Pos : 2 /T ec hnis che Infor mationen/SK xU x - Er weiter ung en/EtherCat/SK CU 4-ECT / 275271017 / Basisi nfor mationen [SK CU 4-ECT] @ 3\mod_1371808288265_388.doc x @ 79429 @ 555 @ 1 SK CU4-ECT Part number: 275 271 017 EtherCAT® - Internal bus interface NOTICE Validity of the documents This document is only valid in combination with the operating instructions for the relevant frequency inverter. All of the information that is relevant for a safe start-up of this module and the frequency inverter is only available under these conditions. Scope of supply 1x Module SK CU4-ECT 1x System bus cable set grey / black 1x 24 VDC cable set brown / blue 2x Connecting screws M4 x 20, cross-head Field of use Internal interface for connecting a decentralised frequency inverter (SK 180E … SK 2xxE) to an EtherCAT field bus. It is connected via the system bus with the inverter and can communicate directly with up to 4 frequency inverters. 2 digital inputs are available. Technical data Module Temperature range -25°C … xx °C * Vibration resistance 3M7 Temperature class Class 3K3 Firmware version V1.6 R1 Protection class IP20 Supply voltage 24 V ± 20 %, ≈ 100 mA Reverse polarity protected * The upper temperature limit depends on the frequency inverter and the operating mode see "Derating" Digital input - working range Low: 0 V … 5 V, High: 15 V … 30 V Digital input - specific data Ri = 10 kΩ, input capacity: 10nF, reaction time 1 ms, inputs according to EN 61131-2 type 1 Technical Information / Datasheet EtherCAT Bus module SK CU4-ECT TI 275271017 V1.2 3314 EN EtherCAT Bus module – SK CU4-ECT Bus specifics EtherCAT Max. 100 MBaud Cable Min. Ethernet CAT-5 Electrical isolation 500 Veff Max. cable length 100 m between two modules Bus connection Screw terminals Shield Direct to PE bus termination performed automatically PE connection via PE screw connection Status display 6 LEDs Topology Linear bus Process data 8 Byte per FI + 2 Byte for IOs. Total length 2 … 34 Byte in the terminal box Performance Update interval of process data for 1000 devices ≈ 1 ms Update interval for process data between module and frequency inverter ≈ 5 ms Parameter read access on the frequency inverter ≈ 12 ms Parameter write access with storage in EEPROM ≈ 25 ms Pos : 6 /T ec hnis che Infor mationen/SK xU x - Er weiter ung en/Allgemein - Systemübergreifend/Der ating [SK CU 4 - ...] @ 4\mod_1378288335408_388.doc x @ 92917 @ 5 @ 1 Derating NOTICE Derating Depending on the installation location of the module (SK 180E, SK 190E or SK 2xxE), the operating mode (S1, S3 ...) and the installation type (wall-mounting, motor -mounting) of the frequency inverter as well as the type of motor used (IE1 / IE2 / ...) restrictions to the permissible ambient temperature must be taken into account. If the permissible ambient temperature is exceeded, the module may heat up to an impermissible extent and switch off with an error message (E104.0). Maximum ambient temperature * Operating mode Installation type SK 180E / SK 190E SK 2xxE S1 Motor 25°C 30°C S3 ED 50 %, 10min Motor 40°C n. s. S3 ED 70 %, 10min Motor n. s. 40°C S1 Wall (unventilated) 37°C 42°C S1 Wall (ventilated) 47°C 48°C * The limits of the frequency inverter must not be exceeded (refer to the frequency inverter manual). Pos : 7 /T ec hnis che Infor mationen/SK xU x - Er weiter ung en/EtherCat/Mer kmal e [ECT Allgemei n] @ 3\mod_1371724052210_388.doc x @ 79062 @ 5 @ 1 Module features Parameterisation Via CoE (CANopen over EtherCat) Error messages (Emergency Messages) According to CANopen DS301 EtherCAT addressing (Second Address) DIP switch or module parameter Distributed Clocks Not supported Access for NORD diagnosis tool via diagnosis socket on the device (if available) or via the frequency inverter Pos : 9 /T ec hnis che Infor mationen/SK xU x - Er weiter ung en/Allgemein - Systemübergreifend/Montage [SK CU 4- xxx] @ 3\mod_1371811235059_388.doc x @ 79455 @ 55 @ 1 2/8 TI 275271017 - 3314 EtherCAT Bus module – SK CU4-ECT Installation Installation location Within the connection unit of a frequency inverter (SK 180E, SK 190E, 2xxE) Mounting with screw fastenings Installation steps SK 1xxE SK 2xxE 1. 2. Pos : 12 /T echnisc he Informati onen/SK xU x - Er weiterungen/Allgemei n - Sys temübergreifend/Anschl üss e [SK CU 4 - ...] @ 4\mod_1378291237620_388.doc x @ 93067 @ 5 @ 1 Connections Connection is via the terminal bar of the module Ethernet System bus level and digital inputs 2 1 Potential Contact Designation Description E8 PHY1 RX- Ethernet connection 1 Receive Data - E7 PHY1 RX+ Ethernet connection 1 Receive Data + E6 PHY1 TX- Ethernet connection 1 Transmission Data - E5 PHY1 TX+ Ethernet connection 1 Transmission Data + E4 E3 PHY0 RXPHY0 RX+ Ethernet connection 2 Receive Data Ethernet connection 2 Receive Data + E2 PHY0 TX- Ethernet connection 2 Transmission Data - E1 PHY0 TX+ Ethernet connection 2 Transmission Data + 78 SYS - System bus data line - 77 SYS + System bus data line + C1 DIN1 Digital input 1 C2 DIN2 Digital input 2 40 GND/0V Reference potential (0 V / GND) 44 24V Supply voltage (+24 V) 40 GND/0V Reference potential (0 V / GND) 44 24V Supply voltage (+24 V) TI 275271017 - 3314 3/8 EtherCAT Bus module – SK CU4-ECT Schematic diagram - electrical connection (Terminal designation on example of NORD frequency inverter SK 180E … SK 2xxE) SK CU4-… SK 180E … SK 2xxE VI 24V GND/0V 24V GND/0V SYS + SYS - SYS + SYS - Pos : 16 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/Konfiguration [SK CU4- ECT] @ 3\mod_1371817147658_388.doc x @ 79506 @ 5 @ 1 Configuration In general, no settings need to be made on the device. However, via the "Hot Connection Group" functionality, the module can be configured with a fixed address, the so-called "Second Address". This is carried out via the DIP switches of the module. The DIP switch settings are read after a "Power On" of the module. 8 7 6 5 4 3 2 1 Address 0 0 0 0 0 0 0 0 0 0 0 X 0 0 0 0 0 0 0 0 0 0 0 1 X 1 0 0 0 0 0 0 0 0 0 1 0 X 2 - - - - - - - - - - - X - 1 1 1 1 1 1 1 1 1 1 1 X 2047 0 System bus terminating resistor not set 1 System bus terminating resistor set … 9 1 10 12 Meaning 11 ON OFF DIP switch 12 Pos : 19 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/LED Anz eigen [SK CU 4-ECT] @ 3\mod_1371817321544_388.doc x @ 79531 @ 5 @ 1 LED displays The operating statuses of the module are visualised using LED indicators. No. 1 2 3 Name Colour Meaning RUN green Ethernet State ERR red Ethernet Error DS green Device status DE red Device error L/A IN green Link/Activity In L/A OUT green Link/Activity OUT Pos : 21 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/LED Anz eigen- EtherCAT s pezi fische LED [ECT Allgemei n] @ 3\mod_1371732026091_388.doc x @ 79187 @ @ 1 4/8 TI 275271017 - 3314 EtherCAT Bus module – SK CU4-ECT EtherCAT-specific LEDs RUN State Meaning OFF Init • No communication of process data and parameters Flashing Pre-Operational Single Flash Save Operational • • • • • • Parameter communication active No process data communication Parameter communication active Limited process data communication No restriction of actual values Setpoints not evaluated ON Operational • • Parameter communication active Unrestricted process data communication ERR State Meaning OFF No Error • EtherCAT functioning normally on the Bus Module Flashing Invalid Configuration • Single Flash Unsolicited State Change Application Watchdog Timeout • General EtherCAT configuration error This can be generated by an incorrect XML file. The module has changed the EtherCAT state without authorisation • EtherCAT or FI timeout (P513 in FI) State Meaning No Connection Module not ready, no control voltage. No bus connection (check cable connection) Technology box connected and active Technology box ready for operation, but no bus activity available Double Flash L/A (Green LED) OFF Flashing Active • • • ON Inactive • Pos : 22 /T echnisc he Informati onen/SK xU x - Er weiterungen/Allgemei n - Sys temübergreifend/LED Anz eigen- NORD spezifisc he LED [EIP / POL / EC T / PNT Allgemein] @ 3\mod_1363773424248_388.doc x @ 61815 @ @ 1 NORD-specific LEDs Meaning Long flash Short flash DS (Device status) DE (Device error) OFF OFF Module not ready, no control voltage. ON OFF Module ready, no error, at least one frequency inverter is communicating via the system bus ON Short flashing Long flashing OFF Long flashing Short flashing Flash interval 1 x - 1s pause Long flashing Short flashing Flash interval 2 x - 1s pause Long flashing Short flashing Flash interval 3 x - 1s pause System bus is in status "Bus Off" • No system bus 24V power supply Long flashing Short flashing Flash interval 4 x - 1s pause Module error • see parameter P170 OFF Short flashing Flash interval 1…7 - 1s pause System error, internal program sequence interrupted • EMC interference (observe wiring guidelines!) • Module defective = 0.5 s on / 1 s off = 0.25 s on / 1 s off Module ready, but • One or more of the connected frequency inverters has fault status Module ready and at least one other participant is connected to the system bus, but • no frequency inverter connected to system bus (connection may be interrupted) • one or more system bus clients has address error • Software incompatible (module software and FI software do not match - update required) System bus is in status "Bus Warning" • Communication on system bus disrupted • No other clients available on system bus • Module not inserted correctly or no connection to the system bus • Frequency inverter has no supply voltage System bus is in status "Bus Off" • the system bus 24V power supply was interrupted during operation Pos : 23 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/Fehler meldungen EtherCAT Baugr uppen allgemein [SK xU x- ECT - Allgemei n] @ 4\mod_1384942718074_388.doc x @ 105606 @ 5 @ 1 TI 275271017 - 3314 5/8 EtherCAT Bus module – SK CU4-ECT Error messages Error messages from the module - present errors or archived messages relating to the last error - can be read out via the module parameter (P170). The error messages are lost if the module is switched off. Error Meaning Remarks 100.0 EEPROM error EMC fault, module defective 102.0 Timeout via P151/P513 monitoring 103.0 System bus BUS OFF No 24V supply to the bus, connections not correct 104.0 Module temperature > 91°C SK CU4-… only, permissible internal temperature exceeded for approx. 60sec 550.1 560.0 … 560.9 DIP switch error Internal error The DIP switches (IP address) could not be read correctly Module not ready 561.0 General network error 561.1 Ethernet Watchdog timeout 561.2 Bus cable fault Bus cable connection interrupted 561.3 IP address error IP address of the module has been doubly assigned 563.0 Firmware version incompatible The firmware version cannot be used for the device 564.0 MAC address error Errors which occur in relation to the module are depicted as follows in the error memory of the frequency inverter (P700 / P701). Error (E010) Meaning Remarks 10.0 Connection error Contact to SK xU4 lost 10.1 ASIC errors Communication to Ethernet - ASIC lost • Switch-off of the supply voltage • Reduce the temperature of the module to below 91°C (only SK CU4-…) 10.2 Ethernet Watchdog timeout Telegram transfer error • 10.3 Timeout by P151/P513 Check the connections and links, program sequence and Bus Master Telegram transfer error • • Check the connections and links Check the Watchdog time 10.4 IP address error IP address of the module has been doubly assigned 10.5 Internal error Module not ready, configuration error 10.6 Bus cable fault Bus cable connection interrupted 10.8 The connection between the inverter and the module had a timeout Only SK TU3 module 10.9 Module missing (P120) Only SK xU4 module Pos : 24 /T echnisc he Informati onen/SK xU x - Er weiterungen/Allgemei n - Sys temübergreifend/Par ameter [SK xU x- ... Allgemein - Frequenzumric hter] @ 4\mod_1384953855694_388.doc x @ 105781 @ 5 @ 1 6/8 TI 275271017 - 3314 EtherCAT Bus module – SK CU4-ECT Parameters Frequency inverter: The following frequency inverter parameters must be adapted for setting up communication between the frequency inverter and the bus module (for details see frequency converter manual). Parameter [-Array] Meaning Remarks P120 [-01] Option monitoring "Auto“ (default setting) P509 Control word source SK TU3-… on SK 5xxE: "Ethernet TU” SK xU4-… on SK 180/SK 2xxE: "System bus" P510 [-01 … -02] Setpoint source "Auto“ (default setting) P513 Time-out Monitoring of the SK TU3 bus module P543 [-01 …-03 (-05)] and P543 … P545 Bus actual values (1 …3 (… 5)) Possible settings according to (P418) P546 [-01 …-03 (-05)] and P546 … P548 P700 [-01] / P701 Bus target values (1 …3 (… 5)) Possible settings according to (P400) Current / last failures Information parameters P740 / P741 Process data bus In / Out Information parameters P745 Module version Information parameters Only SK TU3 P745 Module status Information parameters Only SK TU3 P748 CANopen / System bus status Information parameters Only SK xU4 Only SK 5xxE Pos : 25 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/Parameter [ECT Allgemei n] @ 3\mod_1371734928860_388.doc x @ 79237 @ @ 1 BUS module: The module provides a selection of appropriate parameters for setting or displaying special operating values. Parameters can be adapted using the NORDCON software or an SK PAR-3H / -3E parameter box. All parameters can still be read and written by the bus master via EtherCAT. Parameter [-Array] Meaning Remarks P150 P151 Set relays External bus time-out Set DOUT directly or control via BUS Monitoring of SK xU4 bus module P152 Factory setting Reset module parameters P153 [-01 …-02] P170 [-01 … -02] Minimum system bus cycle Access to option card I/O Present errors Reduction of bus load on the system bus caused by the module (SK xU4 only) Administration of read and write rights to the IO of the module Displaying module errors P171 [-01 … -03] Software version Firmware version / Revision P172 Configuration P173 -TU3- -CU4- X X X X X X X X X X X X X X X Module type X X X Module status Status of system bus or connected FC X X X P174 Status of digital inputs Image of the switching status of DIN X X P175 Digital output state Image of the switching status of DOUT X P176 [-01 … ] Process data bus In Information parameter X X X P177 [-01 … ] Process data bus Out Information parameter X X X P178 P180 Internal temperature NMT State Information parameter Information parameter X X X X P181 Second Address Information parameter X X X P182 EtherCAT Watchdog Watchdog monitoring time X X X P183 [-01 …-04] EtherCAT transfer error Transfer error at EtherCAT level X X X P184 SPI error counter Information parameter X X X P154 [-01 …-02] X -TU4- Pos : 26 /T echnisc he Informati onen/SK xU x - Er weiterungen/Allgemei n - Sys temübergreifend/Par ameterz ugriff und Di agnos e [Bus BG - Allgemei n] @ 3\mod_1363794074590_388.doc x @ 61915 @ 5 @ 1 TI 275271017 - 3314 7/8 EtherCAT Bus module – SK CU4-ECT Parameter access and diagnosis The NORD CON software and optional control units such as the SK PAR-3H parameter box provide convenient access to the parameters of the module and allow status information to be read out. SK TU3Access via diagnosis socket RJ12-SK 5xxE SK TU4- SK CU4- / SK TU4- Access via RJ12-Bus diagnosis socket connection unit SK TI4-TU-BUS(-C) Access via RJ12-Frequency inverter diagnosis socket , if connected to module via system bus. Pos : 28 /T echnisc he Informati onen/SK xU x - Er weiterungen/EtherC at/Weiterführ ende Dokumentationen und Softwar e [SK CU4- ECT] @ 3\mod_1371817482379_388.doc x @ 79556 @ 5 @ 1 Additional documentation and software (www.nord.com) Software Name Software Meaning XML file Device characteristics and parameters NORD CON Parameterisation and diagnostic software Document Name Document Meaning BU 0000 BU 0040 Description of NORD CON software ParameterBox manual BU 0200 BU 0270 SK 2xxE frequency inverter manual Description of EtherCAT bus communication BU 0180 Frequency inverter manual SK 180E, SK 190E === Ende der Liste für T extmar ke Inhalt === 8/8 TI 275271017 - 3314
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