BU 2500 – en

CANopen bus interface

Supplementary manual options for NORD - Frequency Inverters
CANopen bus interface – Supplementary manual options for NORD - Frequency Inverters

2 BU 2500 en-4319
 Table of Contents

Table of Contents
1 Introduction ................................................................................................................................................. 6
1.1 General .............................................................................................................................................. 6
1.1.1 Documentation ..................................................................................................................... 6
1.1.2 Document History ................................................................................................................. 6
1.1.3 Copyright notice.................................................................................................................... 6
1.1.4 Publisher .............................................................................................................................. 6
1.1.5 About this manual ................................................................................................................. 7
1.2 Other applicable documents .............................................................................................................. 7
1.3 Presentation conventions ................................................................................................................... 7
1.3.1 Warning information ............................................................................................................. 7
1.3.2 Other information .................................................................................................................. 7
1.3.3 Text markings ....................................................................................................................... 8
1.3.4 List of abbreviations.............................................................................................................. 9
2 Safety ......................................................................................................................................................... 10
2.1 Intended use .................................................................................................................................... 10
2.2 Selection and qualification of personnel ........................................................................................... 10
2.2.1 Qualified personnel............................................................................................................. 10
2.2.2 Qualified electrician ............................................................................................................ 10
2.3 Safety information ............................................................................................................................ 11
3 CANopen basics ........................................................................................................................................ 12
3.1 Characteristics ................................................................................................................................. 12
3.2 Topology .......................................................................................................................................... 14
3.3 Bus protocol ..................................................................................................................................... 15
3.3.1 CANopen protocols ............................................................................................................ 16
3.3.2 Communication objects ...................................................................................................... 17
4 NORD system bus ..................................................................................................................................... 18
4.1 NORD system bus participants ........................................................................................................ 19
4.2 Access to parameters and control options ....................................................................................... 20
4.2.1 Access via the NORD SimpleBox ....................................................................................... 20
4.2.2 Access via the NORD ParameterBox ................................................................................. 20
4.2.3 Access via NORDCON software ........................................................................................ 21
5 Initial setup ................................................................................................................................................ 22
5.1 Connecting the bus interface ........................................................................................................... 22
5.2 Cable material .................................................................................................................................. 23
5.3 Integration into the bus master......................................................................................................... 23
5.3.1 Installing the device description file .................................................................................... 23
5.3.2 Automatic device detection ................................................................................................. 24
5.3.3 Data format of process data ............................................................................................... 24
5.3.4 CANopen field bus address ................................................................................................ 24
5.4 Example: Commissioning the CANopen bus module ....................................................................... 25

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6 Data transmission ..................................................................................................................................... 27

6.1 Introduction ...................................................................................................................................... 27
6.1.1 Process data....................................................................................................................... 27
6.1.2 Parameter data ................................................................................................................... 27
6.2 NMT network management .............................................................................................................. 28
6.3 Structure of application data ............................................................................................................ 28
6.3.1 Process Data Objects PDO ................................................................................................ 29
6.3.2 Service Data Objects SDO ................................................................................................. 29
6.4 CAN identifier and COB ID............................................................................................................... 30
6.5 Transfer of process data .................................................................................................................. 32
6.5.1 Control word ....................................................................................................................... 33
6.5.2 Status word......................................................................................................................... 34
6.5.3 Frequency inverter status machine..................................................................................... 35
6.5.4 Setpoints and actual values ................................................................................................ 38
6.5.5 Changing the PCO COB ID ................................................................................................ 40
6.5.6 PDO Transmission Types (operating modes) ..................................................................... 41
6.5.7 PDO mapping ..................................................................................................................... 42
6.5.8 Application-specific mapping .............................................................................................. 44
6.6 Parameter data transmission ........................................................................................................... 47
6.6.1 Writing parameter data via SDO ......................................................................................... 48
6.6.2 Reading parameter data via SDO....................................................................................... 49
6.6.3 Interruption of SDO communication.................................................................................... 49
6.7 Object directories ............................................................................................................................. 50
6.7.1 Principal CANopen assignment of object indices ............................................................... 50
6.7.2 Communication objects – CANopen profile DS-301 ........................................................... 51
6.7.3 Device objects – CANopen profile DS-402 ......................................................................... 53
6.7.4 PDO objects ....................................................................................................................... 54
6.7.5 Frequency inverter objects ................................................................................................. 55
6.8 Example of setpoint specification ..................................................................................................... 57
7 Parameters ................................................................................................................................................. 58
7.1 Parameter setting on the bus interface ............................................................................................ 58
7.1.1 NORD standard parameters ............................................................................................... 59
7.1.2 CANopen standard parameters .......................................................................................... 62
7.1.3 NORD information parameters ........................................................................................... 67
7.1.4 CANopen information parameters ...................................................................................... 70
7.2 Parameter settings on the frequency inverter .................................................................................. 71
8 Error monitoring and error messages ..................................................................................................... 73
8.1 Bus operation monitoring function .................................................................................................... 73
8.1.1 Additional CANopen monitoring functions .......................................................................... 74
8.1.1.1 Node Guarding 74
8.1.1.2 Life Guarding 74
8.1.1.3 Heartbeat monitoring 74
8.2 Resetting error messages ................................................................................................................ 75
8.3 Handling of errors in the bus interface ............................................................................................. 76
8.3.1 Error Groups ....................................................................................................................... 76
8.3.2 Error codes – interruption of SDO communication ............................................................. 77
8.3.3 Status word from the frequency inverter. ............................................................................ 77
8.4 Error messages ................................................................................................................................ 79
9 Appendix .................................................................................................................................................... 80
9.1 Repair information ............................................................................................................................ 80
9.2 Service and commissioning information ........................................................................................... 80
9.3 Documents and software ................................................................................................................. 81

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 List of illustrations

List of illustrations
Figure 1: OSI layer model ...................................................................................................................................... 12
Figure 2: CANopen linear topology (example for up to 64 bus participants).......................................................... 14
Figure 3: CANopen standard frame – 11-bit identifier ........................................................................................... 15
Figure 4: CANopen extended frame – 29-bit identifier........................................................................................... 15
Figure 5: Example of the structure of a NORD system bus ................................................................................... 18
Figure 6: Frequency inverter status machine......................................................................................................... 35
Figure 7: Telegram traffic – SDO data exchange .................................................................................................. 47
Figure 8: Examples of monitoring parameter settings – SK TU4 bus interface ..................................................... 74

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CANopen bus interface – Supplementary manual options for NORD - Frequency Inverters

1 Introduction

1.1 General

1.1.1 Documentation
Name: BU 2500
Material number 6082502
Series: Field bus system CANopen®

1.1.2 Document History

Issue Order number Software version Remarks

BU 2500, 6082502/ 4116 V 2.2 R2 • Combination of manuals BU 0060 EN,
October 2016 October 2012,
Part number 607 0601 / 4112 and
BU 0260 EN, September 2009,
Part number 607 2601 / 3809
• Extensive revision
BU 2500, 6082502/ 3419 V 2.2 R2 • Corrections
August 2019
BU 2500, 6082502/ 4319 V 2.2 R2 • Correction version
October 2019

1.1.3 Copyright notice

As an integral component of the device or the function described here, this document must be
provided to all users in a suitable form.
Any editing or amendment or other utilisation of the document is prohibited.

1.1.4 Publisher

Getriebebau NORD GmbH & Co. KG

Getriebebau-Nord-Straße 1
22941 Bargteheide, Germany
http://www.nord.com/
Tel.: +49 (0) 45 32 / 289-0
Fax: +49 (0) 45 32 / 289-2253

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 1 Introduction

1.1.5 About this manual

This manual is intended to assist you in the setup of bus interfaces CANopen® from Getriebebau
NORD GmbH & Co. KG in a field bus system. It is intended for all qualified electricians who plan,
install and set up the field bus system ( Section 2.2 "Selection and qualification of personnel"). The
information in this manual assumes that the qualified electricians who are entrusted with this work are
familiar with the technology of the field bus system and programmable logic controllers (PLC).
This manual only contains information and descriptions of bus interfaces and frequency inverters
manufactured by Getriebebau NORD GmbH & Co. KG. It does not contain any descriptions of the
controllers and the necessary software for other manufacturers.

CANopen® is a registered trademark.

1.2 Other applicable documents

This manual is only valid in combination with the Technical Information for the bus interface which is
used and the operating instructions for the relevant frequency inverter. Only these documents contain
all of the information that is required for safe commissioning of the bus interface module and the
frequency inverter. A list of the documents can be found in  Section 9.3 "Documents and software".
The "Technical Information“ (TI) for the bus interface and the manuals (BU) for the NORD frequency
inverters can be found under www.nord.com.

1.3 Presentation conventions

1.3.1 Warning information

Warning information for the safety of the user and the bus interfaces are indicated as follows:

DANGER
This warning information warns against personal risks, which may cause severe injury or death.

WARNING
This warning information warns against personal risks, which may cause severe injury or death.

CAUTION
This warning information warns against personal risks, which may cause slight or moderate injuries.

NOTICE
This warning warns against damage to material.

1.3.2 Other information

Information
This information shows hints and important information.

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1.3.3 Text markings

The following markings are used to differentiate between various types of information:

Text
Type of information Example Marking
Instructions 1st Instructions for actions whose sequence must be
2nd complied with are numbered sequentially.
Bullet points • Bullet points are marked with a dot.
Parameters P162 Parameters are indicated by the prefix "P", a three-
digit number and bold type.
Arrays [-01]) Arrays are indicated by square brackets.
Factory settings { 0,0 } Factory settings are indicated by curly brackets.
Software descriptions "Cancel" Menus, fields, buttons and tabs are indicated by
quotation marks and bold type.

Numbers
Type of information Example Marking
Binary numbers 100001b Binary numbers are indicated by the suffix "b"
Hexadecimal numbers 0000h Hexadecimal numbers are indicated by the suffix "h"

Symbols used
Type of information Example Marking
Cross-reference  Section 4 "NORD Internal cross-reference A mouse click on the text
system bus" calls up the stated point in the document.
 Supplementary External cross-reference
manual
Hyperlink http://www.nord.com/ References to external websites are indicated in
blue and underlined. A mouse click calls up the
website.

Type designations
Designation Description
SK 1x0E Series SK 180E frequency inverters
SK 2xxE Series SK 200E frequency inverters
SK 2x0E-FDS Series SK 250E-FDS frequency inverters
SK 5xxE Series SK 500E frequency inverters
SK 54xE SK 540E and SK 545E frequency inverters

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 1 Introduction

1.3.4 List of abbreviations

Abbreviations used in this manual

Abbreviation Meaning
AG Absolute encoder
AK Order label/response label
Bus module Bus module
CAN Controller Area Network
COB Communication Object
COB ID Communication Object Identifier
DIN Digital input
DIP Dual In-Line Package (= double row housing), compact switch block
DO Digital output
EDS Electronic Data Sheet
EMCY Emergency, abbreviation for CANopen error message
EMC Electromagnetic compatibility
I/O Input/Output
FI Frequency inverter
IND Index
IP Internet protocol
I/O Input, Output
IW Actual value
LSB Least Significant Byte, (smallest address)
OSI Open Systems Interconnection, communication with open systems
OV Object directory
NMT Network Management
PDO Process Data Object
PDO Rx Reception PDO
PDO Tx Transmission PDO
PPO Parameter/Process Data Object
PZD Process data
RO Read Only
Rx Receive
SDO Service Data Object
PLC Programmable Logical Controller
STR String value
STW Control word
SW Setpoint
SYNC Synchronisation Object
Tx Transmit
U8 (U16, U32) 8 Bit (16 bit, 32 bit) unsigned, without prefix
USS Universal serial interface
ZSW Status word

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2 Safety

2.1 Intended use

CANopen bus interfaces from Getriebebau NORD GmbH & Co. KG are interfaces for CANopen field
bus communication, which may only be used in the following frequency inverters from Getriebebau
NORD GmbH & Co. KG.

Bus interface Frequency inverters

SK TU4-CAO Series
SK TU4-CAO-C SK 180E
SK TU4-CAO-M12 SK 200E
SK TU4-CAO-M12-C SK 200E-FDS
SK 540E
SK CU4-CAO
SK TU3-CAO SK 500E series

CANopen bus interfaces from Getriebebau NORD GmbH & Co. KG are used for communication by
the frequency inverter with a PLC in a CANopen field bus system provided by the operator.
Any other use of the bus interfaces is deemed to be incorrect use.

2.2 Selection and qualification of personnel

The bus interface may only be installed and started up by qualified electricians. These must possess
the necessary knowledge with regard to the technology of the field bus system, as well as
configuration software and the controller (bus master) which are used.
In addition, the qualified electricians must also be familiar with the installation, commissioning and
operation of the bus interfaces and the frequency inverters as well as all of the accident prevention
regulations, guidelines and laws which apply at the place of use.

2.2.1 Qualified personnel

Qualified personnel includes persons who due to their specialist training and experience have
sufficient knowledge in a specialised area and are familiar with the relevant occupational safety and
accident prevention regulations as well as the generally recognised technical rules.
These persons must be authorised to carry out the necessary work by the operator of the system.

2.2.2 Qualified electrician

An electrician is a person who, because of their technical training and experience, has sufficient
knowledge with regard to
• Switching on, switching off, isolating, earthing and marking power circuits and devices,
• Proper maintenance and use of protective devices in accordance with defined safety standards.
• Emergency treatment of injured persons.

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2.3 Safety information

Only use bus interfaces and frequency inverters from NORD DRIVESYSTEM Group for their intended
purpose,  Section 2.1 "Intended use".
To ensure safe operation of the bus interface, observe all of the instructions in this manual, and in
particular the warning information in the other applicable documents,  Section 1.2 "Other applicable
documents".
Only commission bus interfaces and frequency inverters in their technically unchanged form and not
without the necessary covers. Take care that all connections and cables are in good condition.
Work on and with bus interfaces and frequency inverters must only be carried out by qualified
personnel,  Section 2.2 "Selection and qualification of personnel".

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3 CANopen basics

3.1 Characteristics
CANopen is an open communications profile for industrial automation systems. It is based on the CAN
bus system (CAN = Controller Area Network), which describes Layers 1 (physical layer) and 2 (data
communication) of the OSI model (Open Systems Interconnection Model = reference model for
network protocols as system architecture (ISO 11898). The CANopen profiles (application layer, plug
assignment and transfer rates) are defined in Layer 7 of the OSI model, which is based on CAN.

Figure 1: OSI layer model

Item Description
OSI layer 1 Layer 1, physical layer, defines the hardware, coding, speed etc. of data transfer

OSI layer 2 Layer 2, link layer, defines the communication physics (access method in the field bus and
data backup).
Layer 7, application layer, defines the interface to the application program with the
OSI layer 7
application-orientated commands.
DS-301 Communication profile DS-301
DS-401 Device profile DS-401, I/O module
DS-402 Device profile DS-402, drive units

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 3 CANopen basics

CANopen is managed by the association of users and manufacturers "CAN in Automation" (CiA) and
is published in the European standard EN 50325-4
CANopen is not a conventional Master-Slave system. In addition to client-server services, the
producer-consumer concept is also used. Field bus access rights are not assigned by a higher level
control unit, but rather, each bus participant is equally entitled to transfer data as soon as the bus is
free (Multi-Master capability). In case of simultaneous access by several participants, access is
granted to the subscriber with the highest priority. The priority is assigned by a label (ID) of the
message which is to be transferred.
CANopen® is a registered trademark of CAN in Automation (CiA).
CANopen devices can be integrated into a CANopen field bus system without configuration, however
a unique bus address and a baud rate must be specified. The node address (node identifier) of a
CANopen device, by which the field bus participant is identified, results from the bus address and the
baud rate.

Performance description

Standards CAN ISO 11898; CANopen: EN 50325-4

Possible number of bus participants max. 127
Transfer rate 1 Mbit/s
Supported profiles Communication profile DS-301, drive profile DS-402
Data transmission Transmission and reading of process and parameter data
Wiring Pre-assembled CAN bus cable
Cable length Depending on transmission speed:
kBit/s Bus length
1000 30 m
500 100 m
250 250 m
125 500 m
62.5 1000 m

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3.2 Topology

Figure 2: CANopen linear topology (example for up to 64 bus participants)

CANopen bus interfaces from Getriebebau NORD GmbH & Co. KG are connected in a linear
structure. All bus participants must communicate with the same baud rate.
Branches from a linear bus are possible using router nodes. The number of bus participants can be
increased to a maximum of 127 by using repeaters.

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3.3 Bus protocol

The data which are to be communicated via the field bus are embedded in standard CAN-specific
frames. The frames differ according to the length of the so-called "identifier" with which the CAN frame
is identified:
• Standard frame = 11-bit (CAN specification 2.0A)
• Extended frame = 29-bit (CAN specification 2.0B)

Figure 3: CANopen standard frame – 11-bit identifier

Figure 4: CANopen extended frame – 29-bit identifier

Field Designation Description

Start SOF Start Of File = Dominant data bit for synchronisation
Status Identifier Label for transferring the priority and access rights of the recipient bus
participant
RTR1 Remote Transmission Request = Recessive data bit to differentiate
between the dominant data bit and the recessive data request
telegram
SRR Substitute Remote Request = Replaces the RTR bit of the standard
frame and is also used to confirm receipt by the recipient to the sender
(telegram received correctly)
IDE1 Identifier Extension = Extension of the identifier
Control res. Reserved field
DLC Data Length Code = Information about the length of the data telegram
Data Data Data telegram
CRC Cyclic Redundancy Check = Checksum which is used to detect errors
ACK Acknowledge = Confirmation of correct receipt by other bus
participants
EOF End Of File = End of the data telegram (7 recessive bit)
IFS Inter Frame Spacing = Code for the transfer time of a correctly
received message
1 For a standard frame with an 11-bit identifier, this is part of the "Control" field

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3.3.1 CANopen protocols

CANopen protocol Description

NMT protocol The NMT protocol (Network Management protocol) is used to execute
commands from the status machine (e.g. starting and stopping devices).
Module Control protocol The Module Control protocol is used by the NMT master to change the
status of devices. The COB ID (identifier for a communication object) of a
CAN frame in the Module Control protocol is always zero; i.e. the function
code and the node ID are "0" so that all bus participants can process the
data which is transferred. The actual node ID of the participant to which the
data is to be transferred is sent via the data area (in the second byte). If
this ID is "0", all bus participants are switched to the commanded state.
Heartbeat protocol The readiness of bus participants for operation is monitored with the
heartbeat protocol. A heartbeat producer (usually a slave) sends a
message at regular intervals with the function code "1110b" and its node ID
(COB ID = 700h + node ID) The data section of the frame contains a byte
which indicates the status of the node. If the heartbeat consumer does not
receive this message within a certain time (defined in the object directory of
the device) the consumer can, e.g. reset the device or display an error
message.
Bootup protocol The transition of CANopen devices from "Initialisation" to "Pre-Operational"
status is made during the startup phase (bootup) of the bus system. During
the transition, a single heartbeat message is transferred to the bus in the
bootup protocol.
SDO protocol In the SDO protocol (Service Data Object protocol) values are set and read
from the object directory (OV) of a remote device. The device whose object
directory is accessed is the SDO server and the device which has access
to the remote device is the SDO client. Reading access to an object
directory results in an SDO upload and writing into a directory entry results
in an SDO download.
PDO protocol In the PDO protocol (Process Data Object protocol) the real time process
data are processed by the bus participants.
SYNC protocol In the SYNC protocol (Synchronisation Object protocol) the SYNC producer
sends the synchronisation signal to the SYNC consumer.
TIME protocol The optional TIME protocol (Time Stamp protocol) is a high resolution
synchronisation protocol for the transfer of a special time stamp message
in order to compensate for time deviations in local clocks.
EMCY protocol Via the EMCY protocol (Error Object protocol) fatal internal device errors
are reported to the other bus participants with high priority. The EMCY error
codes and the additional information specific to the device are defined in
the device profile.

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3.3.2 Communication objects

CANopen data communication is carried out with communication objects (COB = Communication
Objects):
• Service Data Objects (SDO) for parameterisation of object directory entries
• Process Data Objects (PDO) for communication of real time data
• Network Management objects for control of the NMT status machine
• Synchronisation Objects (SYNC), time stamps and error messages (EMCY)
The communication objects are specified in the object directory (OV) which acts as the interface
between the application and the CANopen communication device. Each communication object in the
object directory is designated with a 16-bit index. An index may contain up to 255 sub-indices (8-bit).
The assignment to a particular index is defined in the CANopen profiles DS-301 (communication
profile) and DS-402 (application profile).

Object Directory (OV) The objects which are specified in the object directory contain data,
parameters or functions. Access is via Service Data Objects (SDO). An
object is addressed via the index (16-bit) and the sub-index (8-bit). The
object directory is divided into the following ranges:
Index range Use
0001h…009Fh Data types (special case)
00A0h…0FFFh Reserved
1000h…1FFFh Communication profile
2000h…5FFFh Manufacturer-specific objects
6000h…9FFFh Up to 8 standardised device profiles
A000h…AFFFh Process images from CANopen gateways (CiA 302-7)
C000h…FFFFh Reserved
Service Data Objects SDO Service Data Objects are used for confirmed transfer of data of any length
between two network participants. The SDO client is the initiating
participant and has direct access to the object directory entries of the SDO
server (read and write). SDO communication is used for parameterisation
and diagnosis.
Process Data Objects PDO Transfer of process data is made without confirmation. Process data can
contain a maximum of 8 bytes. The meaning of the process data is
specified by the identifier and the PDO mapping which is set. A Process
Data Object is always produced by a producer (transmitter), but can be
transferred to several consumers (recipients).
PDO mapping The objects "1600h"…"1603h" or "1A00h"…"1A03h" of the object directory
specify which objects (setpoints/actual values) are to be transferred in the
PDO telegrams.
Identifier Each CANopen message has an identifier (standard 11-bit, extended 29-
bit), which is used for addressing and assignment of priority.
CANopen defines a pre-set identifier assignment which enables
communication between a higher level device and up to 127 other devices.
Structure of the 11-bit identifier:
Bit Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
10
Function code Node identifier (1…127)

See  Section 6 "Data transmission" for detailed information.

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4 NORD system bus

Communication between the bus interface and frequency inverters from Getriebebau NORD GmbH &
Co. KG is carried out via a separate NORD system bus. The NORD system bus is a CAN field bus;
communication is via the CANopen protocol.
One or more frequency inverters in the field bus system can be accessed via a bus interface.

Figure 5: Example of the structure of a NORD system bus

Item Description
1 NORD system bus (CAN field bus)
2 SK TU4 bus interface
3 Frequency inverter
4 Absolute encoder
5 Input/output extension SK TU4-IOE

6 NORD CON computer (on Windows® based PC, on which the NORD CON parameterisation and
control software is installed)
7 Field bus

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4.1 NORD system bus participants

Possible number of bus nodes on a system bus:

Decentralised frequency inverters Central frequency inverters

SK 1x0E SK 2xxE SK 500–535E SK 54xE

Frequency inverter 4 4 1 1
Input/output extensions 8 8 — 8
CANopen encoder 4 4 1 1
Bus interface 1 1 1 1
NORD CON computer 1 1 1 1

All participants on the NORD system bus must be assigned a unique address (CAN ID). The address
of the bus interface is pre-set at the factory and cannot be changed. Connected IO extensions must be
assigned to the frequency inverters ( Technical Information/Data Sheet of the relevant IO
extension). Depending on the device, the addresses of the frequency inverter and the connected
absolute encoder can be set via the parameter P515 CAN address or via the DIP switches.
If absolute encoders are used, these must be assigned directly to a frequency inverter. This is carried
out using the following equation:
Absolute encoder address = CAN ID of the frequency inverter + 1
This results in the following matrix:

Device FI 1 AG1 FI 2 AG2 …

CAN-ID 32 33 34 35 …

The termination resistor must be activated on the first and last participant in the system bus
( Frequency inverter manual) The bus speed of the frequency inverter must be set to "250 kBaud"
(P514 CAN baud rate) This also applies to any absolute encoders which are connected.

Information SK 5xxE series, SK 511E and above

Setup of a system bus with SK 5xxE series devices is only possible for SK 511E devices and above and is
made via their RJ45 sockets. It must be noted that the RJ45 sockets must have a 24 V DC supply in order to
enable communication via the system bus ( Frequency inverter manual).

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4.2 Access to parameters and control options

Communication by NORD control devices (SimpleBox and ParameterBox) and the NORD CON
software with the bus interfaces and the frequency inverters on the NORD system bus is carried out
via the USS protocol ( Manual BU 0050)

Information Access to bus interface parameters

• Access to bus interface parameters is only possible via the NORD CON software or the ParameterBox, not
however via the SimpleBox (SK CSX-3...).
• Access to the parameters of a SK TU4 is possible via the NORD system bus by connection to a frequency
inverter or also directly by connection to the RJ12 interface of the SK TU4.
• Access to the parameters of a SK CU4 is only possible via the NORD system bus (CANopen) by
connection to a frequency inverter.

4.2.1 Access via the NORD SimpleBox

By connection of the SimpleBox ( Manual BU 0040) to a frequency inverter a point-to-point USS
bus communication is established. The SimpleBox only communicates with the frequency inverter to
which it is connected.

4.2.2 Access via the NORD ParameterBox

Access via the ParameterBox ( Manual BU 0040) can be obtained by several methods:
• Connection of the ParameterBox to a frequency inverter for point-to-point USS bus
communication. The ParameterBox only communicates with the frequency inverter to which it is
connected.
• Connection of the ParameterBox to a frequency inverter for USS communication with a maximum
of 6 participants (5 devices plus ParameterBox). This requires an installed USS bus:
– Wired,
– Termination resistors set,
– USS bus participants addressed.
• Connection of the ParameterBox to a bus interface or frequency inverter for system bus
communication (CANopen) with a maximum of 6 participants (5 devices plus ParameterBox).
This requires an installed system bus:
– Wired,
– Termination resistors set,
– System bus participants addressed, USS addresses set to the factory setting ("0"). If the
ParameterBox detects an active system bus, a USS address is automatically assigned to all of
the participants which are detected.
Communication is via the USS protocol. The CANopen interface of the bus interface or the device
with which the ParameterBox is connected acts as a gateway.

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4.2.3 Access via NORDCON software

Access via the NORDCON software ( Manual BU 0000) can be obtained by several methods:
• Connection of the NORDCON computer to a frequency inverter for point-to-point USS bus
communication. The NORDCON software only communicates with the frequency inverter to
which it is connected.
• Connection of the NORDCON computer to a frequency inverter for USS communication with a
maximum of 32 participants (31 devices plus ParameterBox). This requires an installed USS bus:
– Wired,
– Termination resistors set (only for RS485 connection. This is not necessary for an RS232
connection).

Information USS address

It is not necessary to set a USS address.

• Connection of the NORDCON computer to a bus interface or frequency inverter for system bus
communication (CANopen) with a maximum of 32 participants (31 devices plus NORDCON).
This requires an installed system bus:
– Wired,
– Termination resistors set,
– System bus participants addressed, USS addresses set to the factory setting ("0"). If the
NORDCON software detects an active system bus, a USS address is automatically assigned to
all of the participants which are detected.
Communication is via the USS protocol. The CANopen interface of the bus interface or the device
with which the NORDCON software is connected acts as a gateway.

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5 Initial setup

The bus interface must be set up in order to commission the field bus system. This consists of the
following work:

Type of work Description 

Connect the bus interface to the frequency inverter Section 5.1 "Connecting the bus interface"
Configure the control project Section 5.3 "Integration into the bus master"
Assign the bus address Section 5.3 "Integration into the bus master"
Make the required parameter settings Section 7 "Parameters"

An example of the procedure for setting up the field bus system can be found at the end of this section
( Section 5.4 "Example: Commissioning the CANopen bus module").
Detailed information about EMC compliant installation can be found in the Technical Information
TI 80_0011 under www.nord.com

5.1 Connecting the bus interface

Information Bus address via DIP switch
Before connecting the bus interface, read the information for setting the bus address in the technical
information and in this manual ( Section 5.3 "Integration into the bus master"). If the bus address is set with
the DIP switches, this must be carried out before the bus interface is connected, as the DIP switches are no
longer accessible after this.

Connection of the bus interface to the frequency inverter and the CANopen field bus is described in
the corresponding technical information:

Bus interface Frequency inverter Documentation

SK TU3-CAO SK 5xxE series Technical Information/Data Sheet TI 275900075
SK TU4-CAO SK 1x0E and SK 2xxE Technical Information/Data Sheet TI 275281101
SK TU4-CAO-M12 series Technical Information/Data Sheet TI 275271201
SK TU4-CAO-C Technical Information/Data Sheet TI 275281151
SK TU4-CAO-M12-C Technical Information/Data Sheet TI 275281251
SK CU4-CAO Technical Information/Data Sheet TI 275271001
SK CU4-CAO-C Technical Information/Data Sheet TI 275281501

22 BU 2500 en-4319
 5 Initial setup

5.2 Cable material

The frequency inverter is usually connected to the CANnord system by a twisted, shielded two-wire
cable. The guaranteed transfer speeds or transfer distances can only be achieved without errors if the
specific cable parameters are complied with.
Bus cable length Resistance Cable cross-section Possible transfer rates
Up to 25m 70 mΩ/m ≥ 0.25 mm2, AWG23 1 Mbit/s
25 - 50m 70 mΩ/m ≥ 0.25 mm2, AWG23 800 kBits/s
50 - 80m < 60 mΩ/m ≥ 0.34 mm2, AWG22 500 kBits/s
80m - 230m < 40 mΩ/m ≥ 0.5 mm2, AWG21 250 kBits/s
230m – 480m < 26 mΩ/m ≥ 0.75 mm2, AWG18 125 kBits/s
480m – 1km < 20 mΩ/m ≥ 1 mm2, AWG… 50 kBits/s

Table 1: Transfer speeds versus cable length

The interface complies with ISO 11898. The maximum permissible voltage on the CAN_L and CAN_H
cables is -8V … +8V.

5.3 Integration into the bus master

The bus master must first be configured for communication with the bus interface (PLC project of the
bus master). The configuration must be produced with a software system for CANopen field bus
systems.

5.3.1 Installing the device description file

The bus master needs a device description file so that the bus interface and the frequency inverter
can be identified by the bus master during the bus scan. The current device description file which is
necessary for detection of the CANopen bus interface and the frequency inverter can be downloaded
from our website www.nord.com, directly under the link NORDAC_Options.
The file (e.g. "SK2xxE.eds") contains a description of the device characteristics of the bus interface,
the communication objects (COB) and the parameters of the bus interface and the connected
frequency inverters.

File Bus interface Frequency inverters

SK5x0E.eds SK TU3-CAO SK 5xxE series
SK540E_TB.eds SK 540E series
SK2xxE.eds SK CU4-CAO SK 2xxE series
SK5xxE.eds SK 5xxE series
SK54xE.eds SK 54xE series
SK180E.eds SK 180E series

Information Number of connected frequency inverters

As delivered, the device description file is set to a connected frequency inverter (FI1) If several frequency
inverters are connected, these must be set in the configuration software after installation of the device description
file.

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5.3.2 Automatic device detection
In order that the bus interface and the connected frequency inverters can be automatically detected by
the bus master in bus scan, the following settings must be made in the configuration software after
installation of the device description file:
• Enter the bus interface in the CANopen field bus system
• Set the bus address of the bus interface

5.3.3 Data format of process data

For the cyclic transfer of process data for the bus interface and the frequency inverter, the data format
must be specified in the configuration project. For detailed information about process data, please
refer to  Section 6.5 "Transfer of process data".

5.3.4 CANopen field bus address

In order for the bus interface and the connected frequency inverters to be detected by the bus master,
the bus address and the baud rate, and if necessary the termination resistor (if the bus interface is the
last participant on the bus) must be set on the bus interface.
The setting is made via DIP switches,  Technical Information/Data Sheet.
The address and the baud rate are read out by the bus interface when the bus interface is connected
to the power supply ("POWER ON").
The address which is set can be read out with parameter P180 CANopen address and the set baud
rate with parameter P181 CANopen baud rate ( Section 7.1.4 "CANopen information parameters").

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5.4 Example: Commissioning the CANopen bus module

The following example contains an overview of the necessary steps for commissioning the bus
interface in a CANopen field bus system. The example does not include any details of application-
specific settings (motor data, control parameters, etc.).
Example:
Via a bus interface, 3 frequency inverters are to be independently controlled in positioning operation
with a single speed and a single position specification.

Device type Name Connected motor Characteristics

Bus interface BusBG1
SK TU4-CAO
SK 2x5E frequency inverter FI 1 4-pole/n=1390 rpm/50 Hz Motor with CANopen absolute encoder
AG1
SK 2x5E frequency inverter FI 2 4-pole/n=1390 rpm/50 Hz Motor with CANopen absolute encoder
AG2
SK 2x5E frequency inverter FI31 4-pole/n=1390 rpm/50 Hz Motor with CANopen absolute encoder
AG3
1
The bus interface and frequency inverter FI3 are physically the last participants on the NORD system bus.

Communication Step Explanation

NORD system bus 1 Before connecting the Set DIP switch 1 (of 12) on the bus interface to the
bus interface to the "ON" position.
frequency inverter: Set DIP switch S2 on frequency inverter FI3 to the
Set the termination "ON" position.
resistors.
All other DIP switches (termination resistors) must
be in the "OFF" position.
2 Set up system bus. A 24 V supply is required! ( Technical Information
for the bus interface)
3 Set the system bus Preferably with the DIP switches ( BU 0200):
address of the frequency FI1 Address "32"
inverter
FI2 Address "34"
FI3 Address "36"
AG1 Address "33"
AG2 Address "35"
AG3 Address "37"
The address of the bus interface is pre-set and
cannot be changed.
4 Set the system bus baud Set "250 kBaud" on FI1 to FI3 as well as on AG1 to
rate. AG3.

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Communication Step Explanation

5 Set the parameters for Set the following parameters on each frequency
system bus inverter:
communication. P509 3 (system bus)
P510, [-01] 0 (Auto)
P510, [-02] 0 (Auto)
P543, [-01] 1 (actual frequency)
P543, [-02] 10 (curr. Pos. Inc. LowWord)
P543, [-03] 15 (cur. Pos. Inc. HighWord
P546, [-01] 1 (set point frequency)
P546, [-02] 23 (setp. Pos. Inc. LowWord)
P546, [-03] 24 (set. Pos. Inc. HighWord)
CANopen field bus 6 Set up the bus interface for  Sections 5.1 "Connecting the bus interface" to
field bus communication. 5.3 "Integration into the bus master"
Set the following parameters on the bus interface
( Section 7.1.1 "NORD standard parameters"):
P151 200 ms (Timeout external bus)
NORD system bus 7 Set the parameters for Set the following parameters on each frequency
system bus monitoring. inverter ( BU 0200)
P120, [-01] 1 (Auto) or
2 (monitoring active immediately)
8 Check the system bus Check the display of the following information
communication. parameters on all frequency inverters ( BU 0200):
P748 "System bus status"
P740, [-01] "Control word"“ (047Eh = "Ready for
switch-on"1)
P740, [-02] "Setpoint 1"
P741, [-01] "Status word" (0B31h = "Ready for
switch-on")
P741, [-02] "Actual value 1"
Check the display of the following bus interface
information parameters ( Section 7.1.3 "NORD
information parameters"):
P173 "Module status"
CANopen field bus 9 Check the field bus Check the display of the following bus interface
communication. information parameters ( Section 7.1.3 "NORD
information parameters"):
P173 "Module status"
P740 "Process data Bus In"
P177 "Process data Bus Out"
1
On condition that the PLC has already sent the control word. Otherwise "0h" is displayed in the parameter.

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6 Data transmission

6.1 Introduction
With the data communication between the frequency inverter (via the bus interface) and the bus
master (PLC) process data and parameter data are exchanged.
The process data are transferred via PDOs (Process Data Objects) and the parameter data via SDOs
(Service Data Objects).
CANopen data transfer is carried out in little-endian format (literally "little-ender format"). This is an
order system for reading bytes into the register and memory, in which the LSB (Least Significant Byte)
is in the first place and is saved in the lowest memory address. For example, the control word "047Eh"
("ready for switch-on") is transferred to the frequency inverter as "7E04h" in little-endian format.

6.1.1 Process data

• Process data are the control word and up to 3 setpoints, as well as the status word and up to 3
actual values. Control words and setpoints are communicated from the bus master to the frequency
inverters. Status words and actual values are communicated from the frequency inverters to the
bus master.
• Process data are necessary to control the frequency inverter.
• The transfer of process data is carried out cyclically with priority between the bus master and the
frequency inverters.
• In the PLC the process data are stored directly in the I/O area.
• Process data are not saved in the frequency inverter.
 Section 6.5 "Transfer of process data".

6.1.2 Parameter data

• Parameter data are the setting values and device data for the bus interface and the connected
frequency inverter.
• Transfer of the parameter data is carried out acyclically without priority.

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6.2 NMT network management

After conclusion of the individual initialisation phase, all participants in a CANopen field bus system
can be set to one of three operational states.
• Pre-Operational
• Operational
• Stopped
Control of the operating states is carried out by the transfer of commands by an NMT master.

Status Description Command

Identifier Data byte 0 Data byte 1

Pre- The bus participant enters this state after 00h 80h 00h
Operational initialisation. In this state the bus participant can
be configured, i.e. transfer of SDOs (parameter
data) is possible; the PDO channel is blocked.
Operational The field bus is ready for operation. PDOs and 00h 01h 00h
SDOs can be transferred
Stopped PDO and SDO transfer blocked; only NMT 00h 02h 00h
commands can be transferred.

6.3 Structure of application data

Data transfer is by exchange of telegrams. The structure of a CANopen telegram corresponds to the
CAN telegram format ( 3.3 "Bus protocol").

Data field
Start field Status field Control field Backup field Confirmation End field
(Application
(SOF) (Identifier) (Control) (CRC) field (ACK) (EOF)
data)
1-bit 12-bit/32-bit 6-bit 0…64-bit 18-bit 2-bit 7-bit

The different structures of the application data field enables the exchange of two different types of
telegram:
• PDO (Process Data Objects) for communication of process data,
• SDO (Service Data Objects) for communication of parameter data.
A PDO uses the data field exclusively for process data information and is therefore able to transfer 8
bytes of process data with each telegram.
An SDO divides the data field into a 4 byte configuration area and a 1 - 4 byte data area. This enables
access to the object data directory and therefore to the function of the bus participant (e.g. frequency
inverter) as well as parameterisation of the device. However, the possible extent of the data content is
restricted:

Control
Index Sub-index Data
byte

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

E.g.
E.g. "Parameter number" E.g. " Array" E.g. "Parameter values"
"Download"

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 6 Data transmission

6.3.1 Process Data Objects PDO

Process data objects are used to exchange process-relevant data, which contain up to 5 setpoints or
actual values in addition to the control word or status word.
These are communicated via configurable modes (transmission types)
• event-controlled, e.g. after the elapse of a set time,
• on demand (Polling via Remote Frame) or
• synchronously via a SYNC telegram (without data content).
Process data objects are communicated with high priority to ensure that time-critical process data are
processed preferentially (real time capability). Furthermore, process data telegrams are
communicated without confirmation, which also contributes to the real time capability of the system.
Process data objects can only be processed by CANopen participants which are in the status
"Operational". Safety mechanisms in the CAN protocol such as "Bit stuffing", "CRC" and
"Framecheck" ensure the correct reception of process data objects.

6.3.2 Service Data Objects SDO

Service data objects are used to exchange parameter data (changes in the object directory of a bus
participant) and status queries. They are used to configure the function of a bus participant (e.g.
parameterisation of connected frequency inverters) and specification of the application-specific
sequence of the process data of a PDO telegram (PDO mapping).
Service data objects are transferred with low priority, so that process-critical PDO telegrams and
EMCY messages can receive preferential treatment. Service data objects can be communicated in
segments if the necessary application data are too large for a single SDO. Receipt of service data
telegrams is acknowledged by the recipients.
SDOs are processed by CANopen bus participants which are in the status "Pre-Operational" or
"Operational".

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6.4 CAN identifier and COB ID

Each CANopen data telegram has an 11-bit identifier with which the addressing and assignment of
priority is made:

Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Function code1 Node identifier (1…127)1

1
The function code and node identifier give the COB ID of a PDO or SDO

Identifiers can be assigned via the CANopen object directory ( Section 6.7 "Object directories"):

Object Function code Resulting COB ID OI entry

NMT 0000 0 —
SYNC 0001 80h 1005h…1007h
Time stamp 0010 100h 1012h, 1013h
Emergency 0001 81h…FFh 1014h, 1015h
PDO1 (Tx) 0011 181h…1FFh 1800h, 1A00h
PDO1 (Rx) 0100 201h…27Fh 1400h, 1600h
PDO2 (Tx) 0101 281h…2FFh 1801h, 1A01h
PDO2 (Rx) 0110 301h…37Fh 1401h, 1601h
PDO3 (Tx) 0111 381h…3FFh 1802h, 1A02h
PDO3 (Rx) 1000 401h…47Fh 1402h, 1602h
PDO4 (Tx) 1001 481h…4FFh 1803h, 1A03h
PDO4 (Rx) 1010 501h…57Fh 1403h, 1603h
SDO (Tx) 1011 581h…5FFh 1200h
SDO (Rx) 1100 601h…67Fh 1200h
NMT Error Control 1110 701h…77Fh 1016h, 1017h

CANopen bus interfaces from Getriebebau NORD GmbH & Co. KG have 5 PDO channels (transmit
and receive) and 4 SDO channels. However, less channels are provided in the so-called "Predefined
Connection Set" of the CANopen communication profile DS-301, so that address conflicts result with
devices which use the "Predefined Connection Set". To avoid address conflicts, the channels which
are additionally required are divided into the address range "64...127".

Information Object links in the CANopen master

In order for the bus interfaces SK CU4-CAO and SK TU4-CAO to be able to transmit and receive object data
via the CANopen field bus, 4 words (e.g. a control word and 3 setpoints) must always be transferred. If, e.g.
only 2 words (control word and setpoint 1) are required for a command, the two other words (setpoint 2 and
setpoint 3) must be filled with zeros. This means that in the CANopen control project all 4 objects (e.g. control
word and setpoints 1...3) must always be linked, even if only 2 words are to be transferred. Otherwise the data
will not be evaluated by the bus interface.

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 6 Data transmission

The assignment and setting of the COB ID is normally carried out via the parameters P160 COB ID
On/Off and P161 COB ID ( Section 7.1.2 "CANopen standard parameters"). The following table
shows the factory settings of the bus interfaces SK CU4-CAO and SK TU4-CAO which enable the
exchange of process data between the bus interface and up to 4 frequency inverters which are
connected via the NORD system bus (gateway function).

Object Availability COB ID Assigned device

NMT Enabled 0 FI1, FI2, FI3, FI4 bus interface
SYNC Enabled 80h FI1, FI2, FI3, FI4 bus interface
Emergency Enabled 80h + node address FI1, FI2, FI3, FI4 bus interface
PDO1 (Tx) Enabled 180h + node address FI1
PDO1 (Rx) Enabled 200h + node address FI1
PDO2 (Tx) Enabled 280h + node address FI2
PDO2 (Rx) Enabled 300h + node address FI2
PDO3 (Tx) Enabled 380h + node address FI3
PDO3 (Rx) Enabled 400h + node address FI3
PDO4 (Tx) Enabled 480h + node address FI4
PDO4 (Rx) Enabled 500h + node address FI4
PDO5 (Tx) Disabled 1C0h + node address Bus interface
PDO5 (Rx) Disabled 240h + node address Bus interface
SDO1 (Tx) Enabled 580h + node address FI1, bus interface
SDO1 (Rx) Enabled 600h + node address FI1, bus interface
SDO2 (Tx) Disabled 2C0h + node address FI2
SDO2 (Rx) Disabled 340h + node address FI2
SDO3 (Tx) Disabled 3C0h + node address FI3
SDO3 (Rx) Disabled 440h + node address FI3
SDO4 (Tx) Disabled 4C0h + node address FI4
SDO4 (Rx) Disabled 540h + node address FI 4
NMT Error Control Enabled FI1, FI2, FI3, FI4 bus interface

Information Node addresses of other field bus participants

For the addressing of CANopen field bus participants from other manufacturers, for node addresses >64 it must
be ensured that these are not already occupied by devices from Getriebebau NORD GmbH & Co. KG.

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6.5 Transfer of process data

The control word (STW) and up to 5 setpoints (SW) are transferred from the bus master to the
frequency inverter and the status word (ZSW) and up to 5 actual values (IW) are transferred from the
frequency inverter to the bus master as process data (PZD).
Transfer of process data is via Process Data Objects (PDO). Up to 4 transmission PDOs (Tx) and 4
receive PDOs (Rx) are available for NORD frequency inverters

PDO transfer type Data type Frequency inverter

PDO Tx Control data Receives data
PDO Rx Status data Transmits data

The process data telegram for the communication of process data objects contains 8 bytes of process
data:

Direction of Transmitted data

transmission
SK 1x0E, SK 2xxE and SK 5xxE frequency inverters Only SK 54xE
frequency inverters

1st word 2nd word 3rd word 4th word 5th word 6th word

8 Byte
To bus interface Control word Setpoint 1 Setpoint 2 Setpoint 3 Setpoint 4 Setpoint 5
From bus interface Status word Actual Actual Actual Actual Actual
value 1 value 2 value 3 value 4 value 5

The meaning of the data which is transmitted is specified by the identifier (COB ID) and the PDO
mapping which is set.
The bus master reads the length and structure of the process data from the device description file (
Section 5.3 "Integration into the bus master").
Special modifications to the PDO communication (e.g. setting of the COB ID, assignment of
Transmission Types, etc.) can be made via the standard CANopen parameters of the bus interface 
Section 7.1.2 "CANopen standard parameters".

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6.5.1 Control word

The control word (STW) is the first word of a process data telegram which is sent from the bus master
to the frequency inverter (order telegram) To switch the drive unit to standby, the frequency inverter
must be set to "Ready for switch-on" status by transfer of the first control command "047Eh"
("10001111110b").

Bit Designation Value Control command Priority1

0 Ready for operation 0 Reverse with brake ramp, with voltage enabled at f=0 Hz 3
(ready for operation)
1 Set the frequency inverter to standby. 5
1 Disable voltage 0 Switch off the frequency inverter output voltage (the frequency 1
inverter goes into the status "Switch-on block").
1 Cancel "Disable voltage" —
2 Emergency stop 0 Emergency stop with programmed emergency stop time. At 2
f = 0 Hz voltage enable (the FI goes into "Switch-on block"
status
1 Cancel operating condition "Emergency stop" —
3 Enable operation 0 Block voltage: Switch off the frequency inverter output voltage 6
(the frequency inverter goes into the status "Ready for switch-
on").
1 Enable output voltage Acceleration of the frequency inverter to 4
the present setpoint.
4 Enable pulses 0 Acceleration encoder is set to zero; at f = 0 Hz no voltage —
enable (FI remains in "Operation enabled" status).
1 Enable acceleration encoder
5 Enable ramp 0 Freeze the setpoint currently provided by the acceleration —
encoder (maintain frequency).
1 Enable setpoint on acceleration encoder
6 Enable setpoint 0 Set the selected setpoint on the acceleration encoder to 0 —
1 Activate the selected setpoint on the acceleration encoder.
7 Acknowledge the error 0 With the switch from 0 to 1, inactive errors are acknowledged. 7
(0→1) 1 Note: If a digital input has been programmed for the "ack.fault" function, this bit
must not permanently be set to 1 via the bus, as otherwise, flank evaluation
would be prevented.
8 Start function 480.11 0 —
1 Bus bit 8 of the control word is set  Parameter P480 in the
frequency inverter manual.
9 Start function 480.12 0 —
1 Bus bit 9 of the control word is set  Parameter P480 in the
frequency inverter manual.
102 Control data valid 0 The transmitted process data are invalid. —
1 The bus master transfers valid process data
113 Rotation right is on 0 —
1 Switch on rotation right.
123 Rotation left is on 0 —
1 Switch on rotation left (priority).
13 Reserved
14 Parameter set Bit 0 On 0 Bit 15 Bit 14 it activates the parameter set —
1 0 0 Parameter set 1
15 Parameter set Bit 1 On 0 0 1 Parameter set 2
1 0 Parameter set 3
1 1 1 Parameter set 4
1
If several control bits are set simultaneously, the priority stated in this column applies.
2
The telegram is only interpreted as valid by the frequency inverter and the setpoints which are communicated via the field bus are only
set if control bit 10 is set to 1.
3
If Bit 12 = 0, "rotational direction right ON" applies.
If Bit 12 = 1, "rotational direction left ON" applies, irrespective of Bit 11.

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6.5.2 Status word

The status word (ZSW) is the first word of a process data telegram which is sent from the frequency
inverter to the bus master (response telegram). With the status word, the status of the frequency
inverter is reported to the bus master. As the response to the control word command "047Eh" the
frequency inverter typically responds with "0B31h" ("101100110001b") and therefore indicates the
status "Ready for switch-on".

Bit Meaning Value Status message

0 Ready to start 0
1 Initialisation completed, charging relay switched on, output voltage
disabled
1 Ready for operation 0 No switch-on command present, or there is a fault, of the command
"Disable voltage" or "Emergency stop" is present, or the status is
"Switch-on block".
1 There is a switch-on command and there is no fault. The inverter can
be started with the command "Enable operation"
2 Operation enabled 0
1 The output voltage is enabled; ramp of the frequency inverter up to
the existing setpoint
3 Fault 0
1 Drive unit defective and therefore "Not ready for operation". After
acknowledgement, the frequency goes into status "Switch-on block".
4 Voltage enabled 0 "Disable voltage" command present.
1
5 Emergency stop 0 "Emergency stop" command present.
1
6 Starting disabled 0
1 With the command "Standby" the frequency goes into status "Ready
for switch-on".
7 Warning active 0
1 Drive operation continues, no acknowledgement necessary
8 Setpoint reached 0 Actual value does not correspond to the setpoint With use of
POSICON: Setpoint position not reached.
1 Actual value matches the setpoint (setpoint reached) With use of
POSICON: setpoint position has been reached
9 Bus control active 0 Control on local device active
1 The master has been requested to take over control.
10 Start function 481.9 0
1 Bus bit 10 of the status word is set  Parameter P481 in the
frequency inverter manual.
11 Rotation right is on 0
1 The frequency inverter output voltage has a right-hand rotation field.
12 Rotation left is on 0
1 The frequency inverter output voltage has a left-hand rotation field.
13 Start function 481.10 0
1 Bus bit 13 of the status word is set  Parameter P481 in the
frequency inverter manual.
14 Parameter set Bit 0 ON 0 Bit 15 Bit 14 parameter set, that is active
1 0 0 Parameter set 1
0 1 Parameter set 2
15 Parameter set Bit 1 On 0
1 0 Parameter set 3
1 1 1 Parameter set 4

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6.5.3 Frequency inverter status machine

The frequency inverter passes through a status machine. The changes between various states are
triggered automatically or by control commands in the process data control word. The present status is
returned in the process data status word.

Fault

Error reaction
Not on standby
Active

Fault

Starting disabled

Standby

Activated

Operation enabled Emergency stop

Figure 6: Frequency inverter status machine

Item Meaning
A…H Frequency inverter statuses ( Table "Frequency inverter statuses")
1…15 Status transitions ( Table "Status transitions")

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Frequency inverter statuses

Status Description
A Not on standby Initial state after switching on the frequency inverter. As soon as the loading
relay engages, the frequency inverter automatically changes to the status
"Switch-on block".
B Switch-on block Second status after switching on the frequency inverter, which can only be
exited with the control command "Shut-down". The charging relay is switched
on.
C Standby In this status, initialisation of the frequency inverter is complete. The output
voltage is blocked.

Information
During the initialisation process the response to a bus master telegram does
not yet contain the response to the control command which has been issued.
On the basis of the response from the bus participant, the control system must
determine whether the control command has been executed.
D Activated Frequency inverter ready for operation.
E Operation enabled The frequency inverter receives and processes setpoints.
F Emergency stop active Emergency stop function is being executed (the drive is stopped), the frequency
inverter changes to the status "Switch-on block".
G Error reaction active If an error occurs, the frequency inverter changes to this status and all functions
are blocked.
H Fault After processing of the response to the fault, the frequency inverter changes to
this status, which can only be exited with the control command "Acknowledge
fault".

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 6 Data transmission

Status transitions

Bit 7…0 of the control word1

Triggered status transition Control command
7 6 5 4 3 2 1 0
1 From "Not ready for switch-on" to "Switch — —
on block"
Automatic activation of the charging relay
2 From "Switch-on block" to "Ready for Shut down X X X X X 1 1 0
switch-on"
3 From "Ready for switch-on" to "Switched Switch on X X X X X 1 1 1
on"
4 From "Switched on" to "Operation Enable operation X 1 1 1 1 1 1 1
enabled"
Output voltage is enabled
5 From "Operation enabled" to "Switched Disable operation X X X X 0 1 1 1
on"
Output voltage is disabled
6 From "Switched on" to "Ready for switch- Shut down X X X X X 1 1 0
on"
Voltage enabled at "f = 0 Hz"
7 From "Ready for switch-on" to "Switch-on Disable voltage X X X X X X 0 X
block" Quick stop X X X X X 0 1 X
8 From "Operation enabled" to "Ready for Shut down X X X X X 1 1 0
switch-on"
9 From "Operation enabled" to "Switch on Disable voltage X X X X X X 0 X
block"
10 From "Switched on" to "Switch on block" Disable voltage X X X X X X 0 X
Quick stop X X X X X 0 1 X
11 From "Operation enabled" to "Emergency Quick stop X X X X X 0 1 X
stop active"
12 From "Emergency stop active" to "Switch Disable voltage X X X X X X 0 X
on block"
13 Automatically, after the occurrence of a — —
fault from any status
14 Automatically after completion of the — —
response to a fault
15 End fault Acknowledge error 0 X X X X X X X
→
1 X X X X X X X
X= The bit status (0 or 1) is not important for achieving the status. Please also note the list of control bits,
 Section 6.5.1 "Control word".
1 Complete list of control bits (Bit 0…15)  Section 6.5.1 "Control word".

Information Control bit 10

Control bit 10 "Control data valid" must always be set to 1. Otherwise the process data will not be evaluated by
the frequency inverter.

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Decoded frequency inverter statuses

Status Status bit1

6 5 4 3 2 1 0

Not ready for switch-on 0 X X 0 0 0 0

Starting disabled 1 X X 0 0 0 0

Ready to start 0 1 1 0 0 0 1

Activated 0 1 1 0 0 1 1

Operation enabled 0 1 1 0 1 1 1

Fault 0 X X 1 0 0 0

Error active 0 X X 1 1 1 1

Emergency stop active 0 0 1 0 1 1 1

1 Complete list of status bits (Bit 0…15)  Section 6.5.2 "Status word".

6.5.4 Setpoints and actual values

Setpoints (from the bus master to the frequency inverter) and actual values (from the frequency
inverter to the bus master) are specified via the following parameters of the frequency inverter:

Direction of Process value Parameters

transmission
SK 1x0E, SK 2xxE SK 500E…SK 535E SK 54xE
frequency frequency frequency
inverters inverters inverters
To bus interface Setpoint 1 P546, Array [-01] P546 P546, Array [-01]
Setpoint 2 P546, Array [-02] P547 P546, Array [-02]
Setpoint 3 P546, Array [-03] P548 P546, Array [-03]
Setpoint 4 — — P546, Array [-04]
Setpoint 5 — — P546, Array [-05]
From bus interface Actual value 1 P543, Array [-01] P543 P543, Array [-01]
Actual value 2 P543, Array [-02] P544 P543, Array [-02]
Actual value 3 P543, Array [-03] P545 P543, Array [-03]
Actual value 4 — — P543, Array [-04]
Actual value 5 — — P543, Array [-05]

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Setpoints and actual values are transmitted by three different methods:

Percentage transmission
The process value is transmitted as an integer with a value range of -32768 to 32767 (8000 hex to
7FFF hex). The value "16384" (4000 hex) corresponds to 100%. The value "-16384" (C000 hex)
corresponds to -100%.
For frequencies, the 100% value corresponds to parameter P105 Maximum frequency of the
frequency inverter. For current, the 100% value corresponds to parameter P112 Torque current limit
of the frequency inverter.
Frequencies and currents result from the following formulae:

Value * × P105
Value * × P112
Frequency = 16384 Current =
16384
* 16 Bit- setpoint or actual value which is transferred via the bus.

Binary transmission
Inputs and outputs as well as digital input bits and bus output bits are evaluated bit-wise.

Transmission of positions (SK 1x0E, SK 2xxE and SK 530E and above)

In the frequency inverter, positions have a value range of -50000.00....50000.00 rotations. A rotation of
the motor can be subdivided into a maximum of 1000 increments. The subdivision depends on the
encoder which is used.
The 32 Bit value range is divided into a "Low" and a "High" word, so that two setpoints or actual values
are required for the transmission.

Direction of Transmitted data

transmission
SK 1x0E, SK 2xxE, SK 5xxE frequency inverters Only frequency
inverters
SK 540E…SK 545E

1st word 2nd word 3rd word 4th word 5th word 6th word
To bus interface Control word 32 Bit setpoint Setpoint 3 Setpoint 4 Setpoint 5
From bus interface Status word Actual 32 Bit actual value Actual Actual
value 1 value 4 value 5

Only the "Low" word for the position can also be transferred. This results in a limited value range from
32,767 to -32,768 rotations. This value range can be extended with the ratio factor (Parameter P607
speed ratio and P608 Reduction), however this reduces the resolution accordingly.

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6.5.5 Changing the PCO COB ID

The COB ID of a PDO can only be changed if the relevant bus participant is in the status "Pre-
Operational"( Section 6.2 "NMT network management").
Setting of the COB ID is normally carried out via the parameters P160 COB ID On/Off and P161 COB
ID ( Section 7.1.2 "CANopen standard parameters"). Alternatively, setting of the COB ID can be
made via the SDO parameter channel, as each transmission and reception PDO has its own
parameters for this:

Process Data Object PDO Rx PDO Tx

PDO for frequency inverter FI1 1400h Sub 1 1800h Sub 1
PDO for frequency inverter FI2 1401h Sub 1 1801h Sub 1
PDO for frequency inverter FI3 1402h Sub 1 1802h Sub 1
PDO for frequency inverter FI4 1403h Sub 1 1803h Sub 1
PDO for bus interface 1404h Sub 1 1804h Sub 1

The parameter for setting the COB ID is a 32-bit value, which contains further information in addition
to the COB ID:

Bit number Value Meaning Note

0 PDO is active Bit 31 must be set to zero, otherwise the
31
1 PDO is switched off PDO will be deactivated.
30 1
Values cannot be changed
29…11 0
10…0 X PDO COB ID

If the COB ID of a PDO Tx is changed, e.g. to the value "201h", the value "40000201h" must be
entered in the relevant parameter.
The changed COB ID only becomes valid when the corresponding bus participant is set to the status
"Operational".

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6.5.6 PDO Transmission Types (operating modes)

The Transmission Type specifies when a "PDO Tx" is sent and when a "PDO Rx" is processed. The
specification is made via the objects "Receive PDO Communication Parameter" (Index
1400h…1404h) and "Transmit PDO Communication Parameter" (Index 1800h…1804h) of the object
directory ( Section 6.7 "Object directories").
Possible transmission types for NORD frequency inverters:

PDO Transmission Type Value

Tx PDO is sent after receipt of a SYNC command if the data and status have
0
changed since the last SYNC command.
PDO is sent after receipt of 1...240 SYNC commands, regardless of whether
1…240
the status of the data has changed since the last SYNC command.
252, 253 Reserved
The PDO is transmitted immediately if the data status has changed (standard
254, 255
setting).
Rx The data of the PDO Rx are only processed after receipt of the next SYNC
0…240
command.
252, 253 Reserved
254, 255 Data from the PDO Rx is processed immediately (standard setting).

The Transmission Type is set via the CANopen standard parameter P162 PDO Transmission Type
( Section 7.1.2 "CANopen standard parameters").

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6.5.7 PDO mapping

The objects "Receive PDO Mapping Parameter" (Index 1600h…1603h) and "Transmit PDO Mapping
Parameter" (Index 1A00h…1A03h) of the object directory ( Section 6.7 "Object directories") specify
which objects (setpoints/actual values) are transmitted via the PDO telegrams.
The order of the control word, setpoints, status word and actual values is made with the following
objects:

Object Index Sub-index

Control Word (STW) 3000h —
Status Word (ZSW) 3001h —
Setpoint 1 3002h 1
Setpoint 2 2
Setpoint 3 3
Setpoint 4 4
Setpoint 5 5
Actual value 1 3003h 1
Actual value 2 2
Actual value 3 3
Actual value 4 4
Actual value 5 5
1
Only for SK 54xE frequency inverters

Example:

PDO data byte

1 2 3 4
Control Word (16 Bit) Setpoint 1 (16 Bit)

The PDO mapping is set wit the parameter P165 PDO Mapping Para.

Information
All Getriebebau NORD GmbH & Co. KG frequency inverters support dynamic mapping and dummy mapping.
With integration of the NORD device description file ( Section 5.3 "Integration into the bus master") no
modifications are needed for the exchange of data. By mapping the PDO with 16 Bit width, dummy mapping is
not necessary.

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Standard setting

PDO Length COB ID 1st word 2nd word 3rd word 4th word
PDO1 (Tx) 4 Byte 180h + node address ZSW IW1 — —
PDO1 (Rx) 4 Byte 200h + node address STW SW1 — —
PDO2 (Tx) 8 Byte 280h + node address ZSW IW1 IW2 IW3
PDO2 (Rx) 8 Byte 300h + node address STW SW1 SW2 SW3
PDO3 (Tx) 8 Byte 380h + node address ZSW IW1 (32 Bit) IW2
PDO3 (Rx) 8 Byte 400h + node address STW SW1, (32 Bit) SW2
PDO4 (Tx) 2 Byte 480h + node address ZSW — — —
PDO4 (Rx) 2 Byte 500h + node address STW — — —

In the standard setting, all PDO Rx are activated. Transmission to the corresponding COB ID
determines whether only one setpoint or up to three setpoints are evaluated.
Only PDO1 Tx is activated, all other PDO Tx are deactivated. The corresponding PDO Tx must be
activated if several actual values have to be communicated.

Example: Activating PDO2 Tx

Necessary SDO transmission via the parameter channel ( Section 6.6 "Parameter data
transmission"):
• Set the relevant frequency inverter into the NMT operation status "Pre-Operational"
• Deactivate PDO1 (via Bit 31 in the relevant parameter), to reduce the load on the bus → SDO Tx
(Index "1800h", sub-index "1", data "C0000181h")
• Activate PDO2 → SDO Tx (Index "1801h", sub-index "1", data "400000281h")
• Set the relevant frequency inverter into the NMT operation status "Operational"
Frequency inverters SK 511E…SK 535E via internal RJ45 interface:

PDO Length COB ID 1st word 2nd word 3rd word 4th word
PDO1 (Tx) 8 Byte 180h + node address ZSW IW1 IW2 IW3
PDO1 (Rx) 8 Byte 200h + node address STW SW1 SW2 SW3
IW1 (32 Bit) of an
PDO2 (Rx) 4 Byte 300h + node address
absolute encoder

Frequency inverters SK 540E…SK 545E via internal RJ45 interface:

PDO Length COB ID 1st word 2nd word 3rd word 4th word
PDO1 (Tx) 8 Byte 180h + node address ZSW IW1 IW2 IW3
PDO1 (Rx) 8 Byte 200h + node address STW SW1 SW2 SW3
PDO2 (Tx) 5 Byte 280h + node address IW4 IW5
PDO2 (Rx) 5 Byte 300h + node address WAF 4 WAF 5
IW1 (32 Bit) of an
PDO3 (Rx) 4 Byte 400h + node address
absolute encoder

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6.5.8 Application-specific mapping

In addition to the standard PDO mapping ( Section 6.5.7 "PDO mapping") the data which are to be
transferred with the PDO can be specified in an application-specific mapping.

Information Operating state "Pre-Operational"

For application-specific mapping the bus interface must be set in the NMT operating status "Pre-Operational"
( Section 6.2 "NMT network management").

Example
The control word and setpoint 3 (each with 16 Bit) are to be transferred to the frequency inverter with
the object "Transmit PDO mapping parameter" (Index 1A00h).
• The CAN identifier "432h" is used for the transmission.
• Transmission is carried out synchronously with every third SYNC object.
• CAN identifiers ( Section 6.4 "CAN identifier and COB ID") are used for the SDO.

Changing the mapping of "PDO1 Tx"

1. Deactivating PDO mapping: In index 1A00h, sub-index 0, set the number of mapping objects to
"0".

CAN identifier Data

Transmit 0600h 2F 00 1A 00 00 xx xx xx h
Received 0580h 60 00 1A 00 xx xx xx xx h

2. Entering mapping objects: Enter the index, sub-index and object length of the application object
into the PDO mapping parameter structure (Index 1A00h). A maximum of 8 bytes of data can be
assigned for each PDO.

Application object Index Sub-index

FI1 control word 3000h 1
FI1 Setpoint 3 3002h 3

The mapping parameters of the first object, index 1A00h must have the following structure:

Sub-index Index Sub-index Object length (Bit) Comments

0 2 — — Number of mappings
1 3000h 1 10h FI1 control word
2 3002 3 10h FI1 Setpoint 3

Information Entering the sub-index

The number of valid sub-indices are only entered into sub-index 0 after the mapping parameters in sub-
index 1 ... 8 have been entered.

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Save the following objects with SDO transfers:

Map object 3000h

CAN identifier Data
Transmit 0600h 23 00 1A 01 10 01 00 30h
Set object 1A00h, sub-index 1, to object 3000h, sub-index 1, and 16-bit data width

Map object 3002h

CAN identifier Data
Transmit 0600h 23 00 1A 02 10 03 02 30h
Set object 1A00h, sub-index 2, to object 3002h, sub-index 3, and 16-bit data width

Enter number of mapping objects = 2, into sub-index 0

CAN identifier Data
Transmit 0600h 2F 00 1A 00 02 xx xx xx h
Received 0580h 60 00 18 01 xx xx xx xx h

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Changing communication parameters

1. Deactivating PDO1 Tx: Write the value "80 00 00 00h" in the communication object "Transmit
PDO Communication Parameter", index 1800h, sub-index 1:

CAN identifier Data

Transmit 0600h 23 00 18 01 00 00 00 80 h
Received 0580h 60 00 18 01 xx xx xx xx h

2. Setting the communication parameters for PDO1 Tx: Write the communication parameters into
the structure of the communication object "Transmit PDO Communication Parameter", index
1800h, sub-index 1...3. In addition, define Transmission Type 3 (synchronous communication with
every third SYNC object  Section 6.5.6 "PDO Transmission Types (operating modes)"):

Transmit PDO Communication Parameter, index 1800h

Sub-index Value Meaning
0 3 Number of entries
1 0432h COB ID used by PDO
2 3 Transmission Type
3 0 Inhibit Time

Sub-index 3, Inhibit Time = 0

CAN identifier Data
Transmit 0600h 2B 00 18 03 00 00 xx xx h
Received 0580h 60 00 18 03 xx xx xx xx h

Sub-index 2, Transmission Type = 3

CAN identifier Data
Transmit 0600h 2F 00 18 02 03 xx xx xx h
Received 0580h 60 00 18 02 xx xx xx xx h

Sub-index 1, specify COB ID of the PDO = 0432h and change from invalid to valid
CAN identifier Data
Transmit 0600h 23 00 18 02 32 04 00 00 h
Received 0580h 60 00 18 01 xx xx xx xx h

As soon as the bus interface is set to the status "Operational" with the command "Start Remote Node",
the PDOs become active and the PDO Tx object can be used for the transmission of data.

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6.6 Parameter data transmission

Access to all parameters of the bus interface and the connected frequency inverters is made via
service data objects (SDO). Access is via "Handshake" between client and server, i.e. after an SDO
telegram is transmitted, the response must be waited for before a new message can be sent.

Figure 7: Telegram traffic – SDO data exchange

Item Meaning
A Order telegram
1 Parameter order (object specification)
2 Object data
3 Processing
B Response telegram
4 Parameter response (object specification)
5 Object data

Transmission and reception addresses for SDO access (from the bus master):

Direction of Address
Transmit 600h + node address
Received 580h + node address

Information Max. 100,000 permissible writing cycles

If parameter changes are made (order by the bus master), the maximum number of permissible writing cycles to
the frequency inverter EEPROM (100,000 cycles) must not be exceeded. I.e. continuous cyclical writing must be
prevented.
For certain applications it is sufficient if the values are only saved in the RAM of the frequency inverter. The
corresponding setting is made via parameter P560 Save in EEPROM.
If the bus interface parameters are changed, these are only saved in the EEPROM if access was made via the
NORD CON software or the ParameterBox, or if the changes were made via service data objects.

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6.6.1 Writing parameter data via SDO

The following example shows the writing of a parameter value (set parameter P102 acceleration time
to the value "1.03 s") into a connected frequency inverter:

Control Sub-index Reference data

Index
byte

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

2Bh 66h 20h 01h 67h 00h 00h 00h

Control byte
The control byte specifies the data length and the order:
2Bh Transmit 16 Bit value
23h Transmit 32 Bit value
60h Response: Error-free telegram received. Parameter communication is aborted in case of any
other response.

Index
The index states the parameter number of the frequency inverter. Parameter numbers above "2000h"
are mapped:
Parameter P102 = 66h → 2000h + 66h → 6620h

Sub-index
The sub-index states the parameter index (array value). The selected parameter set and the array
element of the parameter are coded in this area.

Sub-index Sub-index Sub-index Sub-index

Array element
parameter set 1 parameter set 2 parameter set 3 parameter set 4
[-01]) 01h 02h 03h 04h
[-02]) 05h 06h 07h 08h
[-03]) 09h 0Ah 0Bh 0Ch
[-04]) 0Dh 0Eh 0Fh 10h

For parameters which neither depend on parameter sets nor consist of array elements, the sub-index
is "00h"

Application data
The values of the selected parameter are transferred in the application data area.
16-bit value 67 00 00 00h
1.03 s = 0067h
32-bit value 76 BC 2A 00h
2800,758 rev = 002ABC76h

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6.6.2 Reading parameter data via SDO

To read the parameter data, a read order (control byte "40h") is sent from the bus master to the
frequency inverter. This specifies which parameter and which array element or parameter set is to be
read. The application data area remains empty ("00h").
In the response telegram the status byte specifies the length of the response data (response 16/32-bit)
and the application data area contains the parameter value which is read out.

Example: Read out parameter P102, response 1.3 s)

Control byte/
Index Sub-index Reference data
Status byte

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Requirement
40h 20h 66h 01h 00h 00h 00h 00h
Response
4Bh 20h 66h 01h 67h 00h 00h 00h

Control byte
The control byte states the order:
40h Read value

Response
4Bh Deliver the 16-bit value which is read out
43h Deliver the 32 -bit value which is read out
80h Response to an incorrect query

6.6.3 Interruption of SDO communication

If problems occur with the SDO communication (e.g. if the value range is exceeded), an abort
telegram is transferred (control byte "80h") as the response to an order. The cause of the interruption
is specified in byte 4...7.

Control byte Last index used Error code

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

80h 00h 18h 01h 02h 00h 01h 06h

For a list of possible error codes please refer to  Section 8.3.2 "Error codes – interruption of SDO
communication".

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6.7 Object directories

All available objects are contained in the device description file ( Section 5.3 "Integration into the
bus master").

6.7.1 Principal CANopen assignment of object indices

Index range Use

0000h Not used
0001h…001Fh Static data types
0020h…003Fh Complex data types
0040h…005Fh Complex data types specific to manufacturer
0060h…007Fh Static data types specific to the device profile
0080h…009Fh Complex data types specific to the device profile
00A0h…0FFFh Reserved
1000h…1FFFh Communication profile
2000h…5FFFh Manufacturer-specific objects
6000h…9FFFh Up to 8 standardised device profiles
A000h…AFFFh Process images from CANopen gateways (CiA 302-7)
C000h…FFFFh Reserved

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6.7.2 Communication objects – CANopen profile DS-301

Sub-
Index Object Description Unit Access Type
index
1000h — Device type Device type and functionality — RO U32
1001h — Error register Error index — RO U8
1002h — Status register Status of the module — RO U32
1003h ARR Pre-defined Error Error signalled by an Emergency — — U8
Object
0 Number of errors Number of errors: Writing "0" — RW U8
deletes the error list
1 Error code Error number — RO U32
1005h — COB ID SYNC Identifier for SYNC messages — RW U32
(Default "80h")
1008h — Device name Device name — RO STR
1009h — Hardware version Hardware version — RO STR
100Ah — Software Version Software version — RO STR
100Ch — Guard Time P166 Timeout Control ("0" = Off) ms RW U16
100Dh — Life time factor Life Time = Life Time Factor x — RW U16
Guard Time
1010h — Store parameters Permanently save user settings — RW U32
For this, the signature "save"
(small case ASCII – MSB LSB,
65h, 76h, 61h, 73h) must be
written in index 1010h, sub-index
1. The saving process runs in the
background and is confirmed with
an SDO response telegram.

Information
If the CANopen address is changed
with the DIP switches after the user
settings have been saved, the saved
user settings will continue to be used.
The user settings are reset to the
factory settings by object 1011h.

1011h — Restore default Reset the user settings to the — RW U32

parameters factory settings. For this, the
signature "load" (small case
ASCII – MSB LSB, 64h, 61h,
6Fh, 6Ch) must be written in
index 1011h, sub-index 1. The
factory settings are loaded after
the next and every further "Power
ON" command (until the next
save command, see parameter
P152).
1014h — COB ID Emergency Identifier of Emergency Object — RW U32
Object ("80h"+Node-ID)
1015h — Inhibit Time EMCY Minimum repeat time ms RW U16
1017h — Producer Heartbeat Time Heartbeat cycle time ms RW U16
1018h REC Identity object General device information — — U32
0 Largest sub-index Number of array elements — RO U8
1 Vendor ID Manufacturer code — RO U32
2 Product code Device version (product number) — RO U32

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Sub-
Index Object Description Unit Access Type
index
3 Revision number Software version and revision — RO U32
number
4 Serial number Serial number — RO U32
1200h REC Default Server SDO SDO Server — — U8
0 Largest sub-index Number of array elements — RO U8
1 COB ID Server>Client (rx) SDO Rx identifier("600h" + node — RO U32
address) for FI1 and bus interface
(Parameter P161 [-02])
2 COB ID Server>Client (tx) SDO Tx identifier("580h" + node — RO U32
address) for FI1 and bus interface
(Parameter P161 [-02])
1201h REC Default Server SDO SDO Server — RW U8
0 Largest sub-index Number of array elements — RW U8
1 COB ID Server>Client (rx) SDO Rx identifier("340h" + node — RW U32
address) for FI2 and bus interface
(Parameter P161 [-05])
2 COB ID Server>Client (tx) SDO Tx identifier("2C0h" + node — RW U32
address) for FI2 and bus interface
(Parameter P161 [-04])
1202h REC Default Server SDO SDO Server — RW U8
0 Largest sub-index Number of array elements — RW U8
1 COB ID Server>Client (rx) SDO Rx identifier("440h" + node — RW U32
address) for FI3 and bus interface
(Parameter P161 [-07])
2 COB ID Server>Client (tx) SDO Tx identifier("3C0h" + node — RW U32
address) for FI3 and bus interface
(Parameter P161 [-06])
1203h REC Default Server SDO SDO Server — RW U8
0 Largest sub-index Number of array elements — RW U8
1 COB ID Server>Client (rx) SDO Rx identifier("540h" + node — RW U32
address) for FI4 and bus interface
(Parameter P161 [-09])
2 COB ID Server>Client (tx) SDO Tx identifier("4C0h" + node — RW U32
address) for FI4 and bus interface
(Parameter P161 [-08])

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6.7.3 Device objects – CANopen profile DS-402

SK xU4-CAO bus interfaces support the drive profile DS-402 ("Velocity Mode") for the processing of
speed setpoints and the corresponding accelerations.

Information Using drive profile DS -402

The following measures must be implemented in order to use the drive profile DS-402.
• Set parameter P168 Drive profile, Array [-01] to "1" (Profile On).
• Map the PDO to the objects which are used (e.g. PDO Rx "6040h" und "6042h" and PDO Tx "6041h" and
"6044h").
The digital inputs and outputs for use of the drive profile can only be mapped into a PDO via the objects
"60FDh" and "60FEh". Direct processing of these inputs and outputs via the connected frequency inverters is
not possible.

Sub-
Index Object Description Unit Access Type
index
603Fh — Error code Error description — RO U32
6040h — Control word Control word — RO U16
6041h — Status word Status word — RO U16
6042h — VI_target_velocity Speed setpoint rpm RW I16
6043h — VI_velocity_demand Speed setpoint after ramp rpm RO I16
6044h — VI_control_effort Actual speed value rpm RO I16
6046h ARR VI_velocity_min_max_ Max./Min. speed value — RO —
amount
1 VI_velocity_min_amount Min. speed value rpm RW U32
2 VI_velocity_max_amount Max. speed value rpm RW U32
6048h REC VI_velocity_acceleration Speed acceleration — RO —
1 Delta_speed Delta speed rpm RW U32
2 Delta_time Delta time s RW U16
6049h REC VI_velocity_deceleration Speed reduction — RO —
1 Delta_speed Delta speed rpm RW U32
2 Delta_time Delta time s RW U16
60FDh — Digital inputs profile Bit Meaning — RO U32
PDO data (00 0X 00 00) 0…15 Reserved
16 Digital input 1 (SK xU4-CAO)
17 Digital input 2 (SK xU4-CAO)
18 Digital input 3 (SK xTU4-CAO)
19 Digital input 4 (SK xTU4-CAO)
20…31 Reserved
60FEh — Digital outputs profile Bit Meaning — RW U32
0…15 Reserved
16 Digital output 1 (SK xTU4-CAO)
17 Digital output 2 (SK xTU4-CAO)
18…31 Reserved

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6.7.4 PDO objects

Sub-
Index Object Description Unit Access Type
index
1400h REC Receive PDO PDO Rx characteristics — RW —
… Communication Parameter
1404h 0 Largest sub-index Number of array elements — RO U8
1 COB ID used by PDO COB ID PDO Rx (Parameter — RW U32
P161)
2 Transmission type PDO operating mode — RW U8
(Parameter P162)
3 Not used Not used
4 Reserved Reserved
5 Not used Not used
1600h REC Receive PDO Mapping PDO Rx mapping — RW —
… Parameter
1603h 0 Largest sub-index Number of array elements — RW U8
1 PDO mapping Mapped objects FI1…FI4 — RW U32
2 (Parameter P165)
3
4
1604h REC Receive PDO Mapping PDO Rx mapping — RW U32
Parameter
0 Largest sub-index Number of array elements — RW U8
1 PDO mapping Bus interface (Parameter P165, — RW U32
2 Array [-34])
3
4
1800h REC Transmit PDO PDO Tx characteristics — RW —
… Communication Parameter
1804h 0 Largest sub-index Number of array elements — RO U8
1 COB ID used by PDO COB ID PDO Tx (Parameter — RW U32
P161)
2 Transmission type PDO operating mode — RW U8
(Parameter P162)
3 Inhibit Time Minimum transmission time 100 µs RW U16
(Parameter P163)
4 Reserved Reserved
5 Event Timer Cyclic transmission timer ms RW U16
(Parameter P164)
1A00h REC Transmit PDO Mapping PDO Tx mapping — RW —
… Parameter
1A03h 0 Largest sub-index Number of array elements — RO U8
1 PDO mapping Mapped objects FI1…FI4 — RW U32
2 (Parameter P165)
3
4
1A04h REC Transmit PDO Mapping PDO Tx mapping — RW U32
Parameter
0 Largest sub-index Number of array elements — RO U8
1 PDO mapping Bus interface (Parameter P165, — RW U32
2 Array [-33])
3
4

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6.7.5 Frequency inverter objects

Sub-
Index Object Description Unit Access Type
index
2000h — Manufacturer Spec. Frequency inverter — — —
… Parameters parameters( Frequency
23E7h inverter manual)
Parameter P165 PDO Mapping Para ( Section 7.1.2 "CANopen standard parameters")
3000h 0 Largest sub-index Number of elements — RO U8
1 Control word Control word for FI1 — RW U16
2 Control word Control word for FI2 — RW U16
3 Control word Control word for FI3 — RW U16
4 Control word Control word for FI4 — RW U16
3001h 0 Largest sub-index Number of elements — RO U8
1 Status word Status word FI1 — RO U16
2 Status word Status word FI2 — RO U16
3 Status word Status word FI3 — RO U16
4 Status word Status word FI4 — RO U16
3002h 0 Largest sub-index Number of elements — RW U8
1 Setpoint 1 Setpoint 1 for FI1 — RW U16
2 Setpoint 2 Setpoint 2 for FI1 — RW U16
3 Setpoint 3 Setpoint 3 for FI1 — RW U16
41 Setpoint 4 Setpoint 4 for FI1 — RW U16
51 Setpoint 5 Setpoint 5 for FI1 — RW U16
6 Setpoint 1 Setpoint 1 FI2 — RW U16
7 Setpoint 2 Setpoint 2 FI2 — RW U16
8 Setpoint 3 Setpoint 3 FI2 — RW U16
91 Setpoint 4 Setpoint 4 FI2 — RW U16
10 1 Setpoint 5 Setpoint 5 FI2 — RW U16
11 Setpoint 1 Setpoint 1 FI3 — RW U16
12 Setpoint 2 Setpoint 2 FI3 — RW U16
13 Setpoint 3 Setpoint 3 FI3 — RW U16
141 Setpoint 4 Setpoint 4 FI3 — RW U16
15 1 Setpoint 5 Setpoint 5 FI3 — RW U16
16 Setpoint 1 Setpoint 1 FI4 — RW U16
17 Setpoint 2 Setpoint 2 FI4 — RW U16
18 Setpoint 3 Setpoint 3 FI4 — RW U16
191 Setpoint 4 Setpoint 4 FI4 — RW U16
20 1 Setpoint 5 Setpoint 5 FI4 — RW U16

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Sub-
Index Object Description Unit Access Type
index
3003h 0 Largest sub-index Number of elements — RO U8
1 Actual Value 1 Actual value 1 FI1 — RO U16
2 Actual Value 2 Actual value 2 FI1 — RO U16
3 Actual Value 3 Actual value 3 FI1 — RO U16
41 Actual Value 4 Actual value 4 FI1 — RO U16
51 Actual Value 5 Actual value 5 FI1 — RO U16
6 Actual Value 1 Actual value 1 FI2 — RO U16
7 Actual Value 2 Actual value 2 FI2 — RO U16
8 Actual Value 3 Actual value 3 FI2 — RO U16
91 Actual Value 4 Actual value 4 FI2 — RO U16
101 Actual Value 5 Actual value 5 FI2 — RO U16
11 Actual Value 1 Actual value 1 FI3 — RO U16
12 Actual Value 2 Actual value 2 FI3 — RO U16
13 Actual Value 3 Actual value 3 FI3 — RO U16
141 Actual Value 4 Actual value 4 FI3 — RO U16
151 Actual Value 5 Actual value 5 FI3 — RO U16
16 Actual Value 1 Actual value 1 FI4 — RO U16
17 Actual Value 2 Actual value 2 FI4 — RO U16
18 Actual Value 3 Actual value 3 FI4 — RO U16
191 Actual Value 4 Actual value 4 FI4 — RO U16
201 Actual Value 5 Actual value 5 FI4 — RO U16
3004h 0 Digital outputs Control of digital outputs — RW U16
3005h 0 Digital inputs Status of digital inputs — RO U16
1 Only SK 54xE frequency inverters

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6.8 Example of setpoint specification

The following example shows the specification of a setpoint for switching a frequency inverter on and
off. The frequency inverter is operated with a setpoint (setpoint frequency) and responds with an
actual value (actual frequency). The maximum frequency is set to 50 Hz.

Parameter settings on the frequency inverter:

Parameter No. Parameter name Setting value

P105 Maximum frequency 50 Hz

P543 Actual bus value 1 1 (= Actual frequency)
P546 Function bus setpoint 1 1 (= Setpoint frequency)

Example

Order to FI Response from the FI Remarks

Control Setpoint 1 Status word Actual

word value 1

— — 0000h 0000h
— — xx40h 0000h The mains voltage is switched on at the frequency
inverter
047Eh 0000h xx31h 0000h The frequency inverter switches to "Ready for
switch-on" status
047Fh 2000h xx37h 2000h The frequency inverter is set to "Operation
enabled" status and controlled with a 50 %
setpoint.
The frequency inverter is enabled, the motor is supplied with current and rotates with a frequency of 25 Hz.
0047Eh 2000h xx31h 0000h The frequency inverter switches to "Ready for
switch-on" status The motor brakes to a standstill
according to the parameterised ramp and is
disconnected from the power supply.
The frequency inverter is blocked again and the motor is without current.
047Fh 1000h xx37h 1000h The frequency inverter is set to "Operation
enabled" status and controlled with a 25% setpoint.
The frequency inverter is enabled, the motor is supplied with current and rotates with a frequency of 12.5 Hz.

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7 Parameters

The bus interface and frequency inverter parameters are communicated as words (16 Bit/Word).
Exceptions to this are position values (POSICON), which are communicated as double words (32 Bit).
For field bus operation, several parameters must be set on the bus interface and the frequency
inverter.
The parameters can be set with
• An external control or ParameterBox ( Manual BU 0040),
• NORD CON software ( Manual BU 0000) or
• The operator's PLC project.

7.1 Parameter setting on the bus interface

The parameters of the bus interface are divided into NORD-specific standard parameters and NORD-
specific field-bus specific information parameters:

Parameter No. Description

P15x NORD standard parameter (can be set and saved)
P16x CANopen standard parameter (can be set and saved)
P17x NORD information parameter (display)
P18x CANopen information parameter (display)

Bus interface SK TU3-CAO does not have any of its own parameters. It is set via the parameters of
the connected frequency inverter (for details  Frequency inverter manual).
The NORD standard parameters P151 to P154 must be set on the bus interfaces SK CU4-CAO and
SK TU4-CAO. In addition, depending on the use and configuration, the CANopen standard
parameters P160…P168 must be set.

Information Save in EEPROM

• With writing access via the NORD CON software, the parameters are saved in the EEPROM.
• With access via CANopen (e.g. P151 = Object index "2097h") the data are only saved in the EEPROM if
the SAVE command (object index "1010h") is sent!

Information Parameter access via CANopen

With access via CANopen, "2000h" must be added to the parameters. Counting of the sub-indices starts with
"1".

A detailed description of the bus interface parameters can be found in the following sections.

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7.1.1 NORD standard parameters

The basic settings of the bus interface can be made via NORD standard parameters.

Information Parameter numbers

With access to the NORD standard parameters via CANopen, the value "2000h" must be added to the
parameter numbers. Counting of the sub-indices starts with "1".

Information Saving parameter settings

• With writing access to the NORD standard parameters via the NORD CON software, the settings are saved
in the EEPROM.
• With access to the NORD standard parameters via CANopen (e.g. P151 = Object index "2097h") the data
are only saved in the EEPROM if the "save" command (object index "1010h") is sent.

P150 Set relay

Setting range 0…4

Factory setting {0}

Bus interface SK TU4-CAO

Description The setting of this parameter determines the switching state of each digital output.

Setting values Value Meaning Comments

0 Via bus All digital outputs are controlled via the PROFINET. The functions
are defined in the frequency inverter (P480).
1 Outputs Off All digital outputs are set to "Low" (0 V)
2 Output 1 On (DO1) Digital output DO1 is set to "High" (active), digital output DO2 is
set to "Low" (0 V).
3 Output 2 On (DO2) Digital output DO2 is set to "High" (active), digital output DO1 is
set to "Low" (0 V).
4 Outputs 1 and 2 ON All digital outputs are set to "High" (active)

P151 Timeout for external bus

Setting range 0…32767 ms

Factory setting {0}

Bus interface SK CU4-CAO, SK TU4-CAO

Description Monitoring function of the bus interface After receipt of a valid telegram, the next
telegram must arrive within the set time. Otherwise the bus interface or the connected
frequency inverter reports an error (E010/10.3 "Time Out") and switches off. See also
parameter P513 Telegram timeout time for the frequency inverter.

Setting values 0= Monitoring Off

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P152 Factory setting

Setting range 0…1

Factory setting {0}

Bus interface SK CU4-CAO, SK TU4-CAO

Description Reset the present parameter settings of the bus interface to the factory setting.

Setting values Value Meaning Remarks

0 No change Current parameter settings will not be changed
1 Load factory setting All bus interface parameters will be reset to the factory setting.
The setting of parameter P152 then automatically changes back
to { 0 }.
2 Basic parameters All basic parameters of the bus interface will be reset to the
factory setting. The setting of parameter P152 then automatically
changes back to { 0 }.
3 i-Parameters The individual safety parameters (P800 … P830) of the bus
interface will be reset to the factory setting. The setting of
parameter P152 then automatically changes back to { 0 }.

P153 Min. system bus cycle

Setting range 0…250 ms

Arrays [-01] = TxSDO Inhibit Time

[-02] = TxPDO Inhibit Time

Factory setting { [-01] = 10 }

{ [-02] = 5 }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Set the pause time for the system bus in order to reduce the bus load.

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P154 TB-IO access

Setting range 0…5

Arrays [-01 ] = Access to inputs

[-02 ] = Access to outputs

Factory setting { [-01] = 0 }

{ [-02] = 0 }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Assign reading and writing rights of each connected frequency inverter to 2 inputs and 2
outputs of the bus interface. This is carried out via the following frequency inverter
parameters:

Input 1 Evaluation via P480 Funct. BusIO In Bits, Array [-11]

Input 2 Evaluation via P480 Funct. BusIO In Bits, Array [-12]

Output 1 Evaluation via P481 Funct. BusIO Out Bits, Array [-09]

Output 2 Evaluation via P481 Funct. BusIO Out Bits, Array [-10]

Setting values Value Meaning Comments

0 No access No influence by the frequency inverter.
1 Broadcast (inputs) All connected frequency inverters read the inputs (Array [-02] =
No function).
2 FI 1 Frequency inverter 1 reads and writes to the inputs and outputs.
3 FI 2 Frequency inverter 2 reads and writes to the inputs and outputs.
4 FI 3 Frequency inverter 3 reads and writes to the inputs and outputs.
5 FI 4 Frequency inverter 4 reads and writes to the inputs and outputs.

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7.1.2 CANopen standard parameters

Field-bus specific settings of the bus interface are made via the CANopen standard parameters.

P160 COB ID On/Off

Setting range 0…3

Arrays [-01] = Sync Message [-06] = PDO 11 (FI1)

[-02] = SDO 1 (FI1, Read Only) [-07] = PDO 21 (FI2)
[-03] = SDO 2 (FI2) [-08] = PDO 31 (FI3)
[-04] = SDO 3 (FI3) [-09] = PDO 41 (FI4)
[-05] = SDO 4 (FI4) [-10] = PDO 51 (bus interface)
Factory setting { [-01] = 3 } { [-02] = 3 } { [-03] = 0 } { [-04] = 0 } { [-05] = 0 }
{ [-06] = 3 } { [-07] = 3 } { [-08] = 3 } { [-09] = 3 } { [-10] = 0 }
Bus interface SK CU4-CAO, SK TU4-CAO

Description Specification of the assignment of service data objects and process data objects (SDO
and PDO) for the connected frequency inverters and bus interface.

Note Objects, index "1200h"… "1203h", "1400h"…"1404h" and "1800h"… "1804h", each with
sub-index "1",  Section 6.7 "Object directories".

Setting values Value Meaning Note

0 Transmit/Receive from Array [-01] "0" = Off, "1"… "3" = On
1 Receive channel On
2 Transmit channel On
3 Transmit/Receive On

1
Writing access only permissible in the "Pre-Operational" state

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P161 COB ID
Setting range 0…7FFh

Arrays [-01] = COB ID Sync Message [-10] = PDO 1 Tx1 (FI1)

[-02] = SDO 1 Tx (FI1, Read Only) [-11] = PDO 1 Rx1 (FI1)
[-03] = SDO 1 Rx (FI1, Read Only) [-12] = PDO 2 Tx1 (FI2)
[-04] = SDO 2 Tx (FI2) [-13] = PDO 2 Rx1 (FI2)
[-05] = SDO 2 Rx (FI2) [-14] = PDO 3 Tx1 (FI3)
[-06] = SDO 3 Tx (FI3) [-15] = PDO 3 Rx1 (FI3)
[-07] = SDO 3 Rx (FI3) [-16] = PDO 4 Tx1 (FI4)
[-08] = SDO 4 Tx (FI4) [-17] = PDO 4 Rx1 (FI4)
[-09] = SDO 4 Rx (FI4) [-18] = PDO 5 Tx1 (bus interface)
[-19] = PDO 5 Rx1 (bus interface)
Factory setting { [-01] = 0080h } { [-10] = 0180h + Address }
{ [-02] = 0580h + Address } { [-11] = 0200h + Address }
{ [-03] = 0600h + Address } { [-12] = 0280h + Address }
{ [-04] = 02C0h + Address } { [-13] = 0300h + Address }
{ [-05] = 0340h + Address } { [-14] = 0380h + Address }
{ [-06] = 03C0h + Address } { [-15] = 0400h + Address }
{ [-07] = 0440h + Address } { [-16] = 0480h + Address }
{ [-08] = 04C0h + Address } { [-17] = 0500h + Address }
{ [-09] = 0540h + Address } { [-18] = 01C0h + Address }
{ [-19] = 0240h + Address }
Bus interface SK CU4-CAO, SK TU4-CAO

Description Assignment of a COB ID to service data and process data objects (SDO and PDO).

Note Objects, index "1005h", "1200h"… "1203h", "1400h…"1404h" and "1800h"… "1804h",
receive objects (Rx) each with sub-index "1", transmit objects (Tx) each with sub-index
2,  Section 6.7 "Object directories".
1
Writing access only permissible in the "Pre-Operational" state

P162 PDO Transmission Type

Setting range 0…255

Arrays [-01] = PDO 1 Tx (FI1) [-06] = PDO 3 Rx (FI3)

[-02] = PDO 1 Rx (FI1) [-07] = PDO 4 Tx (FI4)
[-03] = PDO 2 Tx (FI2) [-08] = PDO 4 Rx (FI4)
[-04] = PDO 2 Rx (FI2) [-09] = PDO 5 Tx (bus interface)
[-05] = PDO 3 Tx (FI3) [-10] = PDO 5 Rx (bus interface)
Factory setting { [-01] … [-10] = 255 }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Specification of the transfer type for process data objects ( Section 6.5.6 "PDO
Transmission Types (operating modes)".).

Note Objects, index "1400h…"1404h" and "1800h"… "1804h", each with sub-index "2",
 Section 6.7 "Object directories".

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P163 TxPDO Inhibit time

Setting range 0…3276.7 ms

Arrays [-01]…[-04] = PDO 1 (FI1) … PDO 4 (FI4)

[-05] = PDO 5 (bus interface)
Factory setting { [-01]…[-05] = 10 ms }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Specification of the minimum pause between two PDO transmissions (Transmit PDO Tx)
with the same COB ID.
In networks with numerous subscribers, the bus load can be influenced with this value.
The standard value is 10 ms (value multiplied by 100 μs).

Note Objects, index "1800h"…"1804h", sub-index "3",  Section 6.7 "Object directories".

P164 TxPDO Event time

Setting range 0…32767 ms

Arrays [-01]…[-04] = PDO 1 (FI1) … PDO 4 (FI4)

[-05] = PDO 5 (bus interface)
Factory setting { [-01] … [-05] = 250 ms }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Definition of the delay time after the elapse of which the process data are transferred.
Once this value is exceeded, the PDOs are transmitted cyclically. The standard setting is
250 ms (value multiplied by 1 ms).

Setting values 0 = Off (no time delay)

Note Objects, index "1800h"…"1804h", sub-index "5",  Section 6.7 "Object directories".
h

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P165 PDO Mapping Para
Setting range 0…FFFFFFFFh

Arrays [-01]…[-04] = PDO 1 Tx Value 1 … 4 [-05]…[-08] = PDO 1 Rx Value 1 … 4 FI 1

[-09]…[-12] = PDO 2 Tx Value 1 … 4 [-13]…[-16] = PDO 2 Rx Value 1 … 4 FI 2

[-17]…[-20] = PDO 3 Tx Value 1 … 4 [-21]…[-24] = PDO 3 Rx Value 1 … 4 FI 3

[-25]…[-28] = PDO 4 Tx Value 1 … 4 [-29]…[-32] = PDO 4 Rx Value 1 … 4 FI 4

[-33] = PDO 5 Tx Value 1 [-34] = PDO 5 Tx Value 1 1)

Factory setting { [-01] = 30000110h } { [-02] = 30020110h } { [-03] = 30020210h } { [-04] = 30020310h }

{ [-05] = 30010110h } { [-06] = 30030110h } { [-07] = 30030210h } { [-08] = 30030310h }

{ [-09] = 30000210h } { [-10] = 30020410h } { [-11] = 30020510h } { [-12] = 30020610h }

{ [-13] = 30010210h } { [-14] = 30030410h } { [-15] = 30030510h } { [-16] = 30030610h }

{ [-17] = 30000310h } { [-18] = 30020710h } { [-19] = 30020810h } { [-20] = 30020910h }

{ [-21] = 30010110h } { [-22] = 30030710h } { [-23] = 30030810h } { [-24] = 30030910h }

{ [-25] = 30000410h } { [-26] = 30020A10h } { [-27] = 30020B10h } { [-28] = 30020C10h }

{ [-29] = 30010410h } { [-30] = 30030A10h } { [-31] = 30030B10h } { [-32] = 30030C10h }

{ [-33] = 30050010h } { [-34] = 30040010h }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Specification of objects (setpoints/actual values) which are transferred via PDO
telegrams  Section 6.5.7 "PDO mapping"

Note Objects, index "1600h"…"1604h", and "1A00h"…"1A04h", each with sub-index "1"…"4",
 Section 6.7 "Object directories".
1
Arrays [-33] and [-34] are settings for the bus interface itself, therefore only 2 byte.

P166 Timeout Control

Setting range 0…32767 ms

Arrays [-01] = Guard Time [-02] = Prod. Heartbeat Time

Factory setting { [-01]…[-02] = 0 ms }

Bus interface SK CU4-CAO, SK TU4-CAO

Description Array [-01]: Defines a time interval for the monitoring of the field bus devices (slaves) by
the bus master (node-guarding).

Array [-02]: Setting of the transmission interval (heartbeat) of the field bus device (slave)

Setting values 0 = Off (no interval)

Note Objects, index "100Ch" and "1017h",  Section 6.7 "Object directories".

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P167 Life Time Factor

Setting range 0…255

Factory setting {0}

Bus interface SK CU4-CAO, SK TU4-CAO

Description Entry of the factor for monitoring of the bus master by the field bus device (slave).
"Guard Time" (Parameter P166, Array [-01] multiplied by "Life Time Factor" determines
the watchdog duration for mutual monitoring of the slave and bus master.

Setting values 0 = Of (Watchdog duration = Guard Time)

Note Object, index "100Dh",  Section 6.7 "Object directories".

P168 Drive profile

Setting range 0…16383

Arrays [-01] = Profile ("0" = Off, "1" = On)

[-02] / [-03] = Acceleration (v) / (t) [-04] / [-05] = Deceleration (v) / (t) FI 1

[-06] / [-07] = Acceleration (v) / (t) [-08] / [-09] = Deceleration (v) / (t) FI 2

[-10] / [-11] = Acceleration (v) / (t) [-12] / [-13] = Deceleration (v) / (t) FI 3

[-14] / [-15] = Acceleration (v) / (t) [-16] / [-16] = Deceleration (v) / (t) FI 4

Factory setting { [-01] = 0 } ("0" = Off, "1" = On)

{ [-02], [-04], [-06], [-08], [-10], [-12], [-14], [-16] = 1500 }
{ [-03], [-05], [-07], [-09], [-11], [-13], [-15], [-17] = 2 }
Bus interface SK CU4-CAO, SK TU4-CAO

Description Setting of the profile parameters "acceleration" and "deceleration" ("Velocity Mode",
drive profile DS-402) (change achieved in [rpm] divided by the time which has elapsed
during the change [s]).

Note Objects, index "6048h" and "6049h", each with sub-index "1" and "2",  Section 6.7
"Object directories".

Source: Velocity Mode CiA DSP 402 V1.1

Activation of the drive profile (Array [-01] = "1" affects all of the frequency inverters which
are connected to the NORD system bus. The drive profile is only valid in parameter set
1. If the drive profile is activated, objects index "3004h"..."3004" are replaced with the
objects index "6040h"..."6044h".

The drive profile is not supported by SK 5xxE frequency inverters which are connected
to the NORD system bus via the internal RJ45 interface.

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7.1.3 NORD information parameters

NORD information parameters are used to display current and archived error messages, as well as
current operating states.

P170 Actual error

Display range 0...9999

Arrays [-01] = Actual error in bus interface

[-02] = Last error in bus interface

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the actual error present.

For a list of possible error messages please refer to  Section 8 "Error monitoring and
error messages".

Note The error message is reset when the supply voltage is switched off.

P171 Software version

Display range 0.0…9999.9

Arrays [-01] = Software version

[-02] = Software revision
[-03] = Special version

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the software version and revision number of the bus interface. Array [-03]
shows possible special versions (0 = standard version).

P172 Configuration level

Display range 0…

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the bus interface identifier.

Display values Value Meaning

0 CU4 (internal) Bus interfaceSK CU4-CAO,

1 TU4 (external) Bus interfaceSK TU4-CAO

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P173 Module status

Display range 0…FFFFh

Bus interface SK CU4-CAO, SK TU4-CAO

Description Displays the operating state of the bus interface.

Display values Bit Meaning

0 Initialisation (Bus status "PREOPERATIONAL")

1 Bus status "OPERATIONAL"

2 Timeout Node guarding (Watchdog NMT Master)

3 Timeout (time set in parameter P151)

4 CANopen "Warning"

5 CANopen "Bus Off"

6 System bus "Warning"

7 System bus "Bus OFF"

8 FI 1 status Status for frequency inverter Bit 8…Bit 15:

9
Bit "High" Bit "Low" Meaning
10 FI2 status
0 0 Frequency inverter "offline"
11
0 1 Unknown frequency inverter
12 FI3 status 1 0 Frequency inverter "online"
13 1 1 Frequency inverter lost or switched off

14 FI4 status

15

P174 Digital input status

Display range 0…255 (00000000…11111111b)

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the actual switching status of the digital bus interface inputs.

Display values Bit Meaning

0 Input 1 (DIN1) of the bus interface

1 Input 2 (DIN2) of the bus interface

2 Input 3 (DIN3) of the bus interface1

3 Input 4 (DIN4) of the bus interface1

1
Only bus interface , SK TU4-CAO

P175 Relay status

Display range 0…3 (00…11b)

Bus interface SK TU4-CAO

Description Display of the actual switching status of the relay outputs of the bus interface.

Display values Bit Meaning

0 Output 1 (DO1) of the bus interface

1 Output 2 (DO2) of the bus interface

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P176 Process data Bus In
Display range -32768…32767

Arrays [-01] = Bus module outputs

[-02] = Control word [-03]…[-05] = Setpoint 1…3 to FI1
[-06] = Control word [-07]…[-09] = Setpoint 1…3 to FI2
[-10] = Control word [-11]…[-13] = Setpoint 1…3 to FI3
[-14] = Control word [-15]…[-17] = Setpoint 1…3 to FI4
Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of data received from the CANopen-Busmaster.

P177 Process data Bus Out

Display range -32768…32767

Arrays [-01] = Bus module inputs

[-02] = Status word [-03]…[-05] = Actual value 1…3 from FI1
[-06] = Status word [-07]…[-09] = Actual value 1…3 from FI2
[-10] = Status word [-11]…[-13] = Actual value 1…3 from FI3
[-14] = Status word [-15]…[-17] = Actual value 1…3 from FI4
Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the data sent from the bus interface to the CANopen-Busmaster.

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7.1.4 CANopen information parameters

CANopen information parameters are used to display statuses and settings which are specific to the
field bus.

P180 CANopen address

Display range 1…63

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the unique bus address (Node ID) which is set with the DIP switches of the
bus interface ( Technical Information/Data Sheet).

Note If no address is set via the DIP switches (all switches in the "OFF") position, this
parameter shows the address "127".

P181 CANopen baud rate

Display range 0…3

Bus interface SK CU4-CAO, SK TU4-CAO

Description Display of the baud rate which is set with the DIP switches ( Technical
Information/Data Sheet).

Display values Value Meaning

0 125 kBaud

1 250 kBaud

2 500 kBaud

3 1 MBaud

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7.2 Parameter settings on the frequency inverter

After connection and addressing of the bus interface, the additional parameters of the frequency
inverter must be set as listed below. The additional parameters of the frequency inverter are used to
set the bus interface, the pulse frequency and acknowledgement of errors.
A detailed description of the parameters can be found in the relevant manual for the frequency
inverter.

Additional parameters
The following table contains a list of additional parameters which are relevant for the bus interface.

No. Parameter name Recommended setting Comments

SK CU4/SK TU4 SK TU3

SK 1x0E, SK 2xxE SK 500E–SK 535E SK 54xE

P509 Source Control Word "3" = System bus "6" = CANopen "6" = CANopen SK 511E frequency
inverters and above:
Communication with
the bus interface via
the system bus is
possible with setting
"6" = CANopen.
P510 Setpoint source "0" = Auto "0" = Auto "0" = Auto If P509 is set to "3",
or "6"
P513 Telegram timeout — 1 1
P514 CAN bus baud rate "5" = 250 kBaud "5" = 250 kBaud "5" = 250 kBaud
P515 CAN address 32, 34, 36 or 38 32, 34, 36 or 38* 32, 34, 36 or 38* System bus address
(Array [-01])
P543 Actual bus value 2 2 2 Refer to the relevant
frequency inverter
Arrays [-01]…[-03]
operating manual
Actual bus value — — 2
Arrays [-04]…[-05]
P543 Actual bus value 1 — 2 —
P544 Actual bus value 2 — 2 —
P545 Actual bus value 3 — 2 —
P546 Function Bus 2 — 2 Refer to the relevant
frequency inverter
setpoint
operating manual
Arrays [-01]…[-03]
Function Bus — — 2
setpoint
Arrays [-04]…[-05]
P546 Function Bus — 2 —
setpoint 1
P547 Function Bus — 2 —
setpoint 2
P548 Function Bus — 2 —
setpoint 3
* Only necessary for communication with a bus interface via the system bus.
1 Depending on the application: Change the settings according to the requirements of the application.
2 Depending on the function: Setting according to the required function(s) is necessary.

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Information parameters
Information parameters are used to display current and archived error messages, as well as current
operating states and settings.
The following table contains a list of information parameters which are relevant for the bus interface.

No. Parameter name SK TU3 SK CU4 SK TU4

P700 Current error Array [-01]
Current warning Array [-02]
Reason for switch-on Array [-03]
block
P701 Last fault
P740 Process data Bus In No display if P509 is set to "0"
P741 Process data Bus Out
P744 Configuration
P745 Module version —
P746 Module status Possible values: —
Bit Meaning
0 Bus interface ready
1 Bus interface in status “Operational”
2 Initialisation active
3 Reserved
4 Bus interface error
5 Timeout error
6 Initialisation error
7 Reserved
8…15 Bus interface ID (0Ch)

P748 CANopen status Displays the system bus status

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8 Error monitoring and error messages

Bus interfaces and frequency inverters are equipped with monitoring functions and generate error
messages in case of deviations from the normal operating state.

8.1 Bus operation monitoring function

Independent of the specific bus watchdogs, comprehensive monitoring functions are integrated into
Getriebebau NORD GmbH & Co. KG frequency inverters and bus interfaces. With the aid of this
"Timeout" monitoring, communication problems are detected, which are either related to general
functionalities ("No bus communication") or are related to special modules ("Failure of a participant").
Monitoring of communication at the field bus level is primarily carried out via the bus interface. Field
bus communication faults are registered in the bus interface. If an error at field bus level causes an
error in the frequency inverter, the frequency inverter also displays a corresponding error. The
frequency inverter itself does not monitor communication on the field bus level.
Monitoring of communication on the NORD system bus level (between the frequency inverter and the
bus interface) is carried out by the frequency inverter. An error in the system bus communication is
registered in both the bus interface and the frequency inverter and results in specific error messages.

Function Parameter

SK CU4 and SK TU4 via NORD SK TU31) SK TU3 via

Bus interface system bus CANopen/NORD
system bus2)

SK 1x0E SK 511E SK 54xE3) SK 5xxE SK 511E SK 54xE

Frequency
inverters
SK 2xxE … …
SK 535E SK 535E
Field bus timeout P151 P151 P151 P513 P513 P513
Optional monitoring (system bus P120 P513 P120 —4) P513 P120
timeout)
Bus interface error display P170 P170 P170 P1702) P170 P170
(P700) (P700) (P700) P700 P700 P700
Error display for frequency inverter P700 P700 P700 P700 P700 P700
and communication errors between
the frequency inverter and the bus
interface.
1) Only for communication between the SK TU3 bus interface and the frequency inverter on which which the bus interface is mounted.
2) Only for Ethernet-based bus interfaces
3) Connection for CANopen (Parameter P509)
4) Monitoring is automatic and cannot be set.

Information Parameter P513

The setting ("-0.1" = No error) of parameter P513 Telegram timeout time ensures that the frequency inverter
ignores all communication errors on both the field bus and the system bus level. The frequency inverter
maintains its operating status.

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Figure 8: Examples of monitoring parameter settings – SK TU4 bus interface

Setting values for parameter P509 Control word source:

3 = System bus
6 = CANopen

8.1.1 Additional CANopen monitoring functions

8.1.1.1 Node Guarding

The Node Guarding function (node monitoring) enables the bus master to monitor a CANopen bus
participant (slave). An error message is triggered if no response is received from a bus participant
after the elapse of a defined time after a query from the bus master.
The monitoring interval is set with parameter P166 Timeout Control, Array [-01] ( Section 7.1.2
"CANopen standard parameters").

8.1.1.2 Life Guarding

The Life Guarding function (monitoring of readiness for operation) enables the bus master to be
monitored by a bus participant (slave). An error message is triggered if after the receipt of a protocol
the bus participant does not receive a further protocol from the bus master after a defined time has
elapsed.
Setting of the monitoring interval is made with a combination of parameters P166 Timeout Control,
Array [-01] and P167 Life Time Factor ( Section 7.1.2 "CANopen standard parameters").

8.1.1.3 Heartbeat monitoring

The heartbeat function (heartbeat monitoring) enables the activation of a so-called "Producer
Heartbeat Time (heartbeat cycle of the message transmitter). By setting an appropriate time in
parameter P166 Timeout Control, Array [-02] (value ≠ "0"), the bus participant (slave) sends a
corresponding protocol to the bus master within the set interval ( Section 7.1.2 "CANopen standard
parameters").

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 8 Error monitoring and error messages

8.2 Resetting error messages

There are several methods for resetting (acknowledging) an error message.
On the frequency inverter:
• Switch the mains voltage off and on again, or
• Actuate the programmed digital input with parameter P420 Digital inputs (Setting 12 =
Acknowledge error), or
• Switch off "Enable" on the frequency inverter (if no digital input is parameterised to the function
"Acknowledge errors"), or
• By carrying out a bus acknowledgement, or
• Automatic error acknowledgement by activating parameter P506 Auto. error acknowledgement.
On the bus interface
The error message (via information parameter P170, [-01]) is automatically reset if the error is no
longer active. Otherwise:
• Switch the voltage supply to the bus interface off and on again, or
• Acknowledge the error via the field bus.

Information
Archiving error messages
An error message (display via parameter P170) is only displayed as long as it is active. After the error
has been remedied, the message is deleted and is archived as the last error message in parameter
P170, Array [-02]. If the mains supply is interrupted before the error is remedied, the message is lost,
i.e. it is not archived.

Information
Error display in the SimpleBox
An error message is displayed in the operating display of the SimpleBox SK CSX-3H by display of the
error group number "E1000". The bus interface parameter P170, Array [-01] must be selected to
determine the actual error.

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8.3 Handling of errors in the bus interface

If errors occur in frequency inverters which are connected to the NORD system bus, the bus interface
sends an error message to the CANopen bus master via "Emergency Message". This message has
the following structure:

COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

„80h“ + Node ID of the Parameter
Error code FI ID 0…3 Not used
bus interface 1001h

"FI ID" identifies the frequency inverter in which the error occurred.

8.3.1 Error Groups

The error groups listed below are defined in the CANopen communication profile DS-301.

Error code Meaning

00xxh No error
10xxh Undefined error type
20xxh Current error
30xxh Voltage error
40xxh Temperature error
50xxh Hardware error
60xxh Software error
70xxh Additional module
80xxh Communication
90xxh External error
FF00h Specific to device

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 8 Error monitoring and error messages

8.3.2 Error codes – interruption of SDO communication

The error codes listed below can be generated on interruption of the SDO communication.

Error code Meaning

0503 0000h Toggle bit unchanged
0504 0000h SDO message timeout
0504 0001h Client/Server command invalid/unknown
0504 0005h No memory
0601 0000h Illegal access to an object
0601 0001h Access to write-only parameter
0601 0002h Access to read-only object
0602 0000h Object does not exist in object dictionary
0604 0041h Object cannot be mapped in PDO
0604 0042h Object exceeds the PDO length
0604 0043h Parameter incompatibility
0604 0047h Module internally incompatible
0606 0000h Access failure due to hardware error
0607 0010h Data type or parameter length do not match
0607 0012h Data type incorrect, parameter length too long
0607 0013h Data type incorrect, parameter length too short
0609 0011h Sub-index of parameter does not exist
0609 0030h
Parameter value range overflow
0609 0031h
0609 0032h Parameter value range undershot
0800 0020h Data transfer or storage not possible
0800 0021h Data transfer or storage not possible; reason: local controller

8.3.3 Status word from the frequency inverter.

Error messages which are generated by the frequency inverter are transferred from the bus interface
to the field bus level. They do not result in an error of the bus interface.

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Allocation of frequency inverter error codes:

CANopen Frequency inverter (P700)1

error codes Error number Meaning
The error number which has been sent from the frequency inverter is
1000h — unknown to the bus interface and must be read out via parameter P700 or
an actual value.
2200h 4.0/4.1 Module overcurrent / pulse switch-off due to overcurrent
2211h 3.2 IGBT overcurrent (125 %)
2212h 3.3 IGBT overcurrent fast (150 %)
2310h 3.0 Inverter overcurrent
2311h 3.2 IGBT overcurrent 125 %
2312h 3.3 IGBT overcurrent 150 %
3110h 5.1 Mains voltage too high
3120h 6.1 Mains voltage too low
3130h 7.0 Phase failure
3210h 5.0 Link circuit voltage too high
3230h 6.0 Link circuit voltage too low (charging error)
4210h 1.0 Overtemperature in frequency inverter
4310h 2.0/2.1 Motor overtemperature/ … I2t
5000h 10.8 Bus interface communication error
5110h 11.0 External bus error
5300h 17.0 EMC fault
5510h 20.0 RAM data memory
5520h 20.8 EEPROM error
5530h 8.1/8.2 Invalid inverter type/copying error from external EEPROM
20.1…20.7
6000h System error, device software
20.9/21.0…21.3
6310h 8.0 Parameter loss (maximum EEPROM value exceeded)
7112h 3.1 Brake chopper overcurrent
7120h 16.0/16.1 Phase error motor / motor current monitoring during brake operation
7300h 14.3 Sensor
7305h 13.0 Incremental encoder 1
7306h 14.4 Incremental encoder 2
7310h 14.5 Speed sensor
7320h 14.6…14.8 Position sensor
7330h 25.0 Hiper. abs./inc. error
7331h 25.1 Universal encoder communication
7332h 25.2 No corresp. univ. encoder
7333h 25.3 Universal encoder resolution
7334h 25.4 Universal encoder error
8100h 10.0…10.7 Telegram downtime, initialisation error, system error
8300h 13.2 Slip error switch-off monitoring
8400h 13.1 Speed slip error
8600h 14.0/14.1 Reserved
8612h 14.2 Reference limit
8710h 13.5 Flying saw acceleration too low
8711h 13.6 Flying saw value incorrect
9000h 12.0…12.2 External watchdog/switch-off limit reached
FF10h 18.0 Safety circuit
FF11h 19.0 Parameter identification error
1 For a detailed description of the error code  frequency inverter manual.

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 8 Error monitoring and error messages

8.4 Error messages

Error messages from the bus interface can be read out via parameter P170 of the bus interface (Array
[-01] = Actual error, Array [-02] = Previous error).

Error Meaning Comments

100.0 EEPROM error EMC fault, bus interface defective
101.0 System bus 24 V missing No 24 V voltage on bus, connections not correct
102.0 Bus timeout P151 By means of timeout supervision parameter P151/P513
103.0 System bus Off No 24 V voltage on bus, connections not correct
511.0 CANopen bus OFF Bus subscriber not connected to bus
511.1 CANopen warning Bus error
Message buffer of bus interface overwritten with new
511.2 CANopen overrun
telegram before processing
511.3 Invalid CANopen address Incorrect/duplicated bus address
512.0 CANopen timeout Telegram transfer error

Error messages which occur in relation to the bus interface are depicted as follows in the error
memory of the frequency inverter (Parameter P700 and P701).

Error (E010) Meaning Comments

10.2 External bus interface telegram • Telegram transfer error.
timeout – Check the connections and links and the program
sequence in the Bus Master.
10.3 Timeout by P151/P513 • System bus monitoring has triggered
• Check time setting of parameter P151/P513
• The enable bit is missing in the control word.
10.4 External bus interface initialisation • Unable to communicate with the bus interface.
error – Check the bus interface power supply.
10.8 External bus interface SK TU3-CAO bus interface only:
communication error • Connection between bus interface and frequency
inverter interrupted.
10.9 Missing bus interface Only bus interfaces SK CU4-CAO and SK TU4-CAO:
• Connection between bus interface and frequency
inverter interrupted (see setting of parameter P120).

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9 Appendix

9.1 Repair information

In order to keep repair times as short as possible, please state the reasons for the return of the device
and at least one contact partner in case of queries.
In case of repairs, please send the device to the following address:

NORD Electronic DRIVESYSTEMS GmbH

Tjüchkampstraße 37
26606 Aurich, Germany

Information Third party accessories

Before returning a bus interface and/or a frequency inverter, please remove any external accessories such as
mains cables, potentiometers, external displays, etc., which were not supplied by Getriebebau NORD GmbH &
Co. KG No liability can be accepted by Getriebebau NORD GmbH & Co. KG for devices which are returned
with third party accessories.

Information Accompanying document

Please use the filled-in accompanying document for returns, You can find this on our homepage
www.nord.com or directly under the link Warenbegleitschein.

For queries about repairs, please contact:

Getriebebau NORD GmbH & Co. KG

Tel.: +49 (0) 45 32 / 289-2515
Fax: +49 (0) 45 32 / 289-2555

9.2 Service and commissioning information

In case of problems, e.g. during commissioning, please contact our Service department:
 +49 4532 289-2125
Our Service department is available 24/7 and can help you best if you have the following information
about the device and its accessories to hand:
• Type designation,
• Serial number,
• Firmware version

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 9 Appendix

9.3 Documents and software

Documents and software can be downloaded from our website www.nord.com .

Other applicable documents and further information

Documentation Contents
TI 275271001 Technical Information/Data Sheet for bus interface SK CU4-CAO (for IP55 devices)

TI 275281501 Technical Information/Data Sheet for bus interface SK CU4-CAO-C (for IP66 devices)

TI 275281101 Technical Information/Data Sheet for bus interface SK TU4-CAO (for IP55 devices)
TI 275281151 Technical Information/Data Sheet for bus interface SK TU4-CAO-C (for IP66 devices)
TI 275271201 Technical Information/Data Sheet for bus interface SK TU4-CAO-M12 (for IP55 devices
with M12 round plug connectors)
TI 275281251 Technical Information/Data Sheet for bus interface SK TU4-CAO-M12-C (for IP66
devices with M12 round plug connectors)
TI 275900075 Technical Information/Data Sheet for bus interface SK TU3-PNT (for IP20 devices)
BU 0180 Manual for SK 1x0E frequency inverters
BU 0200 Manual for SK 2xxE frequency inverters
BU 0250 Manual for SK 2xxE-FDS frequency inverters
BU 0500 Manual for frequency inverters SK 500E to SK 535E
BU 0505 Manual for SK 54xE frequency inverters
BU 0000 Manual for use of NORD CON software
BU 0040 Manual for use of NORD parameterisation units

Software

Software Description
EDS file Device description file for CANopen configuration software
NORDCON Parametrisation and diagnostic software

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Key word index

A Documents

Accompanying document ..............................80 other applicable ......................................... 81

Actual error (P170) ........................................67 Drive profile (P168) ....................................... 66

Actual value E
IW ............................................................... 32 Electrician ..................................................... 10
Actual values .................................................38 Error messages ....................................... 67, 73
B Bus interface ............................................. 79

Baud rate .......................................................23 Frequency inverters................................... 79

Binary transmission .......................................39 from the frequency inverter ....................... 77

Bus address Reset ......................................................... 75

DIP switch ..................................................22 Error monitoring ...................................... 67, 73

Bus master Extra functions .............................................. 71

Integration ................... 22, 23, 26, 32, 42, 50 F

Bus node........................................................19 Factory settings (P152) ................................. 60
C Field bus address .......................................... 24

Cable material ...............................................23 I

CAN bus address (P515)...............................19 Information parameter................................... 72
CAN bus baud rate (P514) ............................19 L
CAN identifier ..........................................30, 44 Life Time Factor (P167) ................................ 66
CAN-ID ..........................................................19
M
CANopen .......................................................18
Min. system bus cycle (P153) ....................... 60
CANopen address (P180) .............................70
Module status (P173) .................................... 68
CANopen baud rate (P181) ...........................70
Monitoring functions ...................................... 73
COB ID ....................................................30, 44
Monitoring parameter .................................... 74
COB ID (P161) ..............................................63
N
COB ID On/Off (P160) ...................................62
NORD CON computer .................................. 18
Commissioning ........................................22, 25
NORD system bus .................................... 8, 18
Configuration level (P172) .............................67
NORDCON software ..................................... 21
Connection: ...................................................22
Control bit ......................................................33 P

Control word ............................................33, 37 Parameter

STW ...........................................................32 Bus interface ............................................. 58

D Frequency inverters................................... 71
Parameter data ............................................. 27
Data transmission ..........................................27
Parameter data transmission .................. 43, 47
Device characteristics ....................................23
Parameter settings
Device description file....................................23
Frequency inverters................................... 71
Device detection ............................................24
ParameterBox ............................................... 20

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PDO Mapping Para (P165)............................65 Software version
PDO Transmission Type (P162) ...................63 P171 .......................................................... 67
Percentage transfer .......................................39 Status bit ....................................................... 34
Permissible writing cycles..............................47 Status machine
Process data ............................................24, 27 Frequency inverter .................................... 35
Process data Bus In (P176)...........................69 Status of digital in. (P174) ............................. 68
Process data bus Out (P177) ........................69 Status word ............................................. 34, 38
Process Data Objects ZSW........................................................... 32
PDOs..........................................................27 T
R TB-IO access (P154) .................................... 61
Relay status (P175) .......................................68 Telegram timeout (P513) .............................. 73
Repair ............................................................ 80 Timeout ......................................................... 73
Returns ..........................................................80 Timeout Control (P166)................................. 65
S Timeout for external bus (P151) ................... 59

Service Data Objects Transfer of process data ................... 24, 27, 32

SDOs..........................................................27 Transfer rate ................................................. 23

Set relay (P150) .............................................59 Transmission of positions ............................. 39

Setpoint Transmission Types

SW ............................................................. 32 Operating modes ........................... 41, 46, 63

Setpoint specification TxPDO Event time (P164) ............................ 64

Example .....................................................57 TxPDO Inhibit time (P163) ............................ 64

Setpoints ........................................................38 U
SimpleBox......................................................20 USS protocol ................................................. 20
Software.........................................................81

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