CANopen – Supplementary manual options for NORD - Frequency Inverters
6
BU 0060 GB-4112
Pos : 8 / Anl eit ung en/St euer module/I nhalts verz eichnis @ 0\ mod_1317978518480_388. doc x @ 4078 @ @ 1
Table of Contents
=== Ende der List e f ür T ext mar ke I nhalts verz eichnis ===
1.
Introduction ............................................................................................................................................... 11
1.1
General ............................................................................................................................................ 11
1.2
The bus system ................................................................................................................................ 11
1.2.1
CAN Bus ............................................................................................................................. 11
1.2.2
CANopen ............................................................................................................................ 11
1.2.3
CANnord ............................................................................................................................. 12
1.3
CAN for NORD frequency inverters ................................................................................................. 12
1.3.1
CAN Bus features, physics ................................................................................................. 12
1.3.2
CANopen features .............................................................................................................. 12
1.3.3
CANnord features ............................................................................................................... 12
1.4
Delivery ............................................................................................................................................ 12
1.5
Scope of delivery.............................................................................................................................. 13
1.6
Certifications .................................................................................................................................... 13
1.6.1
European EMC Directive .................................................................................................... 13
1.6.2
RoHS compliant .................................................................................................................. 13
1.7
Type code ........................................................................................................................................ 14
2.
Modules ...................................................................................................................................................... 15
2.1
Modular assemblies SK 5xxE .......................................................................................................... 15
2.1.1
SK 5xxE CANnord / CANopen, overview ........................................................................... 16
2.1.2
CANnord / CANopen, internal RJ45 connection (SK 511E and above) .............................. 17
2.1.3
RJ45 WAGO- Connection module ...................................................................................... 19
2.1.4
CANopen module, SK TU3-CAO ........................................................................................ 20
2.1.5
Installing ............................................................................................................................. 21
2.2
Modular units SK 700E (SK 750E) ................................................................................................... 22
2.2.1
SK TU1- CANnord / CANopen module, overview ............................................................... 23
2.2.2
CANnord module, SK TU1-CAN ......................................................................................... 23
2.2.3
CANopen module, SK TU1-CAO ........................................................................................ 24
2.2.4
Installation of the SK TU1 technology unit .......................................................................... 25
2.2.5
CANnord module, SK CU1-CAN ........................................................................................ 26
2.2.6
CANnord module, SK CU1-CAN-RJ ................................................................................... 27
2.2.7
Installation of the SK CU1-xxx customer unit...................................................................... 28
2.3
Modular units trio SK 300E and SK 750E ........................................................................................ 31
2.3.1
SK TU2- CANopen module, overview ................................................................................ 31
2.3.2
CANopen module, SK TU2-CAO ........................................................................................ 32
2.3.3
Installation of the SK TU2 technology unit .......................................................................... 33
2.3.4
Recommended connector and accessory components ...................................................... 34
3.
Bus Configuration ..................................................................................................................................... 37
3.1
Laying the bus cables ...................................................................................................................... 37
3.2
Cable material .................................................................................................................................. 37
3.3
Cable layout and shielding (EMC measures) ................................................................................... 38
4.
Communication and Protocol .................................................................................................................. 39
4.1
Processing of Process Data in the Frequency Inverter .................................................................... 39
4.1.1
Process data - General (PZD) ............................................................................................ 39
4.1.2
Control word (STW) ............................................................................................................ 40
4.1.3
Status word (ZSW) ............................................................................................................. 41
4.1.4
Frequency inverter status machine ..................................................................................... 42
4.1.5
Setpoint (SW) ..................................................................................................................... 44
4.1.6
Actual value (IW) ................................................................................................................ 46
4.1.7
Standardisation of setpoint / target values .......................................................................... 48
4.2
The CANnord protocol ..................................................................................................................... 49
4.2.1
Message objects ................................................................................................................. 49
4.2.2
Identifier .............................................................................................................................. 49
4.2.3
Identifier example ............................................................................................................... 50
4.2.4
Sequence of data transfer .................................................................................................. 50
4.2.5
Broadcast telegrams ........................................................................................................... 51
4.2.6
Parametrerisation in CAN mode ......................................................................................... 52
4.3
The CANopen protocol ..................................................................................................................... 56