to the maximum frequency set in the same parameter set (parameter P105).

Setpoint position (16 or 32 bits)

When the SK 700E has been fitted with the posicon special extension, the absolute setpoint position can be transferred in setpoint 1. The position can be transferred as either a 16 or 32 bit value with a resolution amounting to 1=0.001 revolutions. Alternatively, the information applied to the control terminals (with a posicon control bits setting) can be transferred in binary form.

16 bit setpoint position setting

The 16 bit value may have a value range from +32767 (= 32.767 revolutions) to -32768 (= -32.768 revolutions). The 16 bit setpoint position is transferred as the second word in the process data section (like the setpoint frequency, see above).

32 bit setpoint position setting

For a 32 bit value, the full position range of +/- 50000.000 revolutions is available. The 32 bit setpoint position is transferred as the second and third words in the process data section.

PZD1 PZD2 PZD3 PZD4

STW SW1 SW2

Posicon control bits setting:

A 16 bit value is transferred, representing the information applied to the posicon special extension control terminals. The setpoint position results from the position array or the position increment, respectively, as defined in the P610 setpoint mode.

The transferred bits have the following meaning (cf. BU 0710 operating instructions):

Bit 0-5 Bit0-bit5 position array / pos. increment

Bit 6 Reference point tracking

Bit 7 Reference point

Bit 8 Teach-in

Bit 9 Quit teach-in

Bit 10 Reset position



6.3.6 Second and third setpoint (SW2/3)

When PPO types 2 or 4 are used, in addition to setpoint 1, a 2nd

setpoint can be transmitted with the word PZD4, and a 3

rd with the word PZD3.

PZD1 PZD2 PZD3 PZD4

STW SW1 SW2/3 SW2/3

A third setpoint can only be transmitted if the first setpoint does not transfer a 32 bit setpoint.

PZD1 PZD2 PZD3 PZD4

STW SW1 SW2

The second and third setpoints are always 16 bits wide. The function of the second and third setpoints can be set in the inverter in parameter P547 "Function setpoint 2" or in P548 "Function setpoint 3".

Both setpoints are transferred as an integral number in the range from -32768 to 32767. The value 16384 (4000 hex) is equivalent to 100%. The value C000 hex is equivalent to -100%; hence, setpoints in the range from -200% to +200% can be transferred. A setpoint of 100% is equivalent to the respective nominal value.

Setting 100% corresponds to the:

Off

Setpoint frequency, PID actual frequency, PID actual frequency limited, PID actual frequency monitored, frequency addition, frequency subtraction, maximum frequency

Maximum frequency

Torque current limit Torque current limit (P112)

Current limit Inverter nominal current

Torque, servomode Nominal torque

Derivative action relating to torque Derivative action relating to torque (P214)

The posicon control bits can also be transferred here (cf. setpoint 1)

6.3.7 Actual value 1 (IW1)

The system provides for the actual frequency, which is the effective output frequency of the frequency inverter, to be transferred as the actual value 1, with a 16 bit value. In the inverter reply telegram, the actual value 1 is transferred to the master as the second word in the process data section.

PZD1 PZD2 PZD3 PZD4

ZSW IW1 IW2/3 IW2/3

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The actual value 1 is transferred as an integral number in the range from -32768 to 32767. In addition to the actual frequency, other current inverter values may also be transferred. The setting is made in P543 "Function actual value 1".

The "actual frequency", "actual speed", "current", and "torque current" settings are transferred as a percentage value of the respective rated quantity. The value 16384 (4000 hex) is equivalent to 100%. The value C000 hex is equivalent to -100%. Actual values in the range from -200% to +200% may be transferred.

6 Data transfer


The "Digital I/O status" setting can be used to transfer the status of the control terminals and the relays (MFR).

Bit Status

Bits 0-5 Digital input 1-6

Bits 6-11 with posicon special extension Digital input 7-12

Bits 6-11 with encoder special extension Digital input 13

Bits 12-15 Multi-function relays 1-4

The "actual position" and the "setpoint position" settings transfer the current absolute position. The resolution is 1=0.001 revolutions. If the value "setpoint position 32 bits" is set in parameter P546 "function setpoint 1", then the value of the setpoint position or actual position, respectively, is transferred as a 32 bit value in PZD2 and PZD3 as well.

PZD1 PZD2 PZD3 PZD4

ZSW IW1 IW2

6.3.8 Actual value 2 and actual value 3 (IW2/3)

If PPO types 2 or 4 are used for transfer, it is possible to transfer additional actual values to the control.

The actual value 2 (IW2) is transferred in PZD4. The value to be transferred can be selected in P544 (bus actual value 2). When the actual value 1 is not a 32 bit value, the actual value 3 (IW3) can be transferred in PZD3. The value to be transferred can be selected in P545 (bus actual value 3). The scaling is the same as that of actual value 1 (see above).

6.4 The status machine

The frequency inverter runs through a status machine. The transition between various statuses is triggered by related control commands in the process data control word. The current status is reported in the process data status word.

After the inverter is switched on, it is in the "starting disabled" status. This status can only be cleared by sending the command "Shutdown (off 1)".

The reply to a master telegram does not normally yet includes a response to the control command which was sent. The controller must further check the slave's replies to see if the control command was carried out.

The following bits indicate the frequency inverter's status:

Status Bit6

Starting disabled

Bit5

Quick stop

Bit4

Disable voltage

Bit3

Fault

Bit2

Operation enabled

Bit1

Ready for operation

Bit0

Ready to start

Not ready to start 0 X X 0 0 0 0

Starting disabled 1 X X 0 0 0 0

Ready to start 0 1 1 0 0 0 1

Switched on 0 1 1 0 0 1 1

Operation enabled 0 1 1 0 1 1 1

Fault 0 X X 1 0 0 0

Fault active 0 X X 1 1 1 1

Quick stop active 0 0 1 0 1 1 1



disable starting

ready to start

started

operation enabled

quick stop active

reaction to fault

active

fault

from any device status

3 4 5 6 8

4 5

5

not ready to start

inverter sw itch on

charging relay pulled in

fault

reaction to fault completed

Bit0 = 0: stop

& Bit1 = 1: enable voltage

& Bit2 = 1: enable pulses

(xxxx x1xx xxxx x110)

Bit 3 = 0: disable operation Bit0 = 1: start

Bit3 = 1: enable operation

Bit2 = 0: quick stop

Bit1 = 0: disable voltage

v Bit2 = 0: quick stop

priority of control commands:

1. disable voltage

2. quick stop

3. stop

4. enable operation

5. start

6. disable operation

7. reset fault

coding of states:

1: bit 0 = 0

2: bit 6 = 1

3: bit 0 = 1

4: bit 1 = 1

5: bit 2 = 1

6: bit 5 = 0

7: bit 2 & bit 3 = 1

8: bit 3 = 1

3

5

2 3

3 64

2

2

1

2

3 7

8

f=0 equalled

(quick stop completed)

Bit7 0 1

fault acknow ledgement

control bits:

0. ready to start / stop

1. enable / disable voltage

2. enable pulses / quick stop

3. enable / disable operation

4. operation condition / disable

ramp generator (RG)

5. enable / stop RG

6. enable / disable setpoint

7. fault acknow ledgement (0 1)

10. control data valid / invalid

11. positive phase sequence

12. negative phase sequence

14. parameter set bit 0

15. parameter set bit 1

4

5

6

Bit4 = 0: ramp dow n to quick stop and remain

in 'operation enable' condition

Bit5 = 0: keep frequency constant

Bit6 = 0: setpoint = 0%

Bit0 = 0: stop

5

Bit3 = 1: enable operation

& Bit0 = 1: start

2

Sequence of inverter states

2

6 Data transfer


6.5 Parameter section (PKW)

Parameter processing in cyclic data traffic can be accomplished using the PKW mechanism. To do this, the master formulates a task and the inverter formulates the answer. The parameter section is only used when PPO type 1 and PPO type 2 are used for the transfer.

The parameter section basically consists of a parameter label in which the type of task (write, read, etc.) and the related parameter are defined. Using the index, individual parameter sets or array elements may be addressed. The parameter value contains the word to be written or read.

Note: A parameter task must be repeated until the frequency inverter answers with the relevant reply telegram.

6.5.1 Parameter label (PKE)

Tasks or answers and the relevant parameters are encoded in the parameter label (PKE).

1 2 3 4

PKE IND PWE1 PWE2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

AK PNU

SP

M

The parameter label (PKE) is always a 16 bit value.

PNU: Bits 0 to 16 contain the required parameter number (PNU) or, in the frequency inverter reply telegram, the number of the current parameter.

Note: You will find the parameter number (PNU) for each frequency inverter series in the relevant operating manual.

The frequency inverter parameters are mapped in the range 1000 to 1999 in the Profibus protocol. That means that when setting parameters via the bus, you must add 1000 to the parameter numbers (e.g. P508

PNU=1508).

SPM: Bit 11 is the toggle bit for spontaneous messages. This function is not supported.

AK: Bits 12 to 15 contain the task label or the reply label.



The following table shows all tasks that can be transferred from the master to the frequency inverter. The right column contains the reply that is normally sent ("AK" reply label=positive). Depending on the task label, only certain reply labels are possible. In case of a fault (AK=negative), the frequency inverter always sends the master a value of 7 in the reply label (AK).

AK Function Reply label positive

0 No task 0

1 Request parameter value 1 / 2

2 Change parameter value (word) 1

3 Change parameter value (double word) 2

4 Reserved (request description element) -

5 Reserved (change description element) -

6 Request parameter value (array) 4 / 5

7 Change parameter value (array word) 4

8 Change parameter value (array double word) 5

9 Request number of array elements 6

10 Reserved -

11 Change parameter value (array double word)

Without writing in EEPROM

5

12 Change parameter value (array word)


4

13 Change parameter value (double word)


2

14 Change parameter value (word)


1

6 Data transfer


Meaning of the values sent in the reply label:

AK Function

0 No answer

1 Transfer parameter value (word)

2 Transfer parameter value (double word) *

4 Transfer parameter value (array word)

5 Transfer parameter value (array double word) *

7 Task not executable (with error number in PWE2)

* Only with PPO type 2 and PPO type 4

As long as a task has not been executed, the inverter delivers the reply from the previous task. You must always check in the master whether the reply received matches the task sent. The following may be used in the plausibility check: The value in the reply label (AK), the received parameter number (PNU) with the corresponding index (IND) as well as the current parameter value (PWE) for writing parameters.

Error messages when the task is not executable

When the reply label is "Task not executable" (AK=7), an error message is added to the inverter reply parameter value (PWE2). You can find the meaning of the transferred values in the following table.

No. Information

0 Invalid parameter number

1 Parameter value cannot be changed

2 Lower or upper value limit exceeded

3 Faulty subindex

4 No array

5 Invalid data type (currently only with SK 700E)

6 Can only be reset (only 0 may be written)

7 Description element cannot be changed

9 Description element not available

201 Invalid task element in the previously received task

202 Internal reply label cannot be displayed



6.5.2 Subindex (IND)

1 2 3 4

PKE IND PWE1 PWE2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

P1-P4 No information/all 0

Array 1-64 P1-P4

Subindex

The structure and function of the parameter index (IND) depends on the type of parameter being transferred. With values that are dependent on the parameter set, bits 8 and 9 of the index (IND) can be used to select the parameter set (0=parameter set 1, 1=parameter set 2, ...).

If you are working with parameters which are outside of an array parameter (e.g. a position array when using the posicon option), then you are also able to use bit 10 to bit 15 within the subindex of the required parameter (0=array element 1, 1=array element 2, ...) to call:

Array element Parameter set Index

5 (000101 BIN) 2 (01BIN) 15HEX = 0001 0101 BIN

21 (010101 BIN) 4 (11 BIN) 57HEX = 0101 0111 BIN

If a parameter is not dependent on a parameter set, then bits 8-15 are used for the subindex.

You can find the structure of the individual parameter and the values that may be called using the subindex in the operating manual.

When using the subindex, you must use task labels no. 6, 7, 8, or 11 and 12 (cf. chap. 6.5.1) in order for the subindex to be operative.

6.5.3 Parameter value (PWE)

The transfer of the parameter value (PWE) always happens as a word (16 bit) or a double word (32 bit), depending on the PPO type or the parameter. Each telegram can transfer only one parameter.

A 32 bit parameter value set consists of PWE1 (high-order word) and PWE2 (low-order word, 4th word). A 16 bit

parameter value is transferred in PWE2 with PPO1 and PPO2. With negative values, the high-order word must be set to FFFF hex.

Notice: 32 bit parameter values are only used with the posicon option). All of the relevant parameters are described in the posicon supplemental manual.

The parameter value is transferred as an integral value. When using parameters with a resolution of 0.1 or 0.01, multiply the parameter value with the resolution's reciprocal value.

Example: To set a ramp time of 99.99 seconds:

99.99s 99.99 * 1 / 0.01 = 99.99 * 100 = 9999 Thus, the value 9999 dec = 270F hex must be transferred.

7 Sample telegrams


7 Sample telegrams

The following presents some typical telegrams, which should illustrate the control and configuration of the frequency inverter using the Profibus.

7.1 Starting disabled Ready to start

A frequency inverter is to be changed from the "starting disabled" state (STW bit 0=0), which is active after the device is initialised, to the "ready to start" state (STW bit 0=1). Parameter set 1 is valid. Only the PZD channel is considered.

Procedure:

Check the last status word (ZSW 0B 70)

Generate the control word (STW 04 7E)

Check the reply telegram (ZSW 0B 31)

Details: Frequency inverter status word Frequency inverter is in starting disabled status

9 10 11 12

ZSW ZSW IW1 IW1

0B 70 00 00

Bit Value Value HEX Meaning

15 0 Parameter set bit 1 off

14 0 Parameter set bit 0 off

13 0 Reserved

12 0

0

Rotational direction left -- OFF

11 1 Rotational direction right -- ON

10 0 Below reference value

9 1 Bus control

8 1

B

Setpoint=actual value

7 0 No warning

6 1 Starting disabled

5 1 No quick stop

4 1

7

Voltage disabled

3 0 No fault

2 0 Operation disabled

1 0 Not ready for operation

0 0

0

Not ready to start

In order to change the inverter status to ready to start, the following telegram must be sent:

9 10 11 12

STW STW SW1 SW1

04 7E 00 00

Abbreviations:

PKW Parameter label value

PZD Process data

PKE Parameter label

IND Index

PWE Parameter value

STW Control word 1

ZSW Status word 1

SW1..3 Setpoint value

IW1..3 Actual value



When the inverter status has been changed to ready to start, it reports the follow reply telegram:

9 10 11 12

ZSW ZSW IW1 IW1

0B 31 00 00

Notice: The control telegram must be sent cyclically because the inverter may not change to the required status within the telegram reply time.

7.2 Enable with 50% setpoint value

A frequency inverter in "ready to start" status must be enabled for clockwise rotation with 50% of the setpoint value. The controller received the previous reply telegram as follows.

Procedure:

Check the last status word (ZSW 0A 31)

Generate the control word (STW 04 7F)

Check the reply telegram (ZSW 0F 37)

Details: Output condition (frequency inverter status word)

9 10 11 12

ZSW ZSW IW1 IW1

0B 31 00 00

The following telegram must be sent to the frequency inverter

9 10 11 12

STW STW SW1 SW1

04 7F 20 00

The inverter accelerates the motor on the ramp. When the frequency inverter reaches 50% of the setpoint value, it replies with the following telegram.

9 10 11 12

ZSW ZSW IW1 IW1

0F 37 20 00

Notice: The status of MFR 1 is reported in bit 10 of the reply telegram. Depending on the programmed function and status, the status word may contain a change.

7 Sample telegrams


7.3 Writing a parameter

When transferring parameter tasks, note that the slave does not immediately reply to the task in the master telegram parameter channel. Instead, a positive reply may be delayed by one or more communication cycles. The master must thus repeat the required task for as long as it takes to receive the corresponding slave reply.

The ramp-up time parameter (PNU = 102dec/66hex) for a frequency inverter must be set to 10 sec in parameter set 3. Only the PKW channel is considered.

Because the ramp-up time has an inverter-internal resolution of 0.01 sec, a parameter value of 10/0.01=1000 (3E8hex) must be transferred for 2 sec.

Procedure:

Select the parameter (P 102dec+1000=P 1102=P 44Ehex)

Select parameter set 3 (IND=02)

Set the parameter value (1000dec/3E8hex)

Check the reply telegram

Written in hexadecimals, the telegram consists of the following:

3 4 5 6 7 8 9 10

PKE PKE IND IND PWE PWE PWE PWE

24 4E 02 00 00 00 03 E8

When the inverter completes the task, it replies with

3 4 5 6 7 8 9 10

PKE PKE IND IND PWE PWE PWE PWE

14 4E 02 00 00 00 03 E8



8 Additional information

8.1 Device master data – GSD file

All of the characteristics of NORDAC PROFIBUS modules are summarised in a device master file (GDS file). The structure, content and coding of these device master data sets (GSD) is standardised. This enables convenient project planning using the NORDAC inverter with project devices from various manufacturers. The GSD file is available from Getriebebau Nord (www.nord.com).

There is one GSD file available for standard components up to 1.5 Mbaud and another available for special designs up to 12 Mbaud.

up to 1.5 Mbaud: NORD7531.GSD (module without 24V supply)

up to 12 Mbaud: NORD12M.GSD (module with 24V supply)

The PROFIBUS User Organisation e.V. archives this information for all manufacturers and makes it available on the Internet; download at (http:// www.profibus.com).

8.2 PROFIDRIVE standard parameters

The following parameters, which have been defined in the PROFIDRIVE profile, have been implemented in the PROFIBUS module:

PNU Comment

918 Address of user device

927 PKW operating priority (always 1, i.e. the PROFIBUS interface)

947 Fault number

The current fault number is stored in this parameter.

965 Profile number (3.0)

967 Control word

968 Status word

970 Load data set

When the parameter is set to 1, the factory settings are restored, and all bits used to effect a change are set to 0.

971 Save to non-volatile memory

(always occurs automatically)

These parameter numbers are not mapped.

8.3 Consistent data transfer

Usually, a stored program controller (PLC) can only transmit double words consistently by accessing I/O memory. Whenever longer data formats are to be transmitted (with PKW channels, always; with PZD data, when PPO2 or PPO4 types are involved) system functions must be used (e.g. SFC14, read consistent data; SFC15, write consistent data).

8 Additional information

BU 0020 GB 59

8.4 Repair

In case a repair is necessary, send the device to our local subsidiary or direct to the following address:

NORD Electronic DRIVESYSTEMS GmbH

Tjüchkampstr. 37

26605 Aurich, Germany

In case you have question about are repair, please contact:


Telephone: 49 (0)4532 / 401-437 or -518

Telefax: 49 (0)4532 / 401-555

When a frequency inverter or any of its accessories is sent in for repair, we cannot accept any responsibility for any parts which may be attached, such as line cables, potentiometers, external displays, etc.

Please remove all non-original parts from the frequency inverter.

NOTE

If possible, please state your reason for returning the part/device. Also, please provide the name of at least one contact person for any questions we may have.

This is important so that we may make repairs as quickly and efficiently as possible.


60 BU 0020 GB

9 Index

2

24V connection ....................................................8, 11

24V Connection .......................................................19

A

Abbreviations ...........................................................43

Actual value .............................................................48

B

Bus architecture .......................................................28

Bus cables ...............................................................28

BUS Error.................................................................20

BUS Ready ..............................................................20

C

Conductive material .................................................28

Control word.............................................................45

D

Data transfer ............................................................41

Device master data ..................................................58

Display and operation ................................................7

E

E017.................................................................. 15, 16

F

Fault monitoring .......................................................40

Functional ground ......................................................9

G

GSD file....................................................................58

Guidelines ................................................................29

L

LED display............................................................. 40

LEDs ....................................................................... 20

Low voltage directive .................................................2

M

M12 Connectors................................................ 18, 19

M12-Stecker- Komponenten................................... 21

M8-Stecker- Komponenten..................................... 21

P

Parameter section................................................... 51

PGM.................................................................. 11, 19

PKW........................................................................ 41

PPO type....................................................... 9, 11, 19

PPO types............................................................... 42

Process data ........................................................... 44

PROFIBUS Master.................................................. 27

Profibus mc ............................................................. 26

Profibus module ...................................................... 17

Profibus protocol ..................................................... 27

PZD......................................................................... 41

R

Repair...................................................................... 59

Rotary coding switches ................................. 9, 11, 19

9 Index

BU 0020 GB 61

S

Sample telegrams....................................................55

Setpoint....................................................................47

Setting parameters ..................................................30

Shielding ..................................................................28

SK 300E...................................................................17

SK 500E / 520E / 530E..............................................7

SK 700E...................................................................10

SK 750E...................................................................17

SK CU1-PBR ...........................................................13

SK TU1-PBR............................................................11

SK TU1-PBR-24V....................................................11

SK TU2-PBR......................................................17, 18

SK TU2-PBR-24V..............................................17, 19

SK TU2-PBR-KL ................................................17, 20

SK TU3-PBR..............................................................8

SK TU3-PBR-24V......................................................8

Status machine ........................................................49

Status messages .....................................................20

Status word..............................................................46

Stecker- Komponenten............................................21

Subindex..................................................................54

T

Technology boxes....................................................17

Terminating resistor M12.........................................23

trio SK 300E.............................................................17

U

Utility data structure .................................................41

V

vector mc .................................................................25


62 BU 0020 GB

10 Representatives and offices

N O R D Worldwide Subsidiaries:

Brasil

NORD Motoredutores do Brasil Ltda.

Rua Dr. Moacyr Antonio de Morais, 700 Parque Santo Agostinho Guarulhos – São Paulo CEP 07140-285

Tel.: +55-11-6402 88 55 Fax: +55-11-6402 88 30

[email protected]

Canada

NORD Gear Limited 41 West Drive Brampton, Ontario L6T 4A1

Tel.: +1-905-796 36 06 Tel.: +1-800-668 43 78 Fax: +1-905-796 81 30

[email protected]

Mexico

NORD GEAR CORPORATION Mexico Regional Office Av. Lázaro Cárdenas 1007 Pte. San Pedro Garza Garcia, N.L. México, C.P. 66266

Tel.: +52-81-8220 91 65 Fax: +52-81-8220 90 44

[email protected]

India

NORD Drivesystems Pvt. Ltd.

21 VEDAS CENTRE D.P. Road AUNDH Pune Maharashtra - 411 007

Tel.: +91-20-66 080 400 Fax: +91-20-25 888 872

[email protected]

Indonesia

PT NORD Indonesia Jln. Raya Serpong KM7, Kompleks Rumah Multi Guna Blok D-No. 1 Pakulonan, Serpong 15310 - Tangerang IN - West Java

Tel.: +62-21-53 12 22 22 Fax: +62-21-53 12 22 88 [email protected]

P.R. China

NORD (Beijing) Power Transmission Co. Ltd. No. 5, Tangjiacun, Guangqudonglu, Chaoyangqu CN - Beijing 100022

Tel.: +86-10-67 70 43 05 Fax: +86-10-67 70 43 30

[email protected]

P.R. China

NORD (Suzhou) Power Transmission Co.Ltd. No. 510 Changyang Street, Suzhou Ind. Park, Jiangsu, CN - 215021

Tel.: +86-512-85 18 02 77 Fax: +86-512-85 18 02 78

[email protected]

Singapore

NORD Gear Pte. Ltd. 33 Kian Teck Drive SGP – Jurong, Singapore 628850

Tel.: +65-6265-91 18 Fax: +65-6265-68 41

[email protected]

United States

NORD Gear Corporation 800 Nord Drive, P.O. Box 367 USA - Waunakee, WI 53597

Tel.: +1-608-849 73 00 Fax: +1-608-849 73 67 Fax: 800-373-NORD (6673)

[email protected]

Vietnam

NORD Gear Pte. Ltd Representative office Unit 401, 4F, An Dinh Building, 18 Nam Quoc Cang Street Pham Ngu Lao Ward District 1, Ho Chi Minh City, Vietnam

Tel.: +84-8 925 7270 Fax: +84-8 925 7271

[email protected]

10 Representatives and offices

BU 0020 GB 63

N O R D Subsidiaries in Europe:

Austria

Getriebebau NORD GmbH Deggendorfstr. 8 A - 4030 Linz

Tel.: +43-732-318 920 Fax: +43-732-318 920 85

[email protected]

Belgium

NORD Aandrijvingen Belgie N.V. Boutersem Dreef 24 B - 2240 Zandhoven

Tel.: +32-3-4845 921 Fax: +32-3-4845 924

[email protected]

Croatia

NORD Pogoni d.o.o. Obrtnicka 9 HR - 48260 Krizevci

Tel.: +385-48 711 900 Fax: +385-48 270 494

[email protected]

Czech. Republic

NORD Pohánèci Technika s.r.o Palackého 359 CZ - 50003 Hradec Králové

Tel.: +420-495 5803 -10 (-11) Fax: +420-495 5803 -12

[email protected]

Denmark

NORD Gear Danmark A/S Kliplev Erhvervspark 28 – Kliplev DK - 6200 Aabenraa

Tel.: +45 73 68 78 00 Fax: +45 73 68 78 10

[email protected]

Finland

NORD Gear Oy Aunankorvenkatu 7 FIN - 33840 Tampere

Tel.: +358-3-254 1800 Fax: +358-3-254 1820

[email protected]

France

NORD Réducteurs sarl. 17 Avenue Georges Clémenceau F - 93421 Villepinte Cedex

Tel.: +33-1-49 63 01 89 Fax: +33-1-49 63 08 11

[email protected]

Great Britain

NORD Gear Limited 11, Barton Lane Abingdon Science Park GB - Abingdon, Oxfordshire OX 14 3NB

Tel.: +44-1235-5344 04 Fax: +44-1235-5344 14

[email protected]

Hungary

NORD Hajtastechnika Kft. Törökkö u. 5-7 H - 1037 Budapest

Tel.: +36-1-437-0127 Fax: +36-1-250-5549

[email protected]

Italy

NORD Motoriduttori s.r.l. Via Newton 22 IT-40017 San Giovanni in Persiceto (BO)

Tel.: +39-051-6870 711 Fax: +39-051-6870 793

[email protected]

Netherlands

NORD Aandrijvingen Nederland B.V. Voltstraat 12 NL - 2181 HA Hillegom

Tel.: +31-2525-29544 Fax: +31-2525-22222

[email protected]

Norway

Nord Gear Norge A/S Solgaard Skog 7, PB 85 N-1501 Moss

Tel.: +47-69-206 990 Fax: +47-69-206 993

[email protected]

Poland

NORD Napedy Sp. z.o.o. Ul. Grottgera 30 PL – 32-020 Wieliczka

Tel.: +48-12-288 22 55 Fax: +48-12-288 22 56

[email protected]

Russian Federation

OOO NORD PRIVODY Ul. A. Nevsky 9 RU-191167 St.Petersburg

Tel.: +7-812-327 0192 Fax: +7-812-327 0192

[email protected]

Slowakia

NORD Pohony, s.r.o Stromová 13 SK - 83101 Bratislava

Tel.: +421-2-54791317 Fax: +421-2-54791402

[email protected]

Spain

NORD Motorreductores Ctra. de Sabadell a Prats de Llucanès Aptdo. de Correos 166 E - 08200 Sabadell

Tel.: +34-93-7235322 Fax: +34-93-7233147

[email protected]

Sweden

NORD Drivsystem AB Ryttargatan 277 / Box 2097 S - 19402 Upplands Väsby

Tel.: +46-8-594 114 00 Fax: +46-8-594 114 14

[email protected]

Switzerland

Getriebebau NORD AG Bächigenstr. 18 CH - 9212 Arnegg

Tel.: +41-71-388 99 11 Fax: +41-71-388 99 15

[email protected]

Turkey

NORD-Remas Redüktör San. ve Tic. Ltd. Sti.Tepeören Köyü TR - 34959 Tuzla – Istandbul

Tel.: +90-216-304 13 60 Fax: +90-216-304 13 69

[email protected]

Ukraine

GETRIEBEBAU NORD GmbH Repräsentanz Vasilkovskaja, 1 office 306 03040 KIEW

Tel.: + 380-44-537 0615 Fax: + 380-44-537 0615

[email protected]

Ma

t. N

r. 6

07

02

02

/ 3

80

6

NORD Offices in Germany


Rudolf- Diesel- Str. 1 22941 Bargteheide

Telephone 04532 / 401 - 0 Telefax 04532 / 401 - 253

[email protected]

www.nord.com

North Branch South Branch


Rudolf- Diesel- Str. 1 22941 Bargteheide


[email protected]


Katharinenstr. 2-6 70794 Filderstadt- Sielmingen


[email protected]

Bremen sales office


Stührener Weg 27 27211 Bassum


[email protected]

Nürnberg sales office


Schillerstr. 3 90547 Stein

Telephone 0911 / 67 23 11 Telefax 0911 / 67 24 71

[email protected]

Representative:

Hans-Hermann Wohlers Handelsgesellschaft mbH

Ellerbuscher Str. 179 32584 Löhne

Telephone 05732 / 40 72 Telefax 05732 / 123 18

[email protected]

Munich sales office


Untere Bahnhofstr. 29a 82110 Germering

Telephone 089 / 840 794 - 0 Telefax 089 / 840 794 - 20

[email protected]

West Branch East Branch


Großenbaumer Weg 10 40472 Düsseldorf


[email protected]


Leipzigerstr. 58 09113 Chemnitz


[email protected]

Butzbach sales office


Marie- Curie- Str. 2 35510 Butzbach


[email protected]

Berlin sales office


Heinrich- Mann- Str. 8 15566 Schöneiche

Telephone 030 / 639 79 413 Telefax 030 / 639 79 414

[email protected]

pro fib us

Documents

e trio sk

live drive converters

profibus mc sk

sk cu1pbr sk tu2pbr

sk tu3pbr

drive converterscompliant

proper use drive converters

installation installation