Document Outline

• Safety and operating instructions for drive power converters
• Documentation
• Version list
• Publisher
• Intended use of the frequency inverter
• Table of Contents
• List of illustrations
• List of tables
• 1. Introduction
  • 1.1 General
  • 1.2 The bus system
    • 1.2.1 CAN Bus
    • 1.2.2 CANopen
    • 1.2.3 CANnord
  • 1.3 CAN for NORD frequency inverters
    • 1.3.1 CAN Bus features, physics
    • 1.3.2 CANopen features
    • 1.3.3 CANnord features
  • 1.4 Delivery
  • 1.5 Scope of delivery
  • 1.6 Certifications
    • 1.6.1 European EMC Directive
    • 1.6.2 RoHS compliant
  • 1.7 Type code
• 2. Modules
  • 2.1 Modular assemblies SK 5xxE
    • 2.1.1 SK 5xxE CANnord / CANopen, overview
    • 2.1.2 CANnord / CANopen, internal RJ45 connection (SK 511E and above)
      • Control block X9 and X10 – CAN / CANopen
    • 2.1.3 RJ45 WAGO- Connection module
    • 2.1.4 CANopen module, SK TU3-CAO
    • 2.1.5 Installing
  • 2.2 Modular units SK 700E (SK 750E)
    • 2.2.1 SK TU1- CANnord / CANopen module, overview
    • 2.2.2 CANnord module, SK TU1-CAN
    • 2.2.3 CANopen module, SK TU1-CAO
    • 2.2.4 Installation of the SK TU1 technology unit
    • 2.2.5 CANnord module, SK CU1-CAN
      • SK CU1CAN terminal assignment
    • 2.2.6 CANnord module, SK CU1-CAN-RJ
      • SK CU1CAN-RJ terminal assignment
    • 2.2.7 Installation of the SK CU1-xxx customer unit
      • Installing the customer unit
      • Removing the customer unit
      • Deviating position of the customer unit for SK 700E above 30 kW and all SK 750E devices
  • 2.3 Modular units trio SK 300E and SK 750E
    • 2.3.1 SK TU2- CANopen module, overview
    • 2.3.2 CANopen module, SK TU2-CAO
    • 2.3.3 Installation of the SK TU2 technology unit
      • Installing the technology unit
    • 2.3.4 Recommended connector and accessory components
      • M12 round plug CAN connector
        • M12 connector
        • M12 socket
        • M12 termination resistor
        • M12- T connectors
        • Installation tools for M12 round plug connectors
• 3. Bus Configuration
  • 3.1 Laying the bus cables
  • 3.2 Cable material
  • 3.3 Cable layout and shielding (EMC measures)
• 4. Communication and Protocol
  • 4.1 Processing of Process Data in the Frequency Inverter
    • 4.1.1 Process data - General (PZD)
    • 4.1.2 Control word (STW)
    • 4.1.3 Status word (ZSW)
    • 4.1.4 Frequency inverter status machine
    • 4.1.5 Setpoint (SW)
      • Setpoint frequency (16 bit)
      • Setpoint position (16 or 32 Bit)
      • Setpoints 2 and 3
      • Setpoints 4 and 5
    • 4.1.6 Actual value (IW)
      • Actual value 2 and 3
      • Actual value 4 and 5
    • 4.1.7 Standardisation of setpoint / target values
  • 4.2 The CANnord protocol
    • 4.2.1 Message objects
    • 4.2.2 Identifier
    • 4.2.3 Identifier example
    • 4.2.4 Sequence of data transfer
    • 4.2.5 Broadcast telegrams
    • 4.2.6 Parametrerisation in CAN mode
      • Parameter label (PKE)
      • Meanings of the values sent in the order label,:
      • Meanings of the values sent in the response label,:
      • Error messages if the order cannot be executed
      • Sub-index (IND)
      • Parameter value (PWE)
  • 4.3 The CANopen protocol
    • 4.3.1 Network Management (NMT)
    • 4.3.2 Drive profile DS 402
    • 4.3.3 Process data transfer in CANopen mode (PDO communication)
      • PDO operating modes (transmission type)
      • PDO mapping
        • PDO mapping SK 300E, SK 5xxE (SK TU3…), SK 700E, SK 750E
        • PDO mapping, SK 511E up to SK 535E via internal RJ45 connection
        • PDO mapping, SK 540E up to SK 545E via internal RJ45 connection
        • Inhibit Time
        • Event Timer
        • PDO settings
    • 4.3.4 Parameterisation in CANopen mode (SDO communication)
      • Transmitting parameter data via SDO
      • Loading parameter data via SDO
      • Cancelling of parameter communication (SDO)
      • Changing the COB-ID (address) of a PDO
    • 4.3.5 Object Index
      • CANopen profile DS 301
        • Communication objects (1000hex - 1200hex )
        • PDO objects (1400hex - 1A04hex )
        • CANopen drive profile DS402 - Objects (603Fhex – 6049hex)
        • Frequency inverter objects (2000hex - 3003hex )
• 5. Parameters
  • 5.1 BUS parameter data for SK 300E/700E/750E
    • 5.1.1 Control terminals
    • 5.1.2 Additional parameters
    • 5.1.3 Information
  • 5.2 SK 5xxE BUS Parameters
    • 5.2.1 Control terminals
    • 5.2.2 Additional parameters
    • 5.2.3 Information
• 6. Operating status messages
  • Frequency inverter start disabled
  • Warning messages
  • Error messages
  • 6.1 Error monitoring
    • 6.1.1 Status via parameter display
      • Module status of the technology unit
      • Status of internal CANnord/CANopen, SK 511E and above
    • 6.1.2 LED display with the technology unit:
      • CANnord LED display
      • LED display CANopen
    • 6.1.3 Emergency Object telegram for inverter error messages
    • 6.1.4 Error lists,
• 7. Examples
  • 7.1 Mains switch-on
    • Example
  • 7.2 Operational settting of the bus participant
  • 7.3 Process data (PDO)
    • Example:
    • Setting the frequency inverter to "Ready for switch-on"
    • Enabling the frequency inverter with 50% of its maximum frequency
  • 7.4 Reading and writing parameter data (SDO)
    • Example
• 8. Additional information
  • 8.1 Electronic data sheet (eds file)
  • 8.2 Further documents
  • 8.3 Repair information
    • 8.3.1 Repairs
    • 8.3.2 Internet information
  • 8.4 Keyword Index
  • 8.5 Abbreviations
• Key word index