Getriebebau NORD NORDAC SK 530E Supplementary Operating Instructions
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Getriebebau NORD NORDAC SK 530E Supplementary Operating Instructions

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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

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Summary of Contents for Getriebebau NORD 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: General

    NORDAC SK 530E with PosiCon function NORDAC Inverter Safety and operating instructions for the drive power converter (as per: Low voltage directive 73/23/EEC ) 1. General 4. Erection During operation, drive power converters may have, depending on The installation and cooling of the equipment must be...
  • Page 3 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 BU 0510 EN Subject to technical changes...

  • Page 4: Table Of Contents

    NORDAC SK 530E with PosiCon function GENERAL............................6 ENCODER CONNECTION .......................7 Incremental encoder connection ......................7 2.1.1 Colour and contact assignments for the incremental encoder..............7 CANopen absolute encoder connection....................9 2.2.1 General ................................ 9 2.2.2 Authorised CANopen absolute encoders for automatic encoder detection..........9 2.2.3...
  • Page 5 NORDAC SK 530E with PosiCon function Index Table of error sources ..........................17 REPAIR ............................17 KEY WORD INDEX / ABBREVIATIONS..................17 KEY WORD INDEX .........................17 REPRESENTATIVES / BRANCHES ....................17 BU 0510 EN Subject to technical changes...
  • Page 6 You must ensure therefore that both the current NordCon version and the version of your parameter box are updated to the latest software version. In case of doubt, contact your local NORD representative. You can always find the latest version of this description on the Getriebebau NORD Internet site: http://www.nord.com/...

  • Page 7: Incremental Encoder Connection

    NORDAC SK 530E with PosiCon funktion 2 Encoder connection Encoder connection 2.1 Incremental encoder connection The incremental encoder connection is an input for a type with two tracks and with TTL-compatible signals for drivers as per EIA RS 422. The maximum current consumption of the incremental encoder must not exceed 150mA.
  • Page 8 NORDAC SK 530E with PosiCon function Terminal blocks: X4: analog inputs and outputs X7: additional digital inputs +10V max. 5mA and outputs 0...10V or 0/4...20mA only with SK 520E/530E X5: digital inputs and voltage supply ca. 4.5kΩ +15V max. 150mA +5V max.

  • Page 9: Canopen Absolute Encoder Connection

    The SK 530E supports CANopen absolute encoders with the communication profile DS 406. If an absolute encoder authorised by Firma Getriebebau Nord is used, then automatic parameterisation of the encoder via the SK 530E is possible. The CAN address and 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.

  • Page 10: Assignment Of Can Interface In Sk 530E

    NORDAC SK 530E with PosiCon function 2.2.3 Assignment of CAN interface in SK 530E The 24V supply for the absolute encoder and for the CAN-Bus/CANopen interfaces must be implemented via an external voltage supply. For the terminal assignment please refer to the operating instructions of the encoder manufacturer.

  • Page 11: Function Description

    NORDAC SK 530E with PosiCon funktion 3 Function description Function description 3.1 Introduction Numerous positioning and position control tasks can be resolved with the positioning function. To facilitate the decision about which configuration the task can be best resolved with, the various methods for setpoint specification and actual value acquisition are presented below.

  • Page 12: Reference Point Run Via Digital Inputs Or Bus I/O In Bits

    NORDAC SK 530E with PosiCon function 3.2.1.1 Reference point run via digital inputs or BUS I/O In Bits The reference point run is started via one of the 7 digital inputs or one of the Bus IO In Bits. To do this, a digital input must be programmed to the corresponding function (P420-P425 or P460 "Digital input function", setting 22).

  • Page 13: Reset Position Via Digital Inputs Or Bus I/O In Bits

    NORDAC SK 530E with PosiCon funktion 3 Function description 3.2.1.2 Reset Position via digital inputs or BUS I/O In Bits Alternatively to the reference point run, one of the digital inputs can be programmed to the setting "Reset Position" (P420-P425 or P470, setting 61). Control via one of the Bus IO In Bits is correspondingly identical. In contrast to the function reference point , the input or the Bus IO In Bit is always effective and sets the actual position during a signal change from 0 →...

  • Page 14: Resetting The Canopen Absolute Encoder

    NORDAC SK 530E with PosiCon function 3.2.2.1 Resetting the CANopen absolute encoder Using the two functions "Reference point run" (see Chapter 3.2.1.1) and "Reset Position" (see Chapter 3.2.1.2), a CANopen absolute encoder can also be run to the value "0" or the value set in parameter P609 [02] "Offset actual position".

  • Page 15: Parameterisation In The Sk 530E

    NORDAC SK 530E with PosiCon funktion 3 Function description 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"...

  • Page 16: Encoder Error

    NORDAC SK 530E with PosiCon function 3.2.2.5 Encoder error If a CANopen encoder is parameterised in SK 530E and the position control is switched on in parameter P600 "Position control", the function of the encoder is constantly monitored. If the "Position control" P600 is not switched on, the encoder is position is displayed but no error messages will be generated if there is a problem.

  • Page 17: Positioning With Absolute/Incremental Encoders In Absolute Mode

    3 Function description 3.2.4 Positioning with absolute/incremental encoders in absolute mode 3.2.4.1 Optimal path position during an encoder revolution The problem with rotary tables where the individual positions are distributed around the circumference is that, generally, the optimal path travel should always be set from each position to another position. In standard positioning however, the drive would select the long travel path "around the edge"...

  • Page 18: Optimal Path Position For Any Encoder Revolution

    NORDAC SK 530E with PosiCon function 3.2.4.2 Optimal path position for any encoder revolution If more than one encoder revolution is required for the entire travel path, the overrun point must be determined. This is half of the entire travel path. The value must be entered in parameter P615 "Maximum position". It must be noted that the accuracy of the value may only be to a maximum of three decimal places.

  • Page 19: Setpoint Specification

    3 Function description Overview table for incremental and absolute encoder parameter settings P605 Number of encoder P615 Reference P604 Encoder type resolution CANopen revolutions Maximum position absolute encoder Single turn 5 = CANopen Array [01] = 0 absolute encoder Optimal path Array [02] = pulse Multiturn absolute 5 = CANopen...

  • Page 20: Position Increment Array – Relative Setpoint Position Via Digital Inputs Or Bus I/O In Bits

    NORDAC SK 530E with PosiCon function 3.3.2 Position increment array – relative setpoint position via digital inputs or BUS I/O In Bits The position setpoint mode "Position increment array" is particularly suitable for endless axes. The setting in parameter P610 "Setpoint mode" for function 1 = "Position increment array" must be parameterised for this. An input signal can be assigned to each of the 4 parameterisable position increment array elements for up to 4 digital inputs or Bus IO In Bits.

  • Page 21: Teach-In Function Via Digital Inputs Or Bus I/O In Bits

    3 Function description 3.4 Teach-In function via digital inputs or BUS I/O In Bits The parameterisation of the absolute setpoint positions (position array) can be implemented via the function "Teach-In“" alternatively to direct input. Two inputs are required for "Teach-In" via digital inputs or Bus IO In Bits. One input or one of the parameters P420 –...

  • Page 22: Position Control Functions (P600)

    NORDAC SK 530E with PosiCon function 3.6 Position control functions (P600) There are four possible positioning variants. Linear ramp with maximum frequency (Setting (1)) The acceleration is linear. The speed of the constant run is always carried out with the "Maximum frequency" set in parameter P105.

  • Page 23: Output Signals

    3 Function description 3.7 Position control Position control works as a P-control circuit. Setpoint and actual positions are continuously compared with each other. The setpoint frequency is determined by the multiplication of this difference with the parameter P611 "P pos. control".

  • Page 24: Multifunction Relays (P434, 441) And Digital Outputs (P450, P455)

    NORDAC SK 530E with PosiCon function 3.8 Output signals 3.8.1 Multifunction relays (P434, 441) and digital outputs (P450, P455) The SK 530E has two multifunction relays and two digital outputs where a function can be parameterised for each one. The following functions are available for the positioning function on both relays or outputs: Reference (setting (20)) The relay/output signals that a valid reference point is present.

  • Page 25: Parameter Settings

    4 Parameter settings Parameter settings A detailed overview of all available parameters can be found in the manual SK 500E / SK 520E, BU0500. The following only describes various selected and PosiCon function-specific parameters. Operating display: Parameter Parameter Setting value / Description / Note Device Supervisor P001...
  • Page 26 NORDAC SK 530E with PosiCon funktion Control terminals: Parameter Parameter Setting value / Description / Note Device Supervisor P400 Analog 1 input function 0 ... 82 The FI analog input can be used for various functions. It must be noted that only one of the functions given below is possible at any time.
  • Page 27 4 Parameter settings Parameter Parameter Setting value / Description / Note Device Supervisor P420 Digital input 1 0 ... 62 Enable right as factory setting, control terminal 21 (DIN1) [ 1 ] Various functions can be programmed. These can be seen in the following table. P421 Digital input 2 0 ...
  • Page 28 NORDAC SK 530E with PosiCon funktion Table of the possible functions of the digital inputs P420 ... P425, P470 Only functions relevant to PosiCon are listed here. Attention: Value Function Description Signal Approach reference point see Chapter 3.2.1.1 high Reference point see Chapter 3.2.1.1...
  • Page 29 4 Parameter settings Parameter Parameter Setting value / Description / Note Device Supervisor P434 Relay 1 function (K1) 0 ... 38 Control terminals 1/2: The settings 3 to 5 and 11 work with 10% hysteresis, i.e. the relay contact closes (fct. 11 opens) when the limit value is reached and opens (fct. 11 [ 1 ] closes) when a 10% smaller value is undershot.
  • Page 30 NORDAC SK 530E with PosiCon funktion Parameter Parameter Setting value / Description / Note Device Supervisor P480 ... - 01 Function Bus I/O In Bits ... - 12 0 ... 62 The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420...425).
  • Page 31 4 Parameter settings Additional parameters: Parameter Parameter Setting value / Description / Note Device Supervisor P502 ... - 01 Value master function ... - 03 0 ... 21 Selection of up to 3 master values: [ 0 ] Master value 1 Master value 2 Master value 3 [01] =...
  • Page 32 NORDAC SK 530E with PosiCon funktion Parameter Parameter Setting value / Description / Note Device Supervisor P545 Bus - Actual value 3 0 ... 21 This parameter is identical to P543. [ 0 ] Condition is PPO 2 or PPO 4 type (P507).
  • Page 33 4 Parameter settings Positioning: Parameter Parameter Setting value / Description / Note Device Supervisor P600 Position control SK 530E 0 ... 4 Activation of position control [ 0 ] 0 = Off 1 = Linear Ramp (Max freq) Linear ramp with maximum frequency 2 = Lin.

  • Page 34: Synchronous Control

    NORDAC SK 530E with PosiCon funktion Parameter Parameter Setting value / Description / Note Device Supervisor P605 ... - 01 Absolute encoder SK 530E ... - 02 0 ... 16 Resolution CANopen absolute encoder [ 10 ] [01] = Multiturn resolution – number of possible encoder revolutions [02] = Single turn resolution –...
  • Page 35 4 Parameter settings Parameter Parameter Setting value / Description / Note Device Supervisor P608 ... - 01 Reduction ratio SK 530E ... - 02 ... - 03 1...65000 [01] = Incremental encoder [ 1 ] [02] = Absolute encoder [03] = Setpoint and actual values The reduction ratio is set here for incremental and absolute encoders.
  • Page 36 NORDAC SK 530E with PosiCon funktion Parameter Parameter Setting value / Description / Note Device Supervisor P613 ... - 01 Position SK 530E … ... - 15 -50000...50000.000 rev Position array element [01 to 15] Position increment array element [01 to 04]...
  • Page 37 4 Parameter settings Parameter Parameter Setting value / Description / Note Device Supervisor P630 Position slip error SK 530E 0.00...99.99 rev The permissible deviation between estimated and actual position can be set here. Once a target position is reached, the estimated position is set to the current actual position. [ 0 ] If the value set is too small, the error message "E14.5 "Position change and speed do not match"...
  • Page 38 NORDAC SK 530E with PosiCon funktion Information: Setting value / Description / Note Parameter Device Supervisor Parameter set P744 Configuration 0000 ... FFFF (hex) This parameter displays the special devices integrated in the FI. Display is in hexadecimal code (SimpleBox, ControlBox, Bus system).
  • Page 39 5 Commissioning Commissioning When commissioning PosiCon applications, it is recommended that a specific sequence is followed. The individual steps are described below. Information about special error screens can also be found in Chapter 7, Troubleshooting. 1. step: Starting the axis without regulation After all parameters are input, the axis must be started up initially without position and speed control.

  • Page 40: Communication Settings

    NORDAC SK 530E with PosiCon funktion Synchronous control 6.1 General Synchronous control with the SK 530E can be implemented by coupling the devices via CAN bus. The master device sends its "actual position" and "actual setpoint speed after frequency ramp" to the slave device(s). The slave devices use this speed as the lead and synchronise the rest via the position control.

  • Page 41: Slave Ramp Time And Maximum Frequency Settings

    6 Synchronous control The following settings are required for communication between master and slave via CANopen bus. Master device settings: P502[01] Setpoint frequency after frequency ramp P502[02] Actual position Inc. High Word P502[03] Actual position Inc. Low Word P503 CANopen P505 0.0 Hz P514...

  • Page 42: Taking Into Account The Ratio Between Master And Slave

    NORDAC SK 530E with PosiCon funktion 6.5 Taking into account the ratio between master and slave A ratio between master and slave can be taken into account with the parameters P607 "Ratio" and P608 "Ratio reduction". The ratio is entered into the values of the encoder not being used. In general, in the absolute encoder (P607 [02] and P608 [02]).

  • Page 43: Comments Regarding Reference Point Runs During Synchronisation

    6 Synchronous control 6.8 Comments regarding reference point runs during synchronisation If the slave axis is referenced independently from the master axis, the following must be noted: The slave obtains the setpoint speed as a lead from the master. If the master is not running, the slave would not receive the setpoint for the reference point run.

  • Page 44: Troubleshooting

    NORDAC SK 530E with PosiCon funktion Troubleshooting 7.1 Error messages The majority of the frequency inverter functions and operating data are constantly monitored and simultaneously compared with limit values. If a deviation is detected, the inverter reacts with a warning or error message.

  • Page 45: Table Of Error Sources

    7 Troubleshooting Display in Error Cause Controlbox • Text in the Parameterbox Remedy Difference between absolute and E013 / E14.6 Diff. betw. abs./inc. incremental encoder • Check controller settings in P631 and position acquisition • Position change in absolute and incremental encoder does not match Maximum position exceeded E013 / E14.7...
  • Page 46 NORDAC SK 530E with PosiCon funktion 2. General error sources Symptom Additional test Possible cause Position is overshot Position control P boost much too high Speed control (servo mode) not optimally set (set I boost approx. to 3%/ms, P boost approx. to 120%)

  • Page 47: Repair

    If a frequency inverter or accessories are sent in for repair, no liability can 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, please complete a precise error description. The Getriebebau NORD Internet site http://www.nord.com/ provides a repair/service form to print out.

  • Page 48: Key Word Index / Abbreviations

    NORDAC SK 530E with PosiCon funktion Key word index / Abbreviations Key word index: Absolute encoder, single turn Encoder which outputs unique, coded information for each measuring step within one revolution. The data information is retained even if power fails. Data continues to be recorded when no current is applied.
  • Page 49 9 Key word index / Abbreviations Abbreviations used: Absolute Digital IN DOUT Digital OUT Frequency inverter Ground Inc / Ink Incremental IN / OUT In Chapter 4: Parameter set-dependent parameter Position Supervisor parameter Software BU 0510 EN technische Änderungen vorbehalten...
  • Page 50 NORDAC SK 530E with PosiCon funktion 10 Key word index Absolute value encoder I-boost ........39 Ramp........ 22, 33 Absolute encoder ..9, 13, 33 Incremental value encoder Ramp time......41 Incremental encoder. 7, 11, 25 Ratio......11, 13, 34 Reduction ratio ...
  • Page 51 Notes: BU 0510 EN technische Änderungen vorbehalten...

  • Page 52: Representatives / Branches

    NORDAC SK 530E with PosiCon funktion 11 Representatives / branches NORD offices in Germany Getriebebau NORD GmbH & Co. KG Rudolf- Diesel- Str. 1 ⋅ 22941 Bargteheide Telephone 04532 / 401 - 0 Fax 04532 / 401 - 253 info@nord-de.com www.nord.com...

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