Nord Drivesystems SK 200E Series Instructions and recipes

BU 0210 – en
POSICON positioning control
Supplementary manual for series SK 200E and SK 250E-FDS

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
2 BU 0210 en-3117

Table of Contents
BU 0210 en-3117 3

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
4 BU 0210 en-3117
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Table of Contents
=== En de der List e f ür Te xtm ar ke I nh al ts v erz ei ch ni s == =
1Introduction .................................................................................................................................................8
1.1 General ..............................................................................................................................................8
1.1.1 Documentation .....................................................................................................................8
1.1.2 Document History.................................................................................................................8
1.1.3 Copyright notice....................................................................................................................8
1.1.4 Publisher ..............................................................................................................................9
1.1.5 About this manual.................................................................................................................9
1.2 Other applicable documents ..............................................................................................................9
1.3 Presentation conventions.................................................................................................................10
1.3.1 Warning information ...........................................................................................................10
1.3.2 Other information................................................................................................................10
2Safety .........................................................................................................................................................11
2.1 Intended use ....................................................................................................................................11
2.2 Selection and qualification of personnel...........................................................................................11
2.2.1 Qualified personnel.............................................................................................................11
2.2.2 Qualified electrician ............................................................................................................11
2.3 Safety information ............................................................................................................................12
3Electrical Connection................................................................................................................................13
3.1 Connection to SK 200E … SK 235E frequency inverters.................................................................13
3.1.1 Control terminal details.......................................................................................................14
3.2 Connection to SK 250E-FDS … SK 280E-FDS frequency inverters ................................................17
3.2.1 Control level........................................................................................................................17
3.2.2 Control connection details ..................................................................................................21
3.3 Encoders..........................................................................................................................................22
3.3.1 CANopen absolute encoders..............................................................................................22
3.3.1.1 Approved CANopen absolute encoders (with bus cover) 22
3.3.1.2 Contact assignment for CANopen encoders (SK 200E … SK 235E) 22
3.3.1.3 Contact assignment for CANopen encoders (SK 250E-FDS … SK 280E-FDS) 22
3.3.2 Colour and contact assignments for the incremental encoder (HTL)..................................23
3.3.3 Colour and contact assignments for the incremental encoder (HTL)..................................24
4Function description.................................................................................................................................25
4.1 Introduction ......................................................................................................................................25
4.2 Position Detection ............................................................................................................................25
4.2.1 Position detection with incremental encoders.....................................................................25
4.2.1.1 Approach reference point 26
4.2.1.2 Residual position 27
4.2.2 Position detection with absolute encoders..........................................................................28
4.2.2.1 Supplementary settings – CANopen absolute encoders 28
4.2.2.2 Referencing an absolute encoder 30
4.2.2.3 Manual commissioning of the CANopen absolute encoder 30
4.2.3 Encoder monitoring ............................................................................................................31
4.2.4 Linear or optimised path positioning method ......................................................................32
4.2.4.1 Optimised path positioning 33
4.3 Setpoint specification .......................................................................................................................36
4.3.1 Absolute set position (position array) via digital inputs / BUS IO Bits .................................36
4.3.2 Relative set position (position increment array) via digital inputs / BUS IO Bits .................37
4.3.3 Bus setpoints......................................................................................................................38
4.3.3.1 Absolute set position (position array) via field bus 38
4.3.3.2 Relative set position (position increment array) via field bus 38
4.4 "Teach - In“ – Function for saving positions .....................................................................................39
4.5 Speed ratio of setpoint and actual values ........................................................................................40
4.6 Position control ................................................................................................................................41
4.6.1 Position control - Position control variants (P600) ..............................................................41
4.7 Position control – Method of operation.............................................................................................43
4.8 Remaining path positioning..............................................................................................................44
4.9 Synchronous control ........................................................................................................................45
4.9.1 Communication settings .....................................................................................................46
4.9.2 Ramp time and maximum frequency settings on the slave ................................................47

Table of Contents
BU 0210 en-3117 5
4.9.3 Setting the speed and position controls..............................................................................47
4.9.4 Taking a speed ratio between master and slave into account ............................................48
4.9.5 Monitoring functions ...........................................................................................................49
4.9.5.1 Achievable precision of position monitoring 49
4.9.5.2 Master switch-off on slave error or position slip error 49
4.9.5.3 Slip error monitoring on the slave 50
4.9.6 Slave reference point run - Axis in a synchronous application ...........................................51
4.9.7 Offset switching in synchronous operation .........................................................................51
4.9.8 Flying Saw (extended synchronous operation function) .....................................................52
4.9.8.1 Determination of acceleration path and initiator position 54
4.9.8.2 Diagonal saw 55
4.10 Output messages.............................................................................................................................56
5Commissioning .........................................................................................................................................57
6Parameters.................................................................................................................................................59
6.1 Description of parameters................................................................................................................59
6.1.1 Operating displays..............................................................................................................60
6.1.2 Speed control .....................................................................................................................60
6.1.3 Control terminals ................................................................................................................61
6.1.4 Additional parameters.........................................................................................................65
6.1.5 Positioning..........................................................................................................................68
7Operating status messages .....................................................................................................................74
7.1 Messages.........................................................................................................................................74
7.2 FAQ operational problems ...............................................................................................................76
7.2.1 Operation with speed feedback, without position control....................................................76
7.2.2 Operation with active position control.................................................................................76
7.2.3 Position control with incremental encoders ........................................................................77
7.2.4 Position control with absolute encoders .............................................................................77
8Technical Data...........................................................................................................................................78
9Appendix....................................................................................................................................................79
9.1 Service and commissioning information...........................................................................................79
9.2 Documents and software .................................................................................................................79
9.3 Keyword Index .................................................................................................................................80
9.4 Abbreviations ...................................................................................................................................81

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
6 BU 0210 en-3117
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List of illustrations
=== En de der List e f ür Te xtm ar ke A b bi ldu ng s ver zei c h ni s == =
Figure 1: Rotary platform positioning with a single-turn application....................................................................... 34
Figure 2: Rotary platform positioning with a multiturn application.......................................................................... 35
Figure 3: Position control sequence ...................................................................................................................... 43
Figure 4: Example of the flaying saw principle....................................................................................................... 53
Figure 5: Flying saw - Diagonal saw...................................................................................................................... 55
Figure 6: Explanation of parameter description ..................................................................................................... 59

List of tables
BU 0210 en-3117 7
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List of tables
=== En de der List e f ür Te xtm ar ke T a b ell en verz eic hni s ===
Table 1: CANopen encoders approved by NORD ................................................................................................. 22
Table 2: CANopen encoder cycle time dependent on the baud rate ..................................................................... 29
Table 3: Parameter P604 encoder type selection.................................................................................................. 32
Table 4: assignment of addresses......................................................................................................................... 50
Table 5: Digital output messages for positioning function...................................................................................... 56
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POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
8 BU 0210 en-3117
1 Introduction
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1.1 General
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1.1.1 Documentation
Name: BU 0210
Part number: 6072102
Series: POSICON for
NORDAC FLEX and (SK 200E ... SK 235E)
NORDAC LINKseries
frequency inverters
(SK 250E ... SK 280E)
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1.1.2 Document History
Issue Series Version Remarks
Order number Software
BU 0210,
June 2009
SK 205E … SK 235E
V 1.0 R0
First issue
6072102/ 2509
BU 0210,
November 2016
SK 200E … SK 235E
V 2.1 R1
• Implementation of device types SK 200E,
SK 210E, SK 220E and SK 230E
• Implementation of the series SK 250E-FDS
with FI types SK 250E-FDS, SK 260E-FDS,
SK 270E-FDS and SK 280E-FDS
• "Flying Saw" technology function,
• "Remaining path positioning technology
function
• Extension of static positions from 15 to 63
• Extensive revision
6072102/ 4816
SK 250E-FDS …
SK 280E-FDS
V 1.0 R0
BU 0210,
July 2017
SK 200E … SK 235E
V 2.1 R3
• General corrections
6072102/ 3117
SK 250E-FDS …
SK 280E-FDS
V 1.1 R2
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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.
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1 Introduction
BU 0210 en-3117 9
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1.1.4 Publisher
Getriebebau NORD GmbH & Co. KG
Getriebebau-Nord-Straße 1
22941 Bargteheide, Germany
http://www.nord.com/
Tel.: [phone] / 289-0
Fax: [phone]
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1.1.5 About this manual
This manual is intended to assist you in the setup of a positioning application for a frequency inverter
manufactured by Getriebebau NORD GmbH & Co. KG (abbreviated as NORD). It is intended for all
qualified electricians who plan, install and set up the positioning application (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 using electronic drive technology.and in particular
with devices manufactured by NORD.
This manual only contains information and descriptions of the POSICON technology function and the
relevant additional information for frequency inverters manufactured by Getriebebau NORD GmbH &
Co. KG.
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1.2 Other applicable documents
This document is only valid in combination with the operating instructions for the frequency inverter
which is used. Safe commissioning of the drive application depends on the availability of the
information contained in this document.. A list of the documents can be found in Section 9.2
"Documents and software".
The necessary documents can be found under www.nord.com.
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POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
10 BU 0210 en-3117
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1.3 Presentation conventions
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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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2 Safety
BU 0210 en-3117 11
2 Safety
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2.1 Intended use
The POSICON technology function from Getriebebau NORD GmbH & Co. KG is a software-assisted
functional extension for frequency inverters manufactured by NORD. It forms an integral part of the
frequency inverter and cannot be used without this. Because of this, all of the specific safety
information for the relevant frequency inverter contained in the relevant manual (Section 9.2
"Documents and software") apply without restriction.
The POSICON technology function is essentially used as a solution for complex drive applications with
positioning functions which are implemented using frequency inverters manufactured by NORD.
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2.2 Selection and qualification of personnel
The POSICON technology function may only be commissioned by qualified electricians. These must
have the necessary knowledge of the technology functions and the electronic drive technology and the
configuration aids which (e.g. NORD CON software) which are used, as well as the peripherals
(including the controller) which are used in association with the drive application.
In addition, the qualified electricians must also be familiar with the installation, commissioning and
operation of the sensors and electronic drive technology, 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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POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
12 BU 0210 en-3117
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2.3 Safety information
Only use the technology function POSICON positioning control and the frequency inverter from
Getriebebau NORD GmbH & Co. KG for their intended purposes as stated in Section 2.1 "Intended
use".
Observe the instructions in this manual in order to ensure the safe use of the technology function.
Only commission the frequency inverter in a technically unmodified form and not without the
necessary covers. Take care that all connections and cables are in good condition.
Work on and with the frequency inverter must only be carried out by qualified personnel, 
Section 2.2 "Selection and qualification of personnel".
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3 Electrical Connection
BU 0210 en-3117 13
3 Electrical Connection
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WARNING
Electric shock
Touching electrically conducting components may cause an electric shock and severe or possibly fatal injury.
• Disconnect the frequency inverter from the power supply before starting installation work.
• Only work on devices which have been disconnected from the power supply.
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WARNING
Electric shock
The frequency inverter carries hazardous voltage for up to 5 minutes after being switched off.
• Only start work after a waiting period of at least 5 minutes after switching off the mains supply
(disconnection).
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Position control by the frequency inverter can only be used if it receives immediate feedback of the
current position of the drive unit.
An encoder is usually used to detect the current position.
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3.1 Connection to SK 200E … SK 235E frequency inverters
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In order to access the electrical connections, the SK 2xxE must be removed from the SK TI4-…
connection unit (Section ).
One terminal block is provided for the power connections and one for the control connections.
The PE connections (device-earth) are inside the cast housing of the connecting unit on the base. A
contact is available on the power terminal block for size 4.
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The terminal strip assignments differ according to the version of the device. The correct assignment
can be found on the inscription on the respective terminal or the terminal overview plan printed inside
the device.
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Connecting terminals for
(1)
Power cable
Motor cable
Brake resistance lines
(2)
Control lines
Electromechanical brake
PTC (TF) of motor
(3)
PE
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POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
14 BU 0210 en-3117
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3.1.1 Control terminal details
Labelling, function
SH: Function: Safe stop DOUT: Digital output
AS1+/-: Integrated AS interface 24 V SH: "Safe stop" input
24 V: 24 V DC control voltage 0 V SH: "Safe stop" reference potential
10 V REF:
10 V DC reference voltage for AIN
AIN +/-
Analogue input
AGND:
Reference potential for analogue signals
SYS
H/L:
System bus
GND:
Reference potential for digital signals
MB+/-:
Control of electro-mechanical brake
DIN:
Digital input
TF+/-:
Motor thermistor (PTC) connection
Connections depending on the development stage
Detailed information regarding functional safety (Safe Stop) can be found in supplementary manual
BU0230. - www.nord.com -
Sizes 1 ... 3
SK 200E SK 210E SK 220E SK 230E Device type SK 205E SK 215E SK 225E SK 235E
SH
AS1
SH+AS1
Labelling
SH
AS1
SH+AS1
Pin
24 V (output)
43
1
44
24 V (input)*
AIN1+ ASI+
14/84
2
44/84
24 V (input)* ASI+
AIN2+ 16 3 40 GND
AGND ASI- 12/85 4 40/85 GND ASI-
DIN1
21
5
21
DIN1
DIN2
22
6
22
DIN2
DIN3
23
7
23
DIN3
DIN4
24 V SH
DIN4
24 V SH
24/89
8
24/89
DIN4
24 V SH
DIN4
24 V SH
GND
0V SH
GND
0V SH
40/88
9
40/88
GND
0V SH
GND
0V SH
DOUT1
1
10
1
DOUT1
GND
40
11
40
GND
SYS H
77
12
77
SYS H
SYS L
78
13
78
SYS L
10 V REF
11
14
-
---
DOUT2
3
15
79
MB+
GND 40 16 80 MB-
TF+
38
17
38
TF+
TF-
39
18
39
TF-
* when using the AS interface, terminal 44 provides an output voltage (24 V, max. 60 mA). In this case, no voltage sources may
be connected to this terminal!

3 Electrical Connection
BU 0210 en-3117 15
Size 4
Device type
SK 200E SK 210E SK 220E SK 230E
(SH) (ASI) (SH+ASI)
Pin Labelling
1
43
24 V (output)
2
43
24 V (output)
3
40
GND
4
40
GND
5
-/84
/ ASI+
6
-/85
/ ASI-
7 11 10 V REF
8 14 AIN1+
9
16
AIN2+
10
12
AGND
11
44
24 V (input)
12
44
24 V (input)
13
40
GND
14
40
GND
15
21
DIN1
16
22
DIN2
17
23
DIN3
18
24/89
DIN4 24 V SH DIN4 24 V SH
19
40/88
GND 0V SH GND 0V SH
20 40 GND
21
1
DOUT1
22
40
GND
23
3
DOUT2
24
40
GND
25
77
SYS H
26
78
SYS L
27
38
TF+
28
39
TF-
Separate terminal block (2-pole):
1
79
MB+
2
80
MB+
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POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
16 BU 0210 en-3117
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Meaning, Functions
Description / Technical data
Terminal
Parameter
No.
Designation Meaning No. Function of factory setting
Pos: 45 / A nl ei tu ng e n/ Ele k tr oni k/FU und S t art er / 2. M ont ag e und Ins tall ati on/ El e ktri sc her Ans c hl uss /S K 1 xx E, SK 2 x xE , S K xxxE-FD S/ St eu ert ei l/ De tai ls Ste uer ans chl üs s e (S a m mlu ng )/D e tai ls Ste uer ans chl üs s e_ 03_D IN [ SK 2xxE] @ 7\mod_1435562625904_388.docx@ 229010@ @ 1
Digital inputs
Actuation of device via an external controller, switch or the like, connection of HTL
transmitter (DIN2 and DIN3 only)
as per EN 61131-2, type 1
Low: 0-5 V (~ 9.5 kΩ)
High: 15-30 V (~ 2.5 - 3.5 kΩ)
Scan time: 1 ms
Reaction time: 4 - 5 ms
Input capacitance
10 nF (DIN1, DIN 4)
1.2 nF (DIN 2, DIN 3)
DIN 2 and DIN 3 double allocation
Min.: 250 Hz, Max.: 205 kHz
21
DIN1
Digital input 1
P420 [-01]
ON right
22
DIN2 Digital input 2 P420 [-02] ON left
23
DIN3
Digital input 3
P420 [-03]
Fixed frequency 1 (

P465[-01])
24
DIN4 Digital input 4 P420 [-04] Fixed frequency 2 (P465[-02])
Pos: 46 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I ns tall ati on/ El e ktri sc her Ans c hlus s /S K 1xxE, SK 2xxE , SK xxxE-F D S/ St eu er t eil /De tai l s St e uer ans chl üss e (S a m mlu ng ) /De tai ls Ste uer ans chl üss e_ 0 5_ Qu ell e S te uer s p ann ung [S K 1 xxE , SK 2 x0E ] @ 7\mod_1435561830830_388.docx@ 228882@ @ 1
Control voltage source
Control voltage of device, e.g. for supplying accessories.
24 V DC ± 25 %, short circuit-proof
Maximum load 200 mA 1)
43
VO / 24V
Voltage output
-
-
40
GND / 0V Reference potential GND - -
1)
See "Total currents" information (

Section )
Pos: 47 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I ns tal l ati on/ El e ktr is c her Ansc hlus s /S K 1xxE, SK 2 xxE , S K xxxE-F D S/ St eu er t eil /De tai ls Ste uer ans chl üss e ( Sa m mlu ng ) /De tai ls Ste uer ans chl üss e_ 0 7_ SY S [S K 1x0E, SK 2 xx E] @ 7\mod_1435563267345_388.docx @ 229362@ @ 1
System bus
NORD-specific bus system for communicating with other devices (e.g. intelligent
option modules or frequency inverter)
Up to four frequency inverters (SK 2xxE,
SK 1x0E) can be operated on a single
system bus.
Address = 32 / 34 / 36 / 38
77
SYS H
System bus+
P509/510
Control terminals / Auto
78
SYS L
System bus-
P514/515
250kBaud / Address 32
dec
Pos: 48 / A nl ei tu ng e n/ Ele k tr oni k/FU und S t art er / 2. M ont ag e und Ins tall ati on/ El e ktri sc her Ans c hl uss /S K 1 xx E, SK 2 x xE , S K xxxE-FD S/ St eu er t eil /D e tail s Ste uer ans chl üss e (S a m mlu ng ) /D e tail s Ste uer ans chl üss e_ 0 7_ SY S _Er g änz ung_ A bs c hl uss wi der st an d [ S K 1 x0 E, SK 2 x xE] @ 7 \mod_1435563760874_388.docx@ 229394@ @ 1
System bus terminating
resistance
Termination at the physical end of the bus system
If the device is supplied preassembled (e.g. equipped with customer unit SK CU4 / SK TU4) the terminating
resistors on the device and the module are factory-set. If other devices are going to be incorporated in the
system bus, the terminating resistors must be reset accordingly. It must always be checked before
commissioning that the terminating resistors have been correctly set (1x at beginning and 1x at end
of system bus).
S2
Factory setting "OFF"
(For deviating factory setting, see
explanation above)
Pos: 49 /All ge mei n/Al lge mei ng ültig e M odul e/---------Sei tenu m bruc h kom pak t --------- @ 13 \mod_1476369695906_0.docx@ 2265495@ @ 1

3 Electrical Connection
BU 0210 en-3117 17
Pos: 50 /A nl eitu ng e n/ El ek tr oni k/PO SI C ON / 3. El e ktr i sch er Ans chl us s/ An sc hl uss am G er ät SK 25 0 E .. . SK 2 80E [SK 2 xxE]@ 14\mod_1480338011049_388.docx @ 2308626@2 @ 1
3.2 Connection to SK 250E-FDS … SK 280E-FDS frequency inverters
Pos: 51 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I ns tall ati on/ El e ktri sc her Ansc hl uss /El e ktri sc her Ans c hluss _ Er gän zu ng 1 [S K xxxE-FD S] @ 11 \mod_1465553464729_388.docx@ 328733@ @ 1
Electrical connections are made exclusively with plug connectors.
Pos: 52 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I nst all ati on/M o nt age/F D S [S K x xxE-FD S ]/ O pt io ns pl ätz e_0 2-A nst e uer ung s eb ene [SK 2xxE-F DS] @ 11\mod_1465209750287_388.docx@ 327039@ 3@ 1
3.2.1 Control level
Position: front
The configuration and functions of the
individual option slots are variable. They
are directly influenced by
the customer's
specification, but are also indirectly
dependent on the further features.
The meaning of the LEDs which are
assigned for each option slot is also
dependent.
D1 =
E1 =
H1 =
H2 =
M1 =
…
M8 =
Diagnostic opening
Status indicators (LEDs)
Control element 1
Control element 2
Signal connections
Pos: 53 /All ge mei n/Al lge mei ng ültig e M odul e/---------Sei tenu m bruc h kom pak t --------- @ 13 \mod_1476369695906_0.docx@ 2265495@ @ 1

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
18 BU 0210 en-3117
Pos: 54 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I nst all ati on/M o nt age/F D S [S K x xxE-FD S ]/ Aus s t att ung s var ia nt e n_ 04 _ Konf ig ur at i on d er Opti on spl ätz e der A nst eu er ung s eb e ne _0 1 [S K 2xxE-F DS] @ 12\mod_1467125723781_388.docx@ 334298@ 5 @ 1
Configuration of option slots on the control level
The option slots M1 to M8 are designed for M12 plug connectors. The configuration of the connections
or functions for the individual option slots which are relevant for the frequency inverter is printed
directly on the option slot.
Option slot Option type Function Relevant
parameters
Comments
M1 a No option
b
Initiator 1
INI1
DIN1
P420[-01]
Not available if M5
chas zero track.
Set the function of
the zero track in
P420[-01].
DIN4
P420[-04]
M2
a
No option
b
Initiator 2
INI2
DIN4
P420[-04]
M3
a
No option
b
Actuator 1
Act1
DOUT1
P434[-01]
DOUT2 P434[-02]
M4
a
No option
b
Actuator 2
Act2
DOUT2
P434[-02]
M5
a
No option
b
Initiator 3
INI3
DIN2
P420[-02]
DIN3 P420[-03]
c
HTL encoder 1)
HTL
DIN2
P420[-02]
DIN3 P420[-03]
d
System bus master
SYSM
M6
a
No option
b Initiator 4 INI4 DIN3 P420[-03] only SK 250E-FDS /
SK 270E-FDS
c
Safe Stop
STO
only SK 260E-FDS /
SK 280E-FDS
M7
a
No option
b Initiator 5 INI5 AIN1 /
DIN6
P400[-01] /
P420[-06], P113
H1 / H2 only usable
to a limited extent
AIN2 /
DIN7
P400[-02] /
P420[-07], P113
c
System bus slave or
absolute encoder
SYSS
M8 a No option
b
Initiator 6
INI6
AIN2 /
DIN7
P400[-02] /
P420[-07], P113
only SK 250E-FDS /
SK 260E-FDS,
H1 / H2 only usable
to a limited extent
c
24 V DC supply 2)
24VI
d
AS interface AUX
AUX
only SK 270E-FDS /
SK 280E-FDS
e AS interface ASI
1)
Encoder cable available on request If the encoder has a zero track, evaluation of the zero track is only via DIN1.
2)
The DC control voltage can also be supplied via M8 c (AUX) or the option slots X1 or Z1 … Z4 of the connection level.

3 Electrical Connection
BU 0210 en-3117 19
The control elements for the FI are located at the option slots H1 and H2.
The various types of control elements can be selected. Depending on the combination which is
selected, these have an effect on the function of the individual digital inputs. These functions are taken
into account in the factory settings of the relevant parameters for the specific frequency inverter.
Version Option slot H1 1) Option slot H2 2) Parameter function 3)
Type
Function
Type
Function
P420[-07]
P420[-06]
P420[-05]
0
-
/
-
/
{0}
{0}
{0}
1
I
L
-
A
-
R
-
/
{34}
{33}
{0}
2 I L - A - R 4 / - Q {34} {33} {12}
3
I
L
-
A
-
R
II
Sp1
-
Sp2
{34}
{33}
{35}
4
II
A
-
H
-
/
{0}
{15}
{0}
5
II
A
-
H
II
Off
-
On
{0}
{37}
{33}
6
II
A
-
H
I
L
-
Off
-
R
{34}
{37}
{33}
7 II A - H II Sp1 - Sp2 {0} {33} {12}
8
III
Q
-
A
-
H
-
/
{12}
{15}
{0}
9
III
Q
-
A
-
H
II
Off
-
On
{12}
{37}
{1}
10
III
Q
-
A
-
H
II
Sp1
-
Sp2
{12}
{33}
{35}
Functions
A
Automatic mode enabled
H
Manual mode enabled
L
Manual mode enabled, left
R Manual mode enabled, right Off Manual mode not enabled On Manual mode enabled
Sp1
Speed 1 (value from P113 [-01])
Sp2
Speed 2 (value from P113 [-02])
Q
Acknowledge fault
Operating option type
I
Switch (left – centre – right), locking, switch or key switch version
II
Switch (centre – right), locking, switch or key switch version
III Switch (left – centre – right), locking at centre and right, switch or key switch version
4 Pushbutton
1)
Influences the parameter functions of digital inputs DIN 6 / 7
2)
Influences the parameter functions of digital inputs DIN 5 / 7
3)
Variants for which the parameter functions are configured to the value {0} do not have a functional effect on the corresponding digital input.
In such cases corresponding analogue functions can be assigned via the relevant alternative analogue inputs (see previous table).
Pos: 55 /All ge mei n/Al lge mei ng ültig e M odul e/---------Sei tenu m bruc h kom pak t --------- @ 13 \mod_1476369695906_0.docx@ 2265495@ @ 1

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
20 BU 0210 en-3117
Pos: 56 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I ns tall ati on/ M o nt ag e/FD S [S K xxxE-F DS ]/ St ec k er bel eg u ng M 12-S te c kver bi nd er _ 01 [ SK xxx E-FD S] @ 11\mod_1465468996785_388.docx @ 328455 @ 5 @ 1
Plug connections for M12 plug connectors
Depending on the function, 5-pin M12 surface mounted plug connectors with coloured sockets or plug
inserts are installed. The colours reflect the functional assignment of the plug connector and therefore
enable easy identification on the FI. The same applies for the colour coding of the cover caps.
The following plug connectors may be used on the device, depending on the customer's specification.
Pos: 57 /A nl eitu ng e n/ El ek tr oni k/FU und S tar t er / 2. M o nt ag e un d I ns tall ati on/ M o nt ag e/FD S [S K xxxE-F DS ]/ St ec k er bel eg u ng M 12-St eck ver bi nd er _02 [SK 2xxE-F DS ] @ 11\mod_1465472555767_388.docx@ 328489@ 5 @ 1
Option slots M1 to M8
Function Plug connectors Option slot
Contact
diagram
Contact assignments
1 2 3 4 5 No. Colour
DIN1 / DIN4
socket,
A-coded
24 V
DIN4
GND
DIN1
PE
M1
black
DIN2 / DIN3 24 V DIN3 GND DIN2 PE M5 black
DIN3
24 V
GND
DIN3
PE
M6
black
DIN4 24 V GND DIN4 PE M2 black
DIN6 / DIN7
24 V
DIN7
GND
DIN6
PE
M7
black
DIN7
24 V
GND
DIN7
PE
M8
black
DOUT1 / DOUT2 24 V DOUT2 GND DOUT1 PE M3 black
DOUT2
24 V
GND
DOUT2
PE
M4
black
AIN1 / AIN2 24 V AIN2 GND AIN1 +10 V Ref M7 white
AIN2
24 V
GND
AIN2
+10 V
Ref
M8
white
SYSM
24 V
GND
CAN_H
or SYS+
CAN_L
or SYS-
M5
blue
STO
plug,
A-coded
GND SH
24 V SH
M6
yellow
SYSS
24 V
GND
CAN_H
or SYS+
CAN_L
or SYS-
M7
blue
24VI
24 V
GND
M8
black
ASI ASI+ ASI- M8 yellow
AUX
ASI+
GND
ASI-
24 V
M8
yellow
HTL
socket,
B-coded
24 V
Track B
GND
Track A
M5
black
HTL with zero track
socket,
A-coded
24 V
Track B
GND
Track A
Track 0
M5
black
Pos: 58 /All ge mei n/Al lge mei ng ültig e M odul e/---------Sei tenu m bruc h kom pak t --------- @ 13 \mod_1476369695906_0.docx@ 2265495@ @ 1