Nord Drivesystems SK 700E Series Supplementary Manual
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Nord Drivesystems SK 700E Series Supplementary Manual

Nord Drivesystems SK 700E Series Supplementary Manual

Uss bus modules and modbus rtu
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Supplementary manual for NORD frequency inverters

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Summary of Contents for Nord Drivesystems SK 700E Series

  • Page 1 BU 0050 MODBUS RTU Bus modules and Supplementary manual for NORD frequency inverters...
  • Page 2 NORD USS and Modbus RTU Manual Safety information N O R D Frequency inverters Safety and operating instructions for drive power converters (as per: Low Voltage Directive 2006/95/EEC ) 1. General The drive power converters must be protected against impermissible loads. Especially during transport and During operation, drive power converters may, depending on their handling, components must not be deformed and/or protection class, have live, bare, moving or rotating parts or hot...
  • Page 3 NORD USS and Modbus RTU Manual Concerning this document Documentation Designation: BU 0050 GB Part No.: 607 05 01 Device series: USS for SK 300E, SK 500E (entire series), SK 700E, SK 750E Modbus RTU for SK 540E and SK 545E Version list Designation of Software...
  • Page 4 NORD DeviceNet Manual Concerning this document Intended use of the frequency inverter Compliance with the operating instructions is necessary for fault-free operation and the acceptance of any warranty claims. These operating instructions must be read before working with the device! These operating instructions contain important information about servicing.

  • Page 5: Table Of Contents

    Contents FOREWORD ..........................7 1 USS ............................7 1.1 General information ....................7 1.1.1 The USS Protocol ..................... 7 1.1.2 Features ........................7 1.1.3 Delivery ........................7 1.1.4 Scope of supply ......................8 1.1.5 Certifications ......................8 1.1.6 Identification System ....................8 1.2 Modules ........................
  • Page 6 NORD USS and Modbus RTU Manual 3 FAULTS ..........................71 3.1 Troubleshooting ....................71 3.1.1 Error display......................71 3.1.2 Error memory ......................71 3.2 Error messages ....................72 4 ADDITIONAL INFORMATION ....................73 4.1 Maintenance and servicing information ............. 73 4.2 Abbreviations in this manual ................

  • Page 7: Foreword

    1.1 USS - General information Foreword This supplementary documentation is valid for the SK 300E, SK 500E, SK 700E series and for the SK 750E. It describes the setup of communication via RS485. For this, the main emphasis is on communication according to the USS protocol. Corresponding optional modules are available for the SK 700E and SK 750E series.

  • Page 8: Scope Of Supply

    NORD USS and Modbus RTU Manual 1.1.4 Scope of supply SK TU1-RS232* for frequency inverter SK 700E IP20 SK CU1-STD for frequency inverter SK 700E, SK 750E IP20 SK CU1-USS for frequency inverter SK 700E, SK 750E IP20 *incl. screw for optional fixing to the FI 1.1.5 Certifications 1.1.5.1...

  • Page 9: Modules

    1.2 USS - Modules 1.2 Modules 1.2.1 SK 500E 1.2.1.1 General By the use of various modules for display, control and parameterisation, the SK 5xxE can be easily adapted to various requirements. Alphanumerical display and operating modules can be used for simple commissioning. For more complex tasks, various connections to a PC or an automation system can be selected.
  • Page 10 NORD USS and Modbus RTU Manual 1.2.1.2 RS 485 interface As standard, all devices in the SK 500E series have an integrated interface for USS bus communication. According the version of the Fi, the following interfces are available: RJ12 socket (available for the entire series) X7:73/74 RS485 + / - terminal connection (available for SK 520E or higher) X11: 1x RJ12 socket to...
  • Page 11 1.2 USS - Modules RJ 12 socket (X11) In addition to the RS485 interface, the RJ12 socket also provides an interface for communication via RS 232. However, the RS232 interface is only intended for connecting a PC. If a network is to be set up with several participants which communicate via USS (frequency inverters), it must be noted that communication must be via RS 485.

  • Page 12: Sk 700E

    NORD USS and Modbus RTU Manual 1.2.2 SK 700E 1.2.2.1 General With the combination of modules for display, technology units and modules with digital and analog inputs and interfaces, customer interfaces or special extensions, the SK 700E can be easily extended to cater for the requirements of a wide range of applications.
  • Page 13 1.2 USS - Modules 1.2.2.2 Technology Box RS232 (SK TU1-RS2, Option) The Technology Box (Technology Unit) is clipped to the outside of the inverter. The RS232 interface enables simple connection of an SK 700E to a PC with a serial interface. Communication between PC and frequency inverter can be set up using the NORD CON Software (Windows).
  • Page 14 NORD USS and Modbus RTU Manual 1.2.2.4 Customer unit Standard I/O (SK CU1-STD, Option) The standard I/O of the customer interface(Customer Unit) provides sufficient control terminals for most applications and it is fully terminal-compatible with NORDAC vector mc. 1 analog differential input, 4 digital inputs and 1 analog output are available for control of the frequency inverter.
  • Page 15 1.2 USS - Modules 1.2.2.5 USS Customer Interface (SK CU1-USS, Option) In addition to data connections, the USS customer units are also equipped with conventional digital inputs and outputs. Via the existing relay contacts, a mechanical motor brake can be controlled or readiness for operation can be communicated to a higher level system.
  • Page 16 NORD USS and Modbus RTU Manual 1.2.2.6 Installation of customer units WARNING Installation must be carried out by qualified personnel only, paying particular attention to safety and warning instructions. A customer interface must not be replaced while it is carrying voltage. NOTE Technology unit Technologiebox...
  • Page 17 1.2 USS - Modules Removing customer units: 1. Switch off the mains voltage, observe the waiting period. 2. Remove the cover grid from the connection area by loosening the 2 screws and levering out the device cover (slot) or simply pull it out. 3.

  • Page 18: Sk 300E

    NORD USS and Modbus RTU Manual 1.2.3 SK 300E Technology units and customer interfaces Through the combination of modules for the display, (technology units) and modules with digital and analog inputs, as well as interfaces, (customer units) or bus interfaces, the SK 300E can be easily adapted to the requirements of a wide range of applications.

  • Page 19: Uss Protocol Specification

    1.3 USS - Protocol speciication 1.3 USS Protocol Specification 1.3.1 General information The USS protocol defines an access procedure according to the Master/Slave principle for communication via a serial bus. A sub-set of this also includes point-to-point connection. A master and a maximum of 31 slaves can be connected to a bus.

  • Page 20: Data Coding

    NORD USS and Modbus RTU Manual 1.3.3 Data Coding (Start of Text): ASCII character: 02 Hex The start character forms the first character in the telegram and together with the start pause it is used for reliable detection of the start of the telegram. (Telegram length): 1 Byte, contains the length of the telegram.

  • Page 21: Transfer Procedure

    1.3 USS - Protocol speciication 1.3.5 Transfer Procedure The USS protocol functions according to the master/slave principle, whereby the master is the control device (PC, SPS etc) and the slaves are the frequency inverters Only one slave can be addressed with each telegram (exception: broadcast telegram without response by the slaves).

  • Page 22: Response Delay Time

    NORD USS and Modbus RTU Manual 1.3.7 Response Delay Time The time interval between the last character of the order telegram (BCC) and the start of the response telegram (STX) is called the response delay time t . The maximum permissible response delay time is 20ms, however, it must not be smaller than the start pause.

  • Page 23: Bus Configuration

    SK 300E and SK 500E series inverters are always configured with an RS485 interface on the terminal connection bar or connector. For SK 700E series devices, the customer interface standard or USS must be selected.

  • Page 24: Installation Of The Bus System

    NORD USS and Modbus RTU Manual 1.4.4 Installation of the Bus System In an industrial environment the correct installation of the bus system is particularly important in order to reduce potential interference. The following points are designed to help prevent interference and problems right from the start.
  • Page 25 1.4 USS - Bus structure 1.4.4.2 Cable runs / Shielding (EMC) If EMC measures are not in place, high-frequency interference which is principally brought about by switch procedures or lightning often causes electronic components in the Bus participants to become faulty and error- free operation can no longer be ensured.

  • Page 26: Data Transmission

    NORD USS and Modbus RTU Manual 1.5 Data transmission 1.5.1 Structure of reference data This section describes the cyclic data traffic between the master and the frequency inverter. The reference data is divided into two sections:  PKW section (Parameterisation; Parameter Identification- Value) ...

  • Page 27: Ppo Types

    1.5 USS - Data transfer 1.5.2 PPO types For cyclic data traffic, the Parameter- Process data Object (PPO) with which the process data (PZD) and parameters (PKW) are transferred from the master to the frequency inverter is defined. The frequency inverter can process PPO types 1, 2, 3 or 4.
  • Page 28 NORD USS and Modbus RTU Manual 1.5.2.1 PPO types SK 300E/700E/750E The following diagram shows an overview of the supported PPO types. PZD1 PZD2 PZD3 PZD4 1st word 2nd word 3rd word 4th word 5th word 6th word 7th word 8th word PPO 1 PPO 2...

  • Page 29: Process Data (Pzd)

    1.5 USS - Data transfer 1.5.3 Process data (PZD) In the process data area PZD, control words and setpoints are transferred from the master to the slave (frequency inverter) and in return, status words and actual values are sent from the slave to the master. The structure of the PZD area is always the same in terms of the sequence of its elements (words), however, dependent upon direction of data Master ...
  • Page 30 NORD USS and Modbus RTU Manual 1.5.3.3 Control word (STW) The control word (STW) is the first word transferred to the frequency inverter in the process data area in an order telegram. For example, a control word "Ready for switch-on" corresponds to 047E (hex) PZD1 PZD2...
  • Page 31 1.5 USS - Data transfer 1.5.3.4 Status word (ZSW) In the inverter response telegram, in the area of the process data the status word (ZSW) is transferred as the first word. For example, the status word "Ready for switch-on" corresponds to 0B31 (hex) PZD1 PZD2...
  • Page 32 NORD USS and Modbus RTU Manual Deviations in the status word (ZSW) for SK 300E and SK 700/750E series devices With the above device types, the meanings of the two bits 10 and 13 in the status word deviate from the status word of the SK 500 E.
  • Page 33 1.5 USS - Data transfer Setpoint position (16 or 32 Bit) With the special extension Posicon (SK XU1-POS) of the SK 700E the absolute setpoint position can be transferred as a 16 or 32 Bit value in Setpoint 1, whereby the resolution is 1=0.001 rotation. In addition, the control terminals (setting of POSICON control bits) can be transferred in binary.
  • Page 34 NORD USS and Modbus RTU Manual 1.5.3.6 Second and third setpoint (SW2/3) With the SK 500E, the assignment of setpoints 2 and 3 to the process data words PZD3 and PZD4 is carried out in the opposite manner to the SK 300E/700E/750E series. Second and third setpoint SK 300E/SK 700E/SK 750E(SW2/3) If the PPO type 2 or 4 is used, in addition to setpoint 1, a 2nd setpoint can be transferred in word PZD4 and a 3rd setpoint in PZD3.
  • Page 35 1.5 USS - Data transfer Second and third setpoint SK 500E (SW2/3) In addition to setpoint 1, a second setpoint can be transferred in word PZD3 and a third setpoint in PZD4. PZD1 PZD2 PZD3 PZD4 The second and third setpoints are always 16 Bit. The function of the second and third setpoints can be set in the inverter with parameter P547 „Setpoint 2 function‟...
  • Page 36 NORD USS and Modbus RTU Manual 1.5.3.7 Actual value 1 (IW1) The actual value 1, i.e. the actual output frequency of the inverter, is transferred as a 16 Bit value as standard in the actual value 1. The actual value 1 is transferred to the master in the inverter response telegram as the second word in the process data area.
  • Page 37 1.5 USS - Data transfer Second and third actual value SK 300E/SK 700E/SK 750E(SW2/3) The actual value 2 (IW2) is transmitted in PZD4. The value to be transferred can be selected in P544 (actual bus value 2). Actual value 3 (IW3) can be transmitted in PDZ3 if actual value 1 is not a 32 Bit value. The value to be transferred can be selected in P545 (actual bus value 3).
  • Page 38 NORD USS and Modbus RTU Manual Internal status machine Sw itching on the inverter Bit2 = 0: Emergency stop Not on standby Emergency stop active Bit1 = 0: Disable voltage Loading relay applied f = 0 reached v Bit2 = 0: Emergency stop (emergency stop complete) Sw itch-on...

  • Page 39: Parameter Range (Pkw)

    1.5 USS - Data transfer 1.5.4 Parameter range (PKW) Using the PKW mechanism, parameter processing can be carried out in the cyclical data traffic. For this the master formulates an order and the inverter formulates the response to this. The parameter area is only used for transfer with PPO type 1 and PPO type 2.
  • Page 40 NORD USS and Modbus RTU Manual The following table lists all the orders which can be transferred from the master to the inverter. The right- hand column contains the response, which is normally sent (response label positive). Only certain response labels are possible, depending on the order label.
  • Page 41 1.5 USS - Data transfer Error messages if the order cannot be executed If the response label is "Order cannot be executed" (AK = 7), then an error message is added to the parameter value (PWE2) of the inverter response. For the meanings of the transferred values , please refer to the following table.
  • Page 42 NORD USS and Modbus RTU Manual 1.5.4.3 Parameter value (PWE) According to the type of the PPO or parameter, transfer of the parameter value (PWE) is always as a word (16 Bit) or double word (32 Bit) Only one parameter value can be transferred in a telegram. A 32 bit parameter value comprises PWE1 (high value word) and PWE2 (low value word, 4th word).

  • Page 43: Telegram Examples

    1.6 USS – Telegram examples 1.6 Telegram examples Various example telegrams are shown below to clarify the control and parameterisation of the frequency inverter with the USS protocol. Note: When transferring parameter orders, it must be taken into account that the slave does not immediately respond to orders in the parameter channel of the master telegram, but a positive response can be delayed by one or more communication cycles.

  • Page 44: Switch-On Block  Standby

    NORD USS and Modbus RTU Manual Switch-on block  Standby 1.6.2 A frequency inverter with the USS address 0 is to be switched from the status "Switch-on disabled" (STW Bit 0 – 0), which is active when the device is switched on, to the "Standby" status (STW Bit 0 = 1). Parameter set 1 is valid and no parameter data is transfered.
  • Page 45 1.6 USS – Telegram examples When the frequency inverter switches to standby status, it sends the following response telegram: Value Value Meaning Parameter set Bit 1 off Parameter set Bit 0 off Reserved Rotation left is off Rotation right is on Reference value undershot Bus controller Setpoint = actual value...

  • Page 46: Enable With 50% Setpoint

    NORD USS and Modbus RTU Manual 1.6.3 Enable with 50% setpoint A frequency inverter with the USS address 10, which is in "Standby" status (Section 1.6.2) is to be enabled for clockwise rotation with 50% setpoint. The last response telegram was received as follows in the controller. Procedure: ...

  • Page 47: Writing A Parameter

    1.6 USS – Telegram examples 1.6.4 Writing a parameter When transferring parameter orders, it must be taken into account that the slave does not immediately respond to orders in the parameter channel of the master telegram, but a positive response can be delayed by one or more communication cycles.

  • Page 48: Reading The Acceleration Time Parameter

    NORD USS and Modbus RTU Manual 1.6.5 Reading the acceleration time parameter The acceleration time parameter (USS No. = 102 / 66 ) in parameter set 2 of a frequency inverter with the USS address 3, is to be read out. No process data is transferred. Procedure: ...

  • Page 49: Master Telegram Times

    1.7 USS - Master- Telegram times 1.7 Master Telegram Times The telegram times to be monitored depend on the currently valid baud rate and the telegram length. For the data format: 8E1, the following running times apply: Baud PPO type Telegram Start pause Minimum total...

  • Page 50: Frequency Inverter Settings

    NORD USS and Modbus RTU Manual 1.8 Frequency Inverter Settings 1.8.1 Frequency inverter bus parameters To operate the inverter with the USS protocol, the bus must be connected to the master and some settings must be made on the frequency inverter. The frequency inverter can always be parameterised.
  • Page 51 1.8 USS – Frequency inverter settings 1.8.1.2 Extra functions Parameter Setting value / Description / Note Comments P502 ... [-01] Master function value … SK 5xxE (Master function value) ... [-05] 1 ... 24 Selection of master values (up to SK 535E: max. 3 master values, SK 540 and above: max. 5 master values: { 0 } [-01] = Master value 1...
  • Page 52 NORD USS and Modbus RTU Manual Parameter Setting value / Description / Note Comments Interface P509 SK 300E, SK 700E, SK 750E (interface) Selection of the interface from which the inverter is controlled. 0 ... 21 0 = Control terminal or keyboard control with the Control Box (option) ,the ParameterBox { 0 } (option) or the Potentiometer option 1 = Control terminals only, the inverter can only be controlled via the 4 digital inputs and the...
  • Page 53 1.8 USS – Frequency inverter settings Parameter Setting value / Description / Note Comments USS baud rate P511 (USS baud rate) 0 ... 7 Setting of the transfer rate (transfer speed) via the RS485 interface. All bus participants must have the same baud rate setting. { 3 } 4 = 57600 Baud (SK 54xE) 0 = 4800 Baud...
  • Page 54 NORD USS and Modbus RTU Manual Parameter Setting value / Description / Note Comments Bus – Actual value 1 P543 (P) (Bus – Actual value 1) 0 ... 12 (24) The return value 1 (IW1) can be set for bus control in this parameter. SK 300E, SK 700E SK 750E SK 500E { 1 }...
  • Page 55 1.8 USS – Frequency inverter settings Parameter Setting value / Description / Note Comments Function Bus setpoint 1 P546 (P) (Function of bus setpoint 1) In this parameter, a function is assigned to the delivered setpoint 1 (SW1) for bus control. 0 ...
  • Page 56 NORD USS and Modbus RTU Manual Parameter Setting value / Description / Note Comments Function Bus setpoint 3 P548 (P) except SK 54xE (Function of bus setpoint 3) 0 ... 46 (47) In this parameter, a function is assigned to the delivered setpoint 3 (SW3) for bus control. This is ...
  • Page 57 1.8 USS – Frequency inverter settings Parameter Setting value / Description / Note Comments P740 ... [-01] Process data Bus In … SK 540E / SK 545E (Process data Bus In) ... [-23] 0000 ... FFFF (hex) This parameter informs Control word, source from [-01 ] = Control word about the actual control...
  • Page 58 NORD USS and Modbus RTU Manual Parameter Setting value / Description / Note Comments P741 ... [-01] Process data Bus Out … SK 500E to SK 535E (Process data Bus Out) ... [-13] 0000 ... FFFF (hex) This parameter provides Status word, source from [-01] = Status word information about the actual...
  • Page 59 1.8 USS – Frequency inverter settings Parameter Setting value / Description / Note Comments Database version P742 (Database version) 0 ... 9999 Displays the internal database version of the FI. Configuration level P744 SK 300E, SK 700E, SK 750E (Configuration level) This parameter displays the option modules detected by the FI.
  • Page 60 NORD USS and Modbus RTU Manual Parameter Setting value / Description / Note Comments Module status P746 SK 300E, SK 5xxE (Module status) 0000 ... FFFF (hex) Indicates the actual status (readiness, error, communication) of the technology unit (SK TU2/3-xxx), but only when own processor is present, therefore not for the SK TU2/3-CTR. Code details can be found in the respective BUS module manual.

  • Page 61: Modbus Rtu

    2.2 Modbus RTU - Features Modbus RTU (SK 540E and above) 2.1 The bus system Modbus is an open communication protocol, which is based on a Master/Slave architecture. The bus system must be set up in a linear configuration, whose ends are terminated with terminating resistors. In principle, up to 256 participants are possible within a bus system.

  • Page 62: Telegram Structure

    NORD USS and Modbus RTU Manual 2.3 Telegram Structure The address field consists of eight Bits, which represent the address of the recipient. In its response, the Slave returns this address to the Master, so that the master can identify the response. The function field consists of 8 Bits.

  • Page 63: Read Coil

    2.5 Modbus RTU: Function codes 2.5.1 01h Read Coil This function enables the readout of inverter bits. The addresses of the bits are listed in the "Coil List".   Master Slave Slave Master Function Code 1 Byte 0x01 Function Code 1 Byte 0x01 Start address...

  • Page 64: 0Fh Write Multiple Coils

    NORD USS and Modbus RTU Manual 2.5.3 0Fh Write Multiple Coils Via this access, all of the 8 writable coils can be switched simultaneously.   Master Slave Slave Master Function Code 1 Byte 0x0F Function Code 1 Byte 0x0F Start address 2 Byte 0x0000 to 0x0007...

  • Page 65: Read Holding Register

    2.5 Modbus RTU: Function codes 2.5.4 03h Read Holding Register This enables the readout of one or more parameters. However, usually only a single 16Bit format parameter can be read out. The function code 0x10 must be used for 32Bit parameters. The only exception to this are the process parameters P050 and P051.

  • Page 66: Write Single Register

    NORD USS and Modbus RTU Manual 2.5.5 06h Write Single Register Enables writing of a single 16Bit parameter.   Master Slave Slave Master Function Code 1 Byte 0x06 Function Code 1 Byte 0x06 Address 2 Byte 0x0000 to 0xFFFF Address 2 Byte 0x0000 to 0xFFFF...
  • Page 67 2.5 Modbus RTU: Function codes Example 1: Parameter P613 [0] is written with the value 0x00123456.   Query (Master Slave) Response (Slave Master) Address 0x08 Address 0x08 Function Code 0x10 Function Code 0x10 Start address High 0x99 Start address High 0x99 Start address Low 0x40...

  • Page 68: Exception Responses

    NORD USS and Modbus RTU Manual 2.6 Exception Responses If a query by the Modbus Master cannot be answered correctly, an error message is sent instead of the normal response. The error message is structured as follows:  Slave Master Function Code 1 Byte 0x80 + Function code of the Master query...

  • Page 69: Description Of Parameters

    2.8 Description of parameters 2.8 Description of parameters Coil List Via the Coil List it is possible to obtain direct access to the Bus IN/OUT bits. In order for these bits to function, they must be parameterised in parameter P480 and P481 and the control word and setpoint must be parameterised to the setting "Control terminals"...
  • Page 70 NORD USS and Modbus RTU Manual Parameter access The FI parameters cannot be directly accessed via the functions 03h, 06h or 10h, as many FI parameters have array elements. Therefore, the addresses for NORD parameters are according to the following model: Start address Bit 15 –...

  • Page 71: Faults

    3 Faults Faults 3.1 Troubleshooting The majority of frequency inverter functions and operating data are continuously monitored and simultaneously compared with limiting values. If a deviation is detected, the inverter reacts with a warning or an error message. Basic information on this topic is contained in the manual for the basic equipment. Errors cause the frequency inverters to switch off, in order to prevent a device fault.

  • Page 72: Error Messages

    NORD USS and Modbus RTU Manual 3.2 Error messages Table of possible bus-specific error messages Display Cause Fault in the ControlBox  Text in the ParameterBox Remedy Group Details P700 / P701 10.0 (Bus Timeout) E010 Telegram timeout, data transfer is faulty. Check P513. ...

  • Page 73: Additional Information

    4 Additional information Additional information 4.1 Maintenance and servicing information In normal use, NORD frequency inverters and their accessories are maintenance-free. If air intake filters have been built into the control cabinet, then these should also be regularly cleaned or replaced.

  • Page 74: Keyword Index

    NORD USS and Modbus RTU Manual Keyword index PPO type (P507) ......52 PPO types ........27 Actual bus value 1 (P543) ... 56 Hyst. Bus IO Out Bits (P483)..51 Process Bus Out (P741) ..61, 62 Actual bus value 2 (P544) ... 56 Process data ......
  • Page 75 5 Keyword index BU 0050 GB...
  • Page 76 NORD USS and Modbus RTU Manual Subject to technical amendments BU 0050 GB-3111...

This manual is also suitable for:

Sk 300e seriesSk 500e seriesSk 540e seriesSk 545e seriesSk 750e series

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