nord NORDAC SK 1000E-101-340-A Guide

BU 1100 GB
Status: 22 März 2006
Hardware description
NORDAC SK 1000E
Servo controller
SK 1000E-101-340-A ... SK 1000E-102-340-A
T.-Nr. 0604 1192
Getriebebau NORD
GmbH&Co. KG

NORDAC SK 1000E Hardware description
2 BU1100 GB
Safetyand operating instructions
forthe drive powerconverter
(asper: Lowvoltageguideline73/23/EEC)
1. General information
During operation, drive powerconvertersmay have,
depending ontheir protectionclass,live,bare,moving or
rotating partsor hot surfaces.
Thereisariskofseriousinjurytopersonsand/ordamage
toequipment resulting fromunpermittedremovalofcovers,
incorrect use, installation or operation.
Further information can befound in this
documentation.
All transport, installationand commissioning work,and
maintenance,mustbecarriedout byqualifiedpersonnel
(complywith IEC 364, CENELEC HD 384, DIN VDE 0100,
IEC 664 and DIN VDE 0110, and nationalaccident
prevention regulations).
Qualifiedpersonnelin thesenseofthesebasicsafety
instructionsarepersonswhoarefamiliarwith theerection,
mounting, commissionand operationofthisproductand
whohave therelevant qualificationsfor their activities.
2. Intended use
Drive powerconvertersarecomponentsintendedfor
installation in electrical systemsor machines.
Whenbeing installedin machines,thedrive power
convertercannotbecommissioned(i.e. implementationof
theintendeduse)until it hasbeenensuredthatthemachine
meetstheprovisionsoftheEC guideline89/392/EEC
(machineguideline); EN 60204 must alsobecomplied with.
Commissioning (i.e.implementationoftheintendeduse)is
onlypermittedwhentheEMCguideline(89/336/EEC) is
complied with.
Thedrive powerconvertersmeettherequirementsofthe
lowvoltageguideline73/23/EEC. Theharmonised
standardsin prEN 50178/DIN VDE 0160, togetherwith EN
60439-1/VDE 0660 Part 500 and EN 60146/VDE 0558 were
applied for thedrive power converter.
Technicaldataand informationforconnectionconditions
canbefound ontherating plateand in thedocumentation,
and must becomplied with.
3. Transport, storage
Informationregarding transport, storageand correct
handling must becomplied with.
4. Erection
Theerectionand cooling oftheequipment mustbe
implementedaspertheregulationsin thecorresponding
documentation.
Thedrive powerconvertermustbeprotectedagainst
unpermittedloads.During transport and handling in
particular, componentsmustnotbedeformedand/or
insulationdistancesmustnotbechanged. Touching of
electroniccomponentsand contactsmust beavoided.
Drive powerconvertershave electrostaticallysensitive
componentsthatcanbeeasilydamagedbyincorrect
handling. Electricalcomponentsmustnotbemechanically
damaged or destroyed (thismay causeahealth hazard!).
5. Electrical connections
Whenworking onlive drive powerconverters,the
applicablenationalaccident preventionregulationsmustbe
complied with (e.g. VBG 4).
Theelectricalinstallationmustbeimplementedasperthe
applicableregulations(e.g. cablecross-section, fuses,
ground leadconnections). Furtherinstructionscanbefound
in thedocumentation.
Informationabout EMC-compliant installation – suchas
shielding, earthing, locationoffiltersand installationof
cables – canbefound in thedrive powerconverter
documentation. Theseinstructionsmustbecompliedwith
evenwith CE markeddrive powerconverters.Compliance
with thelimit valuesspecifiedin theEMCregulationsisthe
responsibilityofthemanufacturer ofthesystemor machine.
6. Operation
Systemswheredrive powerconvertersareinstalledmust
beequipped, wherenecessary,with additionalmonitoring
and protective equipment aspertheapplicablesafety
requirements,e.g. legislationconcerning technical
equipment, accident preventionregulations,etc.
Modificationstothedrive powerconverterusing the
operating softwarearepermitted.
Afterthedrive powerconverterisdisconnectedfromthe
powersupply,live equipment componentsand power
connectionsshould notbetouchedimmediatelybecauseof
possiblechargedcapacitors.Complywith theapplicable
information signslocated on thedrive power converter.
All coversmust bekept closed during operation.
7. Maintenance and repairs
Themanufacturer documentation must becomplied with.
These safetyinstructions must be kept ina safe place!

Contents
BU1100GB 3
Special safety and operating instructions forthe SK 1000E
NORDAC SK 1000E servocontrollersare equipment for usein industrialhigh voltage
systemsand are operated at voltagesthat couldlead to severe injuries or death ifthey
are touched.
• Theequipment continuestocarry hazardousvoltagesforup to5minutes afterbeing switchedoff atthe
mains. Theequipment may onlybeopenedorthecoverorcontrolelement removed5minutesafterthe
equipment hasbeendisconnectedfromthepowersupply. All coversmustbeput backin place before
thelinevoltageisswitched backon again.
• Evenduring motorstandstill (e.g. causedbyareleaseblock,blockeddrive oroutput terminalshort
circuit), thelineconnectionterminals,motorterminals and braking resistorterminalsmay still conduct
hazardousvoltages. A motor standstill isnot identical togalvanicisolation fromthemains.
• Warning:evenpartsofthecontrolcard and, in particular, theconnectionplug forFlash-JTAG program
programming canconducthazardousvoltages. Whenprogramming theDSP viatheJTAG plug, a
speciallyavailableopto-isolatormustbeused. Theexternalcontrolterminalsarelinepotential-free. The
JTAG interfaceisanon-proprietarystandardisedprogramming interfaceforDSP and controllerfor
whichseveralcompanies,e.g. SpectrumDigital, offersuitableconnectionadapters.Theinternalsafety
coverson theseitemsmust not beremoved.
• Warning,undercertain settingstheservo controllercanstart automaticallyafterthemainsareswitched
on.
• Thecircuit boardscontain highly-sensitive MOS semiconductorcomponentsthatareparticularly
sensitive tostaticelectricity. Avoid touching circuit tracksand componentswith thehand ormetallic
objects. Onlytheterminal strip screwsmay betouchedwith insulatedscrewdriverswhenconnecting the
cables.
• Theservo controllersareonlyintendedforpermanent connectionand may notbeoperatedwithout
effective earthing connectionsthatcomplywith localregulationsregarding largeleakcurrents(> 3.5
mA). VDE 0160 requirestheinstallationofasecond earthing conductororanearthing conductorcross-
section ofat least 10 mm2.
• NormalFI circuit breakers aregenerallynotsuitableasthesoleprotectionin servo controllerswhenthe
localregulationsdonotpermit apossibleDC proportionin thefaultycurrent. Thestandard FI circuit
breaker must complywith thenewdesign asper VDE 0664.
• NORDAC SK 1000E servo controllersaremaintenance-free when usedcorrectly. Thecooling surfaces
must beregularlycleaned with compressed air iftheambient air isdusty.
ATTENTION! DANGER TO LIFE!
The power unit can continue to carryvoltages for up to 5minutes after being switched off at the mains. Terminals,
motor cables and motor terminals maybe live! Touching open or free terminals, cables and equipment components
can lead to severe injuryor death!
CAUTION
• Children and thegeneral publicmust bekept away fromtheequipment!
• Theequipment may onlybeusedforthepurposeintendedbythemanufacturer. Unpermitted
modificationsand theuseofsparepartsand additionalequipment thathasnotbebought fromor
recommended bytheequipment manufacturer can lead tofire, electricshockand injury.
• Keep theseoperating instructionsin an accessiblelocation and ensurethat everyoperator usesthem!
EuropeanEMC guideline
When the NORDAC SK 1000E isinstalled according to the instructions inthis manual,it
will meet all requirementsin the EMC guideline, asper the EMC product standard for
motor-operated systemsEN 61800-3 (see also the chapter Electromagnetic
compatibility [EMC]).
UtilisationinNorthAmerica, UL and CSA authorisation
“Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, up to
460 Volts (three phase)”and “when protected by J class fuses.”as indicated.
In preparation

NORDAC SK 1000E Hardware description
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1GENERAL INFORMATION................................................................................................. 5
1.1 NORDAC SK 1000E ServoController................................ ................................ ........................5
1.2 Variantsand options................................ ................................ ................................ ..................5
1.3 Equipmentproperties................................ ................................ ................................ .................6
1.4 Delivery................................ ................................ ................................ ................................ .....7
2MOUNTING AND INSTALLATION ..................................................................................... 8
2.1 Installation................................ ................................ ................................ ................................ .8
2.2 Dimensions................................ ................................ ................................ ................................ 9
2.3 Wiring guidelines................................ ................................ ................................ .....................10
2.4 Line and motor connections................................ ................................ ................................ .....11
2.5 Controller connections................................ ................................ ................................ .............13
2.5.124VI/O .............................................................................................................................................13
2.5.2Connectionterminals(leftsideX5).....................................................................................................13
2.5.3Connectionterminals(rightsideX5)...................................................................................................14
2.5.4Front panels......................................................................................................................................14
2.5.5 RS232andRS485 (X4)...................................................................................................................15
2.5.6 CANBus(X3)....................................................................................................................................15
2.5.7Secondencoderin, Out, PulseDir./ SS1 (X2)....................................................................................17
2.5.8Resolver or encoderunit(X1) ............................................................................................................17
2.5.9Asynchronousmotorcableconnections..............................................................................................18
2.5.10 CANconnector(optionalaccessories)..............................................................................................18
2.6 Display................................ ................................ ................................ ................................ .....19
2.7 Rated /peak current................................ ................................ ................................ ................19
2.8 Brake................................ ................................ ................................ ................................ .......19
2.9 Basic settings ................................ ................................ ................................ .......................... 20
2.10 Commissioning................................ ................................ ................................ ...................... 20
3 TECHNICAL DATA........................................................................................................... 21
3.1 Electricaldata................................ ................................ ................................ .......................... 21
3.2 Functions................................ ................................ ................................ ................................ .21
3.3 Accessories................................ ................................ ................................ ............................. 22
3.3.1AuxiliarylinefilterclassB...................................................................................................................22
3.3.2Brakeresistor(Optional)....................................................................................................................23
3.3.3Cableset...........................................................................................................................................23
3.3.4CANconnectingterminalscrewconnection........................................................................................23
4ADDITIONAL INFORMATION .......................................................................................... 24
4.1 Electromagnetic compatibility (EMC)................................ ................................ ........................ 24
4.2 Limit value classes................................ ................................ ................................ ...................25
4.2.1WiringrecommendationsforcompliancewithClass3in3phasenetworks..........................................26
5MAINTENANCE AND SERVICE NOTES.......................................................................... 26
6REPRESENTATIVES, BRANCHES.................................................................................. 27

NORDAC SK 1000E Hardware description
5 BU1100 GB
1 General information
1.1NORDAC SK 1000E ServoController
The NORD dynamic intelligence
The NORDAC SK 1000E isthe bestchoice where rapidacceleration, fastmovement and high
standstill moment, coupled with high speed and positioning precision, are essential.Combined with
the integrated PLC, technicalfunctionsand CANopen fieldbusconnection, itisthe solution for
demanding drive problems.
Rated current: 3.5-20Aeff, 3 AC380-460V 50-60Hz
Speed range: Servo controller with resolver +/- 22500 rpm,
Servocontroller with incrementalencoder isproportionallyresolution
dependent, e.g. at 4096 increments+/- 18500 rpm(Attention:note the limit
frequency ofthe encoder, thisisoften only 250 kHz!)
NORDAC SK 1000E servocontrollers are designed using fullydigitalsignalprocessor technology
(DSP) with fieldbusconnectionsfor torque, speed and positioning regulation ofsynchronousand
asynchronousmotors.
The field-orientated controlconcept with current, speed, position controland speed profiledepiction in
just50µssampling timemeansthat thissystemhasextremelyhigh dynamicsand full motor
movement even when at standstill.Extremelyhigh, load-independent speed and positioning accuracy
isachieved by the rotor position feedback. Demanding drivetaskscan therefore be resolved.
Implemented technicalfunctionsunderline customer benefits.
An integrated PLC roundsoff the function spectrumofthiscontroller.
The controller iscommissioned with the operating software running under Windows 95/95, 2000, NT
and XP. Commissioning isfacilitated by the supplied motor/controller database, oscilloscope and
numeroustest functions, while the assistant meansthat anyone can commission the controller.
Somespecifications are currentlyinpreparation.Technicaldevelopments means that thisproduct
description continuouslyundergoes changes and these changes are collected and the productdescription
isupdated with the latest developments as and when necessary.
1.2Variants andoptions
Variant Description Data
R = resolver Feedback= Resolver 12 bit resolution
E = encoder Feedback= incremental encoder
Hall supplement recommended from500 increment resolution, freely
selectableincrement number
RS Resolver with option: 1 MBaud CAN and absolutevalueencoder,
nostepper motor interface
ES Encoder with option: 1 MBaud CAN and absolutevalueencoder, no
stepper motor interface
RT Resolver with option: technical functions See Nord applicationspublication
ET Encoder with option: technical functions See Nord applicationspublication
RST Resolver with option: 1 MBaud CAN and absolutevalueencoder,
nostepper motor interface, with technical functionsoption
EST Encoder with option: 1 MBaud CAN and absolutevalueencoder, no
stepper motor interface, with technical functionsoption
All servocontrollerscan operate synchronousand asynchronousmotors.During commissioning, the
connected motor data record simply hasto be loaded fromthe database.

NORDAC SK 1000E Hardware description
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1.3Equipment properties
• Operation ofsynchronousand asynchronousmotors
• High dynamics,motorscan be operated with up to 0.5 mselectricaland mechanicaltimeconstants.
• Full torque at standstill
• Sinusoidalcommutation
• Fully digitalcontrolconcept
• Integrated line filter A
• Integrated brake chopper with externalbrake resistor
• Torque, speed and positioning control– all in a controlcycle time of50µs
• Ramp generator / speed profile generator
• Newpositions,travelspeedsand rampscan be set at any timeduring the procedure inthe
positioning control.
• Stepper motor interface with up to 5 MHz input frequency
• Technicalfunctions, e.g. electronic gears, flying saws, winders
Note ->you can obtain the publication: NORD applicationsfor thispurpose
• Encoder, resolver or absolute value encoder(SSI)
• Incrementalencoder emulation output
• CAN field bus(up to 1 MBit/s), RS 232 and RS 485 (up to 56000 Bit/s)
• CAN- Open ProtocolDS301V4.01&DS402V1.1, EDS configuration file provided
• Variable PDO mapping
• ±10 V analog setpoint interface
• 6 freely programmable inputs
• 6 freely programmable short-circuit proofoutputs
• 1 freely programmable relay, e.g. for integrated brake control
• Integrated PLC with input assistant for particularly easy intuitive operation
• Logic and arithmetic operationscan be implemented with variablesand constants
• Integrated reference switch logic
• Integrated limit switch monitoring
• Comfortableand rapidcommissioning viaoperating software with databasefunctionsand
oscilloscope function
• Can be mounted adjacent to each other without spacing required
• Permissible ambient temperature up to 40°C
• Suitable for high speeds(encoder-dependent)

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1.4Delivery
Check the equipment immediately after delivery/unpacking for transport damage such as deformation
or looseparts. Ifthere isany damage, contact the carrier immediatelyand implement athorough
assessment.
Important! This also applies even if the packaging is undamaged.
The place before the decimalpoint on the firmware version (can be found under NORD SERV:
equipment/controller info) and that ofthe operating programversion ofNORD SERV (displayed top left
in NORD SERV) must coincide otherwise they will not be compatible.
Orderversion: Mounting unit IP 20 with resolver or encoder design
1MbaudCAN and SSI input or 500kbaudCAN and stepper motor input
with or without technicalfunctions
Standarddesign Integrated brake chopper
Integrated line filter for limit curve A asper EN 55011
Integrated shield angle
CAN Bus, RS232/RS485, 2.Resolver/ Encoder input/output
PLC and programmable 6 inputsand 6 outputs
+/- 10 V input, reference and limit switch inputs
Motor temperature and motor brake logic
Internallogic and power supply
PC operating programwith integrated online help (NORD SERV)
Operating instructions
Available accessories Substructure brake resistorsIP 20, variousoutputs
Substructure line filter for limit curve B, asper EN 55011, IP 20
Line choke, IP 00
Interface converter RS 232 →RS 485
Cable set (see description in NORD cable documentation)

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2 Mounting and installation
2.1Installation
NORDAC SK 1000E servocontrollersare availableinthree sizesdepending on the output. The
equipment variantshave different widthsand installation depths.
The equipment requiressufficient ventilation to protect againstoverheating. Guide valuesapplyhere
for aboveand belowthe servocontroller up to the limits ofthe controlcabinet(above>100 mm,below
>100 mm).
Electricalcomponents(e.g. cable ducts, contactors, etc.) can be located within these limits. There isa
height-dependent minimumdistance fromthe servo controller for theseobjects.This distance mustbe
minimum2/3 the object height. (Example: cableduct height 60 mm high ->2.3 *60 mm =40 mm
distance)
Additionaldistancesat the sides are not required. Mounting can be implemented directly next to each
other, e.g. on DIN rails. The installation position isnormally vertical.
The heated air must be vented!
Ifseveralservo controllersare arranged above eachother, ensure that the airentry temperature limits
are not under or overshot. In thiscase, itisrecommended that any “obstacles” (e.g. a cable duct) are
mounted between the servo controllersso that the air flow(rising warmair) isnot hindered.
>100mm
>100mm

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2.2Dimensions
Detail: Attachment
Size Equipment type L1 B1 Equipment
depth
D L2 B2 L3
Weight
ca.
1 SK 1000E-101-340-A to
SK 1000E-301-340-A 281 121 217 267 100 222 4 kg
2 SK 1000E-401-340-A to
SK 1000E-501-340-A 331 121 217 310 100 272 5 kg
3 SK 1000E-801-340-A to
SK 1000E-102-340-A 381 163 250 367 140 344 10 kg
Equipment depth without front plug All measurementsin mm
L3
L1
B1
B2
L2

NORDAC SK 1000E Hardware description
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2.3Wiringguidelines
The servocontroller isdeveloped for operation inindustrialenvironmentswhere high valuesof
electromagneticinterference are expected. In general,correct installation ensuressafeand problem-
free operation. Iflimitvaluesexceeding the EMC guidelinesare probable, the following information
may be useful.
(1)Ensure that all equipment inthe cabinet issecurelyearthed using short earthing cablesthat have
large cross-sectionsand which are connected to a common earthing point or earthing rail. It isvery
important that every connected controller (e.g. an automation device) isconnected, using ashort
cablewith large cross-section, to the sameearthing point asthe servocontroller itself.Flat
conductors(e.g. metalbrackets) are preferable asthey have lowimpedance at higher frequencies.
The PE lead ofthe motor controlled by the servocontroller mustbe connected asdirectlyas
possibleto the earth connection ofthe cooling element together with the PE ofthe relevant servo
controller electricalsystem.The presence ofacentralearthing rail inthe controlcabinet and the
bringing together ofall PE conductorsto thisrail normallyensuressafeoperation. (See alsothe
chapters: Line and motor connections, EMC)
(2)Where possible, shielded cablesmustbe used for the controlcircuits.Carefullyterminate cable
endsand ensure that the wiresdo not run over longer sectionsunshielded.
The shieldsofanalog setpoint cablesshouldonlybe earthed on one side on the servocontroller.
(3)The controlcablesmustbe kept distant fromload cablesby using separate cableducts,etc. If
cablesintersect, then an angle of90° should be used where possible.
(4)Ensure that the contactorsinthe cabinet are interference protected, either by RC circuitsinthe
caseofDC contactorsor by free-wheeling diodesfor AC contactors, whereby the interference
traps must be positioned on the contactor coils.Varistorsfor over-voltage limitation are also
effective. Thisinterference suppression isparticularly important when the contactorsare controlled
by the servo controller.
(5)Shielded or armoured cablesmustbe used for the load connectionsbetween motor and brake
resistor. Thesemustbe applied to asmuch surface aspossible on the shield anglesdirectly on the
servo controller with the supplied earthing clamps.
(6)When the driveisto operate inan environment sensitiveto electromagneticinterference, itis
recommended that noisesuppression filtersare used to restrict the cable-dependent and radiated
interference fromthe servocontroller. In thiscase, the filter mustbe mounted ascloselyas
possible to the servo controller and fully earthed.
In addition, the servocontroller mustbe installed, together with the line filter, inan EMC-proof
enclosure with EMC-proofcabling.
Thesafetyregulationsmust becomplied with under all circumstanceswhen installing
theservo controller!
Note
The controlcables,line cablesand motor cablesmustbe laidseparately. In no case
shouldthey be laidinthe sameprotectivepipes/installation ducts.
The testequipment for high voltage insulationsmustnot be used on cablesthat are
connected to the servo controller.

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2.4Line andmotorconnections
WARNING
THIS EQUIPMENT MUST BE EARTHED.
Safeoperation ofthe equipment presupposesthat qualified personnelmount and operate it
in compliance with the instructionsprovided in these operating instructions.
In particular, the generalan
dregionalmounting and safety regulationsfor work on high
voltage systems(e.g. VDE) mustbe complied with asmustthe regulationsconcerning
professionaluse oftoolsand the use ofpersonalprotection equipment.
Dangerousvoltagescan be presentatthe line inputand the motor connection terminalseven
when the servocontroller isswitched off.Alwaysuseinsulated screwdriverson theseterminal
fields!
Ensure that the input voltage source isdead before setting up or changing connectionsto the
unit.
Ensure that the correct supply voltage is set up for the servo controller and motor.
The line, motor and brake resistor connectionsare located on the baseofthe unit. They can be
accessed fromthe front by removing the plasticcover. All coversmust be put back inplace before
switching on the supply voltage!
In general,the line, motor and brake resistor cablesare connected firstastheirterminalsare located
on the bottomcircuit board. The cable inlet gland isthe slit opening on the bottomenclosure grid.
The following must be noted:
1. Ensure that the power source providesthe correct voltage and isset up for the required current
(see the chapter on technicaldata)!Ensure that suitable circuit breakerswith the specified current
range are switched between the voltage source and the servo controller!
2. Connect the line voltage directlyto the line terminalsL1- L2- L3and the earth (PE)!For the cable
cross-section ofeach wire, refer to the chapter on technicaldata!
3. A four-wire shielded cable mustbe used to connect the motor. The cablemustbe connected to
the motor terminalsU - V - Wand the PE. It is urgently recommended that the ready to use
motor cables from NORD are used. They are described in the NORD cable documentation.
4. The cableshieldmustbe applied to asmuch surface aspossibleon the shieldsupport anglewith
the supplied clamps. The clampsare also used asa strain relief.
Note: The useof shielded cablesisessentialinorder to maintainthe specified noisesuppression
level.
5. The motor cables can have a total length of maximum 20 m.
6. The switching cycle, the timebetween switching the mainson/off,mustbe greater than1minute
due to the integrated intermediate circuitcapacitor charge. At leastone minutemustpass before
the unit can be switched back on again!
7. The optionalbrake resistor mustalsobe shielded when connected. When using the NORD
substructure resistors, the cablesare so short that shielding isnot required.

NORDAC SK 1000E Hardware description
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The connection assignment U/V/W/PE ismarked on the terminals. The power cablesmustbe secured
with the supplied shielded terminals(Phoenix SK 14).
For sizes 1 and 2:
The connectionsterminalsare suitable for a maximum
cable cross-section of 2.5mm². When using certain
wire sleeves, the maximumcable cross-section can be
reduced to 1.5mm².
The totalexternaldiameter ofthe power cable can be max.
10.5 mm, otherwise the supplied shield and strain relief
clampscannot be fastened.
For size 3:
The connectionsterminalsare suitable for a maximum
cable cross-section of 4mm². When using certain
wire sleeves, the maximumcable cross-section can be
reduced to 2.5mm².
The totalexternaldiameter ofthe power cable can be max.
15.5mm, otherwise the supplied shield and strain relief
clampscannot be fastened.
vector mc
R
W
U V
Output
+B
BB
-B
-DC
L3 L2 L1
PE
L1
L2
L3
M
3 ~
X7 X8 X9
Brake resistor
Optional
(see accessories)
Line connection 3 ~380V
-
460V
X7 X8 X9
X7 X8 X9

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2.5Controllerconnections
2.5.1 24V I/O
Connection terminals: - Standard screwterminalblocks.
Max. connection cross-section: - 1mm2
Cable: - Lay and shield separately fromthe line/motor cables
Controlvoltages: - For inputs=15V to 30V, min. 10 mA (0… 7V low, 8… 30V high)
- Digitaloutputsup to 25 mA (short-circuit proof)
- 15V for internalpower supplythrough the servocontroller, 24V
through externalPSU
- Analog input ±10V, max. 5mA, asanalog setpoint
Note the switch-off delay ofthe servocontroller outputsbased on the input resistance ofthe control
unit!Thisalsoappliesto the servocontroller inputs,a driver output ofmin. 10 mAthrough the
machine controller isnecessary for optimalswitching behaviour.
Controlvoltagesare based on a common reference potential(GND)!
When using the 15V voltage output ofthe servocontroller to power itsoutputs,a
bridge mustbe inserted from the 15V output to the 24V input on the servo controller
terminals.The servocontroller internalI/O logiccan then usethe 15V produced
internallyby the servocontroller and an externalpower supplyunitisnot required.
Up to 150 mA can be used fromthe 15V output outside the servo controller for other
purposes. This15V output isunregulated and isshort-circuit proof.
2.5.2 Connection terminals (left side X5)
(see front panelsphoto)
Terminal Function
GND Common (filtered) ground
M Temp Motor temperature sensor (KTY84)
A temperature sensor can be connected toprotect the motor fromoverheating.
Limit 1 and 2 Limit switch
Home ref Reference switch input
Enable When the enablesignalisremoved,the finalstage isshutdown.Ifoperated withamotor
brake,aquick stop occursfirst. The servocontroller motor terminalswill still be carrying
line potential!
6xIn Freely-programmableinputscan alsobe sampled viathe integrated PLC withthe
assistance ofNORD SERV
Motor
KTY84
MTemp
GND

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2.5.3 Connection terminals (right side X5)
(See front panelsphoto)
Terminal Function
Brake1/ Monopolar floating relay contact for the motor brake
Brake2 Relay limit value: 30V / 4A
(The 15V output ofthe servo controller isnot suitable for controlling a motor brake)
24Vin Input for 24V / 300 mA, smoothed for brake 3A, fromexternalPSU
15Vout without externalPSU, thisvoltage isavailable in the servo controller'sown I/O circuits
Com+ Differentialinput for +/-10V analog controlvoltage
Com-
6 Out Freely-programmableoutputs,standard functionssuch as“Position OK”, “Enable”,
etc. can be activated via the PLC with the assistance ofthe NORD SERV
2.5.4 Front panels
The figure belowshowsthe front panels, connectionsare clearly marked on the front panels.The front
paneldesignsshown differ only in the encoder input. When ordering, customersmust ensure they
select the correct design, retrofitting isnot possible.
Resolver type: Encoder type:
male female male female
X1 X2 X3 X4
fe
male female
male female
X1 X2 X3 X4
X5 X6 X5 X6

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2.5.5 RS 232 and RS 485 (X4)
The RS 232 interface enablesthe NORDAC SK 1000E servo controller to be easilyconnected to aPC
with aserialinterface and the supplied NORD SERV parameterisation and operating software. The
connected servocontroller can be controlled and parameterised viathisinterface. Thispermitsa
function test ofthe servo controller. Following parameterisation, the data record can be stored as afile
both on the PC and in the servo controller.
The RS485 interface enablesup to 16 servocontrollersto be connected inparallelifaconverter is
used which isalsoavailablefromNORD on requestNORD also offerscorresponding ready to use RS
483 cables(see accessories). Operation ofseveralservo controllersviathe RS485 busrequiresthat
the samebaud rate isused by all ofthe unitsand adifferent address isset on each unit.The
terminating resistor integrated inthe servocontroller mustalsobe connected to the end ofthe bus.
Thisisexplained in the following “Can bus” section.
RS232 and RS485 pin assignment, 9 pole SUB-D female with UMC/ inch thread
2.5.6 CANBus (X3)
The CAN businterface iscompatiblewith the ISO 11898 standard. The pinassignment of the SUB-D
connector iscompatible with the CANopen standard.
Pin assignment, 9 pole SUB-D male with UMC/ inch thread
The use ofan externalCAN busnodalconnector with 2 screwterminalconnectionsisrecommended
(see Accessorieschapter).
The CAN busiselectrically isolated fromthe power supply and coupled with the terminalgrounds
RS485 High
GND
RS232 Rx
RS232 Tx
6
1
5
9
RS485 Low
GND
CAN_L
6
1
5
9
GND
CAN_H

NORDAC SK 1000E Hardware description
16 BU1100 GB
Up to 16 different addresses can be selected viathe servocontroller DIP switches,theseaddressesare
onlyread inwhen the power supplyfor the servocontroller isswitched on. Terminating resistorsare
integrated and can be set or switched on like the address pre-selection viathe DIP switches.These
switchesare located under the opened plasticcover on the front panelofthe servocontroller. The
quadrupleDIP switch (S1) sets the address pre-selection and the twinDIP switch (S2) enables/disables
the terminating resistor.
S1 S2
Arrangement ofDIP switcheson the servo controller, all switchesare by default in the "OFF" position.
S1
Switch 4 Switch 3 Switch 2 Switch 1 Set value CAN node
address
OFF OFF OFF OFF 0 1
OFF OFF OFF ON 1 2
OFF OFF ON OFF 2 3
OFF OFF ON ON 3 4
OFF ON OFF OFF 4 5
OFF ON OFF ON 5 6
OFF ON ON OFF 6 7
OFF ON ON ON 7 8
ON OFF OFF OFF 8 9
ON OFF OFF ON 9 10
ON OFF ON OFF 10 11
ON OFF ON ON 11 12
ON ON OFF OFF 12 13
ON ON OFF ON 13 14
ON ON ON OFF 14 15
ON ON ON ON 15 16
Address settingsfor the buson the quadruple DIP switch
The addressesfor CAN nodesare increased by 1inthe servocontroller, i.e.,when 0isset asan
address with the DIP switch, the servo controller will have the CAN node address “1”.
The baud rate can be set to 10K, 20k, 50k, 125k, 250k, 500kBaud and 1MBaud. The defaultrate is
500kBaud, an optionalvariant is availablewith 1MBaud. The settingsare made viathe supplied NORD
SERV operating software.
S2
Switch 1 Switch 2 Function
ON --- Terminating resistor for RS 485 switched on with 120Ω
--- ON Terminating resistor for CAN busswitched on with 120Ω
Function oftwin DIP switch
O
O
1
1

NORDAC SK 1000E Hardware description
BU1100GB 17
2.5.7 Second encoder in, Out, Pulse Dir. / SS1 (X2)
Pin assignment, 15 pole female SUB-D with UMC/ inch thread
Depending on the type, pins9 to 12 can have variousinput/output signals. Differentialinputsfor
“Pulse and Direction" (stepper motor interface) or a differentialinput for SSI Data and a differential
output for SSI clock pulse. (SSI ->SynchronousSerialInterface). SSI absolute value encoders10-
30V, 12Bit (4096 / rpm, Gray-Code coded) are available fromNORD.
2.5.8 Resolver or encoder unit(X1)
The unittype mustbe selected by the customer when ordering. The servocontroller isequipped with
the corresponding feedback systemduring manufacture and cannot be retrofitted. NORD synchronous
motorsare normally equipped with outputand feedback connectorson the motor.
Resolver pin assignment, 15 pole male SUB-D with UMC/ inch thread
or
5V TTL encoder with Hall or commutation tracks, pin assignment 15 pole female SUB-D with UMC/
inch thread
15
8
9
1
Second Encoder In A+
Second Encoder In A-
Second Encoder In B+
Second Encoder In B-
Encoder out A+
Encoder out A-
Encoder out B+
Encoder out B-
Stepper motor-Pulse+ // SSI-encoder data -
Stepper motor-Pulse - // SSI-encoder data+
Stepper motor-direction + // SSI-encoder CLK -
Stepper motor-direction - // SSI-encoder CLK +
GND
+5V
+15V
Differential input with
TTL level > 11mA
Differential output
with TTL level <
20mA
RS485 Transmitter
SSI – encoder with TTL level
//
Stepp
er motor with 24V level
9
1
15
8
All three pair-inner shields/ GND
Sin-
Sin+
Cos-
Cos+
Ref-
Ref+
Outer shield
15
8
9
1
GND
+5V_EX
A
-
A+
B
-
B+
Z
-
Z+
Hall U+
Hall U-
Hall V+
Hall V-
Hall W+
Hall W-
Shield
Rotor pos. enc.
Supply
TrackA
TrackB
Index/Null
Alternative also
stepper motor with
5V:
A+ / A- direction
B+ / B- Pulse

NORDAC SK 1000E Hardware description
18 BU1100 GB
2.5.9 Asynchronous motor cable connections
Feedback:
NORD asynchronousmotorscomewith a1.5 mencoder cablepermanentlyconnected to the motor
asstandard. The customer can connect aSUB-D connector to the free wire endswith the following
assignment for the servo. Asthe 1.5 mcablelength isnormallynot sufficient to reach the servo
controller, aNORD encoder extension cable(see NORD cabledocumentation) can be connected to
thisSUB-D connector.
Assignment SUB-D connector servo-side:
PIN Wire colours Signal
1 White/green 0V
2 Brown/green 5V
3 Green A-
4 Brown A+
5 Pink B-
6 Grey B+
7 Black Z-
8 Red Z+
Power:
A terminalboxislocated on NORD asynchronousmotorsfor the power connection. The customer can
implement the connection to the servocontroller with the screwterminalsusing aready-to-usecable
availablefromNORD (see NORD cabledocumentation). The terminalsare labelled inthe terminal
box.It ishighlyrecommended to select the asynchronousmotor equipped with temperature sensors
for servoapplications.Onlythen can the servocontroller take over the temperature protection ofthe
motor. The NORD power cablefor asynchronousmotorsalsoincludesthe wiresfor the temperature
sensor and for any motor brake present. The relevant connectionsare identified, conforming to
standards, in the terminalbox. Polarity can be ignored for the temperature sensor and brake.
2.5.10 CANconnector (optionalaccessories)
Variousscrewterminalconnectorsare availablefor the connection to the CAN Open socket in
addition to other additionalNORD accessories.The customer can cut CAN cables,alsoavailable
fromNORD, to the length required and connect themby thesemeansto the screwterminals.The
terminalscomewith twoconnectionssothat the servocontroller canbe looped through. In addition,
the terminalscomewith optionalterminating resistorswhich are not required when the terminating
resistor on the DIP switch isalready switched on inthe servocontroller itself.Aterminating resistor
shouldbe switched onfor each end unit(not the looped units!). NORD ready-to-useCAN cablesare
also available. The NORD cable documentation also describesvariousother cables.
Recommended CAN screw terminal connector:
1. Erbic CAN bus node, straight, without programming connection, ERNI, article No.:
154039 (metal enclosure) ->this is usually the best choice!
2. Busconnector, angled CAN bus, Sangel, Order No.: 101-690-0BA11
3. Erbic CAN busnode, angled, with programming connection, ERNI, article No.: 103662
4. T-adapter for CAN bus, PEAK-SystemTechnik, No.: IPEK- 003003
+2xhexagonalbolts(UNC) +Gender Changer 10 pole (male/male)
5. CAN cable without terminating resistor, PEAK-SystemTechnik, No.: IPEK- 003000
6. Busconnector, CAN bus, Helmholz, without connection socket, Order No.: 700-690-0BA11

NORDAC SK 1000E Hardware description
BU1100GB 19
2.6Display
The baseunitNORDAC SK 1000E isdelivered with astatusLED (bi-colour green, red). The line
voltage and operationalreadiness ofthe servocontroller issignalled by agreen LED. The red LED
lightsup ifthere is amalfunction. In operation, the colour displayed roughlyindicates the motor current
or the required motor torque. Green ->no current, red ->maximumcurrent, orange ->average
current.
2.7Rated/ peak current
The servocontroller automaticallyprotects itselfagainstoverload. It is designed thermallyfor the rated
current. Thisrated or nominalcurrent can be permanentlysupplied by the servocontroller. The servo
controller can supplyapeak current for brief accelerations,itiselectricallydesigned for thispurpose.
The timeinwhich peak current can be supplied is60s.If the servocontroller issubject to thisload, it
mustbe given the sameamount oftimefor cooling during which itcan onlysupplythe rated current.
Thisfunction isdynamicand therefore dependson the actualapplicablerelationshipsofthe
overcurrent inthe overload and cooling phases.The cooling phasecan extend into “disable” times
that can possiblybe included. The cooling phaseisbrought to thisreduced value through the rated
current limited by the motor parametersso that the motor isalso thermally protected.
2.8Brake
The servocontroller hasaparameterisablebrake controlsystem. The application time and ventilating
timeparameterscan be set inNORD SERV (parameter dialog “Motor”). Arelay isintegrated inthe
servo controller to directly switch the motor brake. 24 V must be supplied on the secondary side as the
servocontroller onlyhasafloating contact. The relay iscontrolled by the statusmachine of the servo
controller.
Brake application time:
Electromagnetic brakeshave a physically dependent delayed reaction time during application.
Thisapplication time can be taken into account in the settingsin NORD SERV. During thisadjustable
application time, the servo controller internally supplies the speed setpoint Null and thereby prevents a
load drop during verticaldriveapplications.Attention: Ifthe timeselected istoo short, load dropswill
occur and thiswill lead to increased brake wear.
Brake ventilation time:
Electromagneticbrakeshaveaphysicallydependent delayed reaction timeduring ventilation. This
ventilation timecan alsobe taken into account inthe settingsinNORD SERV.During the adjustable
ventilation time, the servocontroller suppliesthe speed Null and preventscontact with the brake.
Attention: Ifthe time selected istoo short, brake wear will increase and this couldeventuallycausethe
servo controller to fail due to trailing or overcurrent faults.
rpm
Relay- Brakevented
ON-Signal
0
OFF-Signal
Time
t lüft
t on

NORDAC SK 1000E Hardware description
20 BU1100 GB
2.9Basic settings
To start-up, a data record suitable for the motor mustbe loaded into the corresponding controller using
the supplied NORD SERV software.
Initial test: Check whether all cables, e.g. limit switches, are correctly connected and whether all
relevant safety precautionshave been complied with.
Switchon the line voltage for the servocontroller.
Ensure that the motor can start-up without danger. Enable.
Start the motor by increasing the speed, e.g. inthe NORD SERV controlwindow,
check that the motor isturning in the required direction.
2.10Commissioning
When the power supplyfor the servocontroller isswitched on, itisoperationalafter afewseconds
(green LED). It can then be set to the application requirements,i.e. parameterised. The motor can only
be started with the enablesignalafter ithasbeen successfullycommissioned initiallyby qualified
personnel.
The servocontroller isnot equipped with aline switch and istherefore alwayslivewhen
connected to the power supply.
When using the incrementalencoder and the corresponding hall encoder commutation (rotor position
encoder), onlycirca 60% ofthe peak torque isavailablefor the firstmotor rotation after the power is
switched on.
Check the maximumpermissible speed ofthe encoder used and its limitfrequency. The encoder used
inNORD standard motors(2048 inc/rpm)has,up to 85°C, alimitfrequency of200kHz (6000 rpm)
and up to 100°C just 100kHz (3000 rpm).
Long incrementalencoder connection cableslead to anot insignificant voltage drop due to the ohmic
resistance ofthe encoder supplycircuits.The encodersused havean operating voltage tolerance of
±5% (250mV). Ifthisisundershot (<4.75 Vat the encoder), the encoder will operate outside its
specificationsand correct function can no longer be guaranteed. The standard encoder cablesfrom
NORD permitacablelength of20 m.Iflonger cablesare required, the cablesmusthavealarger
cross-section or an externalpower supplymustbe used for the encoder. Non-compliance will lead to
pulse lossesand therefore to position deviations.
This power supplyproblemis not criticalfor resolver cables.However, analog resolver signals will then
be evaluated by the servocontroller. Therefore the balance quality will decreasecontinuouslydue to
interference injections.
Ifthe data record stored inthe unitmatchesthe application and, inparticular, the motor, the axiswill
be immediatelyoperationalafter connection. Ifthe settingswere not prepared, the axismust be made
operationalviathe operating interface (see nextmanualsection). The operating interface startsup
with an assistant which can provide comprehensivehelp. Standard recordscan be loaded for
synchronousand asynchronousmotorsfromthe integrated databases.