Nord Drivesystems SK 200E Series User Manual

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
50 BU 0210 en-3117
Slave frequency inverter
Parameter
Value
Meaning
P481 [-01]
7
Fault
P481 [-02]
21
Position reached
P502 [-01]
12
Bus IO OUT Bits 0-7
P502 [-02]
15
Actual position in incremental High word
1)
P502 [-03]
10
Actual position in incremental Low word
1)
1)
Optional parameterisation. Parameterisation is not required for the monitoring.
In addition, the CAN addresses of the devices must be selected in such a manner that transmission is
not on the same identifier. The identifier on which the CAN master function is transmitted depends on
the CAN addresses which are set (P515 [-01]).
P515 CAN address
Broadcast identifier
Accessed slave device
0 … 127
1032
0 – 255
128, 136, 144, 152, …, 240, 248
1024
0 – 31
129, 137, 145, 153, …, 241, 249
1025
32 – 63
130, 138, 146, 154, …, 242, 250
1026
64 – 95
131, 139, 147, 155, …, 243, 251
1027
96 – 127
132, 140, 148, 156, …, 244, 252
1028
128 – 159
133, 141, 149, 157, …, 245, 253
1029
160 – 191
134, 142, 150, 158, …, 246, 254
1030
192 – 223
135, 143, 151, 159, …, 247, 255
1031
224 – 255
Table 4: assignment of addresses
Example
P515
Master
=
1
P515
Slave
=
128
The communication between the master and the slave and vice versa should be monitored with a
timeout time (P513).
For coupling via system bus the broadcast transmission and reception address are set separately via
the array – Parameter P515 ( Section 4.9.1 "Communication settings")
Information
Address "0"
It is recommended that a value which is as low as possible is used for the selection of the address. A low address
sets a higher priority. This optimises the communication between master and slave and therefore the
synchronisation behaviour of the drive units.
However, CANopen reserves the address "0" for certain special uses. To prevent overlaps and therefore possible
malfunctions, the address 0 should therefore not be used.
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4.9.5.3 Slip error monitoring on the slave
A further possibility for slip error monitoring on the slave can be implemented via parameter P630
"Position slip error". With this, with synchronisation enabled and an enabled device the set position
and the actual position are compared. If the slave is not enabled, the position of the master may
deviate from the position of the slave without generation of a corresponding status message.
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Nord Drivesystems SK 200E Series Specifications

General

Brand	Nord Drivesystems
Model	SK 200E Series
Category	Inverter
Language	English