Getriebebau NORD NORDAC SK 530E Supplementary Operating Instructions Download

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Supplementary operating instructions

NORDAC SK 530E Frequency Inverter

with positioning control (PosiCon special extension unit)

BU 0510 EN

Getriebebau NORD

GmbH & Co. KG

Summary of Contents for NORDAC SK 530E

Page 1: ...Supplementary operating instructions NORDAC SK 530E Frequency Inverter with positioning control PosiCon special extension unit BU 0510 EN Getriebebau NORD GmbH Co KG...

Page 2: ...with 4 Erection The installation and cooling of the equipment must be implemented as per the regulations in the corresponding documentation The drive power converter must be protected against unpermi...

Page 3: ...ice These operating instructions contain important information about service They must therefore be kept close to the device The SK 500E 520E 530E frequency inverters are devices for industrial and co...

Page 4: ...ncoder revolution 17 3 2 4 2 Optimal path position for any encoder revolution 17 3 3 Setpoint specification 17 3 3 1 Position array absolute setpoint position via digital inputs or BUS I O In Bits 17...

Page 5: ...SK 530E with PosiCon function Index BU 0510 EN Subject to technical changes 5 7 2 Table of error sources 17 8 REPAIR 17 9 KEY WORD INDEX ABBREVIATIONS 17 10 KEY WORD INDEX 17 11 REPRESENTATIVES BRANC...

Page 6: ...he position setpoint specification can be set via the existing digital inputs the Bus IO In bits or via the USS protocol or another field bus system Conversion between speed control and position contr...

Page 7: ...d by this the cross section can be increased by parallel switching of several wires 2 1 1 Colour and contact assignments for the incremental encoder Operating principle Cable colours for incremental e...

Page 8: ...048Imp Rev Note 5V encoder should not be used X7 additional digital inputs and outputs only with SK 520E 530E DIP switch Switching from analog inputs AIN2 AIN1 current voltage setpoint I current 0 4 2...

Page 9: ...baud rate of the encoder must be set at the encoder using the rotary or dip switch All other necessary parameters can be set by the SK 530E via the CAN bus in the encoder 2 2 2 Authorised CANopen abs...

Page 10: ...Kontakttechnik GmbH Ethernet connection module with CAGE CLAMP connection Transfer module RJ 45 289 175 WAGO Kontakttechnik GmbH Accessories WAGO shield U bolt 790 108 DIP switch and plug block 2xRJ4...

Page 11: ...encoder The rotation direction can be adapted according to the installation position of the encoder by using negative pulse numbers After switching on the inverter voltage supply the actual position 0...

Page 12: ...on After the switch is left the reference point run is ended and the actual position is set to 0 or to the value set in parameter P609 Offset position The drive remains at the new zero point until the...

Page 13: ...open interface to the frequency inverter The position is always fully present in the absolute encoder and is also correct after the axis is shifted when the inverter is switched off There is therefore...

Page 14: ...terised via the SK 530E the transmission cycle for the absolute encoder position is also specified via the baud rate When operating several CANopen absolute encoders on a bus system e g during synchro...

Page 15: ...timal path with the following settings P604 5 CANopen absolute encoder optimal path Auto active with automatic configuration P604 7 CANopen absolute encoder optimal path Manual active with manual conf...

Page 16: ...o or the location where both encoders are attached can be different A parameter value can be parameterised for each of the two encoders for the parameters P607 Ratio P608 Reduction ratio and P609 Offs...

Page 17: ...ve In this case the shorter travel path is always selected The drive then travels over the overrun point3 of the respective encoder see b 0 5 0 5 0 0 125 0 125 0 25 0 25 0 375 0 375 0 5 0 5 0 0 125 0...

Page 18: ...eferenced after each revolution 37 875 37 875 12 625 12 625 0 50 5 50 5 25 25 25 25 37 875 37 875 12 625 12 625 0 50 5 50 5 25 25 25 25 a normal travel path b path optimised travel Example The entire...

Page 19: ...nd bus setpoints can be specified regardless of whether absolute encoders or incremental encoders are used as the speed feedback 3 3 1 Position array absolute setpoint position via digital inputs or B...

Page 20: ...etpoints The transmission of the setpoint can be implemented via various field bus systems The position can be given in revolutions or increments A motor revolution then corresponds to a resolution of...

Page 21: ...creased As soon as a position is addressed via the digital inputs the counter is set to this position While Teach In is active the frequency inverter can be controlled with enable signals and frequenc...

Page 22: ...se or decrease smoothing is used to change very gently without jerking from a static state to the acceleration or deceleration according to the start up or braking time In addition the acceleration or...

Page 23: ...position is then overrun Exceptions are highly dynamic applications with extremely small braking and start up times and applications where only small path increments are specified A start point for cr...

Page 24: ...arison position is the same as the function Comparison position with the difference that the actual position is processed as an absolute value without sign The relay output is triggered when the actua...

Page 25: ...SK 520E SK530E when using an incremental encoder Connection see Chapter 2 1 1 Colour and contact assignments for the incremental encoder Parameter Setting value Description Note Device Supervisor Par...

Page 26: ...ition increment array 77 Bit 2 Position increment array 78 Bit 3 Position increment array 81 Reset Position 82 Sync position array NOTE A detailed description of digital functions can be found in manu...

Page 27: ...al input 3 0 62 8 Parameter set switching Bit 0 as factory setting control terminal 23 DIN3 Various functions can be programmed These can be seen in the following table P423 Digital input 4 0 62 4 Fix...

Page 28: ...3 Reference point see Chapter 3 2 1 1 high 24 Teach In see Chapter 3 4 high 25 Quit Teach In see Chapter 3 4 high 55 Bit 0 Position increment array see Chapter 3 3 high 56 Bit 1 Position increment arr...

Page 29: ...er P435 is deactivated with PosiCon relevant functions 20 26 see parameterisation function Output 1 P434 The hysteresis assigned to Output 1 in parameter P436 is deactivated with PosiCon relevant func...

Page 30: ...ction Bus I O Out Bits S The Bus I O Out Bits are perceived as multi function relay outputs They can be set to the same functions P434 443 P624 629 0 38 0 01 Bus I O Out Bit 0 02 Bus I O Out Bit 1 03...

Page 31: ...al BU 0030 CAN bus 0 10kBaud 1 20kBaud 2 50kBaud 3 100kBaud 4 125kBaud 5 250kBaud 6 500kBaud 7 1MBaud test purposes only 0 7 4 Safe operation cannot be guaranteed P515 01 03 CAN bus address 0 255 50 S...

Page 32: ...E Further details can be found in the respective BUS instruction manual or in the description of P400 0 24 1 17 Bus IO In Bits 0 7 21 Setpoint position Low Word 22 Setpoint position High Word 23 Setpo...

Page 33: ...ff SK 530E S 50000 50000 000 rev Displays the current difference between setpoint position and actual position P604 Encoder type SK 530E S 0 7 0 Type of position actual value acquisition or type of en...

Page 34: ...xpressed in Bits NOTE If a single turn encoder is used a 0 must be parameterised accordingly in the Array 01 for the multiturn resolution Example Resolution 2 12 Bit 4096 The following parameterisatio...

Page 35: ...ent array relative position specification5 2 Synchronisation Position specification from Master drive note P509 6 3 Bus Absolute position specification via bus note P509 4 Bus increment Relative posit...

Page 36: ...4 Encoder type the value of the overrun pointmust be set in this parameter P616 Minimum position SK 530E S 50000 50000 000 rev 0 Setpoints are limited to the value set here If the position actual valu...

Page 37: ...rmonitoring The slip error monitoring is deactivated when the value set is 0 P631 Abs Inc slip error SK 530E S 0 00 99 99 rev 0 The permissible deviation slip error between absolute encoder and increm...

Page 38: ...hex Standard IO SK 500E 0000 Extension IO Encoder SK 520E 0101 Extension IO PosiCon SK 530E 0201 P748 01 03 Status CANopen SK 520E SK 530E S 01 CANbus CANopen Status 02 reserved 03 reserved Bit 0 24V...

Page 39: ...ntrol circuit can be influenced when the speed control parameters are changed 3 step Commissioning the position control After the parameters P604 Encoder type and P605 Absolute encoder have been set i...

Page 40: ...pling with smaller baud rates or USS is therefore not recommended The implementation of position synchronisation is also possible by coupling via CANopen This enables operation with CANopen absolute e...

Page 41: ...ve 0 5 0 95 P103Master P105Slave 1 05 1 5 P105Master P410Slave P104Master P411Slave P105Master In the slave the frequency addition must be set instead of setpoint frequency in the parameter P546 Funct...

Page 42: ...e or the system mechanics also play a decisive role The minimum value of the achievable accuracy is however determined by the transmission type An offset of 0 1 revolutions must be reckoned with at a...

Page 43: ...entire system is referenced i e the slave in synchronisation The reference point run must then be implemented via the external control with the following steps all steps with a minimum time offset of...

Page 44: ...or reached P327 increase value E013 E13 2 Switch off monitoring Safe stop was carried out Torque limit P112 was reached switch off or increase as necessary Current limit P536 was reached switch off or...

Page 45: ...should be implemented as in commissioning i e first check whether the axis is running unregulated and then test the speed and position control 1 Error sources when operating in servo mode without posi...

Page 46: ...quisition without absolute encoder Symptom Additional test Possible cause Position drifts away Interference pulses in encoder line even at small speeds n 1000 1 min Interference pulses in encoder line...

Page 47: ...an be accepted for any added components e g such as line cables potentiometer external displays etc Please remove all non original parts from the frequency inverter To speed up repair procedures pleas...

Page 48: ...designation for a multi master bus system with two wire cabling It works based on events or messages Currently standardised CAN protocols are specified under CANopen CANopen Designates a communication...

Page 49: ...e nderungen vorbehalten 49 Abbreviations used Abs Absolute DIN Digital IN DOUT Digital OUT FI Frequency inverter GND Ground Inc Ink Incremental IO IN OUT P In Chapter 4 Parameter set dependent paramet...

Page 50: ...5 M Master 14 40 Master function 31 O Offset 11 35 43 Optimal path 17 33 Overrun point 15 17 36 P P boost 35 39 Parameter settings 25 Position actual value acquisition Position acquisition 11 13 Posit...

Page 51: ...BU 0510 EN technische nderungen vorbehalten 51 Notes...

Page 52: ...in Telephone 0911 67 23 11 Fax 0911 67 24 71 NL Nuernberg nord de com Representatives Hans Hermann Wohlers Handelsgesellschaft mbH Ellerbuscher Str 179 32584 L hne Telephone 05732 40 72 Fax 05732 123...

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