NORDAC SK 530E with PosiCon funktion
3 Function description
BU 0510 EN
Subject to technical changes
15
3.2.2.3 Parameterisation in the SK 530E
The settings appropriate to the CANopen absolute encoder must be parameterised using the parameters P514
"CAN baud rate" and P515 "CAN address".
ATTENTION
Before the CANopen absolute encoder can be connected to the frequency inverter, the
parameters P514 "CAN baud rate" and P515 "CAN address" must be parameterised!
The following settings should only be implemented when the CAN bus is connected to all devices with a
corresponding 24V voltage supply.
The resolution of the absolute encoder is set via the parameter P605 "Absolute encoder".
P605 [01] = Multiturn resolution in Bit
P605 [02] = Single turn resolution in Bit
The settings to be made can be found in the data sheet of the absolute encoder.
Example:
for a 25 Bit encoder (12 Bit multiturn, 13 Bit single turn):
P605 [01] = 12
Æ
4096 number of resolvable encoder revolutions
P605 [02] = 13
Æ
8192 resolution per encoder revolution
The CAN absolute encoder is activated via the parameter P604 "Encoder type". The following settings are possible:
P604 = 1
Æ
CANopen absolute encoder (Auto), active with automatic configuration
P604 = 6
Æ
CANopen absolute encoder (Manual), active with manual configuration
The encoder can be used for the function "Optimal path" with the following settings:
P604 = 5
Æ
CANopen absolute encoder optimal path (Auto), active with automatic configuration
P604 = 7
Æ
CANopen absolute encoder optimal path (Manual), active with manual configuration
In the function "Optimal path", the multiturn resolution of the encoder for the overrun point can be additionally
limited
with the parameter P615 "Maximum position". The multiturn resolution is entered in parameter P615 in
revolutions (1 revolution = 1.000 rev). It is also possible to set an "odd" number of revolutions. For an example, see
Chapter 3.2.4.2.
After setting or selecting the encoder type in parameter P604 "Encoder type", the function of the encoder can be
checked using the parameter P601 "Actual position".
ATTENTION
Only NORD approved encoder types, see Chapter 2.2.2, can be used for the function
"Automatic configuration"!
3.2.2.4 Manual commissioning of the CANopen absolute encoder
In addition to "automatic" configuration (Auto), a "manual" setting (Manual) is also possible. In Auto,
parameterisation is implemented by the frequency inverter. For manual commissioning, a CAN bus master is
required in addition to the SK 530E and the encoder. This must be set by the encoder to the bus state
"Operational" and the following parameters must be set.
-
Parameter 0x6001 and 0x6002: the resolution
according to the settings in P605 "Absolute encoder"
-
Parameter 0x6200: the cycle time
Recommended parameterisation: a value
≤
20ms. The selected cycle time influences the reaction time
of the position control in SK 530E.