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NORDAC SK 530E with PosiCon function

BU 0510 EN

Subject to technical changes

3

Documentation

Description:

BU 0510 EN

Mat. No.:

607 51 01

Device series: SK 530E

Version list

Designation of previous issues

SW Status

Comment

BU 0510 DE, June 2007

Mat. No. 607 51 01 / 2307

V. 1.6 R0

First issue

Publisher

Getriebebau NORD GmbH & Co. KG

Rudolf- Diesel- Str. 1

•

D-22941 Bargteheide

•

Germany

•

http://www.nord.com/

Tel49 (0) 45 32 / 401-0

•

Fax +49 (0) 45 32 / 401-555

Intended use of the frequency inverter

Compliance

with the operating instructions is the

requirement for fault-free operation

and means

that possible warranty claims will be successful.

You must first read these operating instructions

before working with the device!
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 commercial plants for
operating three-phase asynchronous motors with squirrel-cage rotors. These motors must be suitable
for operation with frequency inverters, other loads must not be connected to the devices.
The frequency inverters SK 500E/520E/530E are devices for stationary installation in control cabinets.
All data regarding technical data and permissible conditions at the installation site must be complied
with.
Commissioning (implementation of the intended use) is not permitted until it has been ensured that the
machine complies with the EMC directive 89/336/EEC and that the conformity of the end product
meets the machine directive 89/392/EEC (note EN 60204).

©

Getriebebau NORD GmbH & Co. KG, 2007

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Содержание NORDAC SK 530E

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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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