NORD Drivesystems BU0260 - Manual (Page 7)

Table of Contents
BU 0260 GB 7
6 ERROR MONITORING AND ERROR MESSAGES ............................................................... 76
6.1 Error monitoring .................................................................................................. 76
6.1.1 Error monitoring details ........................................................................................... 76
6.1.2 EMCY message ..................................................................................................... 78
6.2 Error messages .................................................................................................. 79
6.2.1 Table of possible error messages (caused by the bus) in the frequency inverter ... 79
6.2.2 Table of possible error messages in the bus module .............................................. 80
7 CANOPEN DATA TRANSFER ............................................................................................... 81
7.1 Protocol .............................................................................................................. 81
7.2 Structure of reference data in USS standard ..................................................... 81
7.2.1 Process data (PZD) in USS standard ..................................................................... 83
7.2.2 The status machine ................................................................................................. 87
7.3 Structure of reference data in the standard drive profile (DS402) ..................... 89
7.4 Examples ............................................................................................................ 89
7.4.1 Configuration examples .......................................................................................... 89
7.4.2 Example telegrams ................................................................................................. 93
8 ADDITIONAL INFORMATION ................................................................................................ 98
8.1 Bus configuration ................................................................................................ 98
8.1.1 Laying of the CAN/CANopen bus cables ................................................................ 98
8.1.2 Cable material ......................................................................................................... 98
8.1.3 Cable layout and shielding (EMC measures) .......................................................... 99
8.1.4 CiA (CAN in Automation) recommendations ........................................................... 99
8.2 Cable glands and shielding connections .......................................................... 100
8.2.1 Fixed connection (cable gland) ............................................................................. 100
8.2.2 Connection with M12 round plug connectors ........................................................ 101
8.2.3 Round plug connector ........................................................................................... 101
8.3 CANopen technology and protocol .................................................................. 105
8.3.1 Overview /Protocol architecture ............................................................................ 105
8.3.2 Overview /Communication possibilities ................................................................. 106
8.4 System bus ....................................................................................................... 107
8.5 Repairs ............................................................................................................. 108
9 INDEX .................................................................................................................................... 109
10 KEYWORD INDEX .............................................................................................................. 112
11 REPRESENTATIVES / BRANCHES .................................................................................. 114