Lenze ECS series Operating Instructions Manual Download Page 165

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Parameter setting

Parameter setting with the XT EMZ9371BC keypad

Description of the display elements

165

EDBCSXS064 EN 4.0

Number

Active level

Meaning

Explanation

Menu level

Menu number

Display is only active when operating
Lenze devices of the 8200 vector or
8200 motec series.

No menu for ECSxE power supply
module

Code level

Four−digit code number

Number

Active level

Meaning

Explanation

Menu level

Submenu number

Display is only active when operating
Lenze devices of the 8200 vector or
8200 motec series.

No menu for ECSxE power supply
module

Code level

Two−digit subcode number

Parameter value

Parameter value with unit

Cursor

The figure over the cursor can be changed directly in the parameter level.

Function keys

For description see the following table.

Summary of Contents for ECS series

Page 1: ...EDBCSXS064 LKn Ä LKnä Operating Instructions ECS ECSESxxx ECSDSxxx ECSCSxxx Axis module Speed Torque ...

Page 2: ... A 048 48 A 064 64 A Fieldbus interface C MotionBus system bus CAN Voltage class 4 400 V 500 V Technical version B standard V coated I for IT systems uncoated K for IT systems coated Variant 042 Motion CiA402 Hardware version 1A or higher Operating software version B SW 8 0 or higher 0Fig 0Tab 0 2013 Lenze Automation GmbH Hans Lenze Str 1 D 31855 Aerzen No part of this documentation may be reprodu...

Page 3: ... 3 EDBCSXS064 EN 4 0 ECSEA_003A ...

Page 4: ...f AIF X3 Analog input configuration 70 X4 CAN connection l MotionBus CAN for ECSxA System bus CAN l Interface to the master control 81 X14 CAN AUXconnection l System bus CAN l PC interface HMI for parameter setting and diagnostics X6 Connections l Low voltage supply l Digital inputs and outputs l Analog input l Safe torque off formerly safe standstill 65 69 70 71 S1 DIP switch l CAN node address l...

Page 5: ...d motors 25 2 3 Residual hazards 27 2 4 Safety instructions for the installation according to UL 29 2 5 Notes used 30 3 Technical data 31 3 1 General data and operating conditions 31 3 2 Rated data 33 3 3 Current characteristics 35 3 3 1 Increased continuous current depending on the control factor 35 3 3 2 Device protection by current derating 38 4 Mechanical installation 39 4 1 Important notes 39...

Page 6: ...1 Resolver connection 87 5 6 2 Encoder connection 88 5 6 3 Digital frequency input output encoder simulation 91 6 Commissioning 93 6 1 Before you start 93 6 2 Commissioning steps overview 94 6 3 Carrying out basic settings with GDC 95 6 4 Loading the Lenze setting 97 6 5 Setting of mains data 98 6 5 1 Selecting the function of the charging current limitation 98 6 5 2 Setting the voltage thresholds...

Page 7: ...0 5 Torque control with setpoint via AIF 137 6 10 6 Torque control with setpoint via MotionBus CAN 139 6 11 Entry of machine parameters 141 6 12 Setpoint selection 142 6 13 Controller enable CINH 0 143 6 14 Quick stop QSP 144 6 15 Operation with motors from other manufacturers 145 6 15 1 Entering motor data manually 145 6 15 2 Checking the direction of rotation of the motor feedback system 148 6 1...

Page 8: ... 1 Setting CAN node address and baud rate 169 8 1 2 Individual addressing 173 8 1 3 Defining boot up master in the drive system 175 8 1 4 Setting of boot up time cycle time 176 8 1 5 Executing a reset node 178 8 1 6 Axis synchronisation CAN synchronisation 179 8 1 7 Monitoring of the synchronisation sync time slot 181 8 1 8 Axis synchronisation via CAN 182 8 1 9 Axis synchronisation via terminal X...

Page 9: ...g OC6 OC8 210 9 3 11 DC bus voltage monitoring OU LU 214 9 3 12 Voltage supply monitoring control electronics U15 217 9 3 13 Motor phase failure monitoring LP1 217 9 3 14 Monitoring of the resolver cable Sd2 218 9 3 15 Motor temperature sensor monitoring Sd6 219 9 3 16 Monitoring of the absolute value encoder initialisation Sd7 220 9 3 17 Sin cos signal monitoring Sd8 221 9 3 18 Monitoring of the ...

Page 10: ...ace management 247 12 2 AIF1In 248 12 3 AIF1Out 251 12 4 AIF2In 256 12 5 AIF2Out 258 12 6 AIF3In 261 12 7 AIF3Out 263 12 8 AIn1 266 12 9 CAN CAN management 267 12 10CANSync CAN bus synchronisation 270 12 11CAN1In 273 12 12CAN1Out 276 12 13CAN2In 282 12 14CAN2Out 285 12 15CAN3In 288 12 16CAN3Out 291 12 17DCTRL 294 12 17 1 Quick stop QSP 297 12 17 2 Operation inhibit DISABLE 297 12 17 3 Controller i...

Page 11: ...table 363 13 2 Selection lists for signal linking 428 13 2 1 List of the digital signal sources 428 13 2 2 List of the analog signal sources 437 13 2 3 List of the phase signal sources 440 13 3 General information about the system bus CAN 441 13 4 Communication with MotionBus system bus CAN 442 13 4 1 Structure of the CAN data telegram 442 13 4 2 Communication phases of the CAN network NMT 444 13 ...

Page 12: ...ctions will assist you in connecting and commissioning the ECSxS axis modules They contain safety instructions which must be observed All persons working on and with the ECSxS axis modules must have the Operating Instructions available and must observe the information and notes relevant for their work The Operating Instructions must always be in a complete and perfectly readable state ...

Page 13: ... holding brake voltage range 23 30 V DC 0 V AIF Automation InterFace System bus CAN Lenze standard bus system based on CANopen for l communication with a higher level host system PLC or further controllers l parameter setting and diagnostics MotionBus CAN The MotionBus CAN term expresses the functionality of the CAN interface X4 in case of ECSxS P M axis modules where communication takes place usi...

Page 14: ... setting using C0002 xxx Different application initialisation value l Value at the time of delivery l After loading the Lenze setting using C0002 the application initialisation value is overwritten with the Lenze setting l The application initialisation values can be restored by loading the application software with Global Drive Loader GDL à The Important column contains further information Select...

Page 15: ...nternal size Type Symbol Analog _a analog 16 Bit1 100 º 16384 Digital _b binary 1 bit 0 º FALSE 1 º TRUE Angular difference or speed rot _v velocity 16 Bit1 15000 rpm º 16384 l Angular difference speed ref to 1 ms l Normalisation example 1 motor revolution 65536 inc Variable value _v 15000 60000 ms 65536 inc 16384 ƪinc ms ƫ Speed on motor side 15000 rpm 15000 60 s Angle or position _p position 32 ...

Page 16: ... sync based PDO2 PDO3 ƒ Double CAN ON BORD MotionBus CAN Interface X4 CAN PDO1 Sync based for communicating with a higher level host system PLC or further controllers System bus CAN Interface X14 CAN AUX for parameter setting and diagnostics ƒ Automation interface AIF Connection to other fieldbus systems with Lenze communication modules e g EMF2133IB PROFIBUS DP Connection of the XT EMZ9371BC keyp...

Page 17: ...ling jig ƒ Functional earth conductor only ECSDS Accessories The appendix includes information on the following accessories 462 ƒ Connector sets for power supply modules ECSZE000X0B capacitor modules ECSZK000X0B axis modules ECSZA000X0B ƒ ECSZS000X0B001 shield mounting kit EMC accessories ƒ Components for operation and communication ƒ Brake resistors ƒ Mains fuses ƒ Mains chokes ƒ RFI filters Tip ...

Page 18: ...alled according to the guidelines of CE typical drive systems l can be used at public and non public mains in industrial premises l The user is responsible for the compliance of his application with the EC directives Any other use shall be deemed inappropriate Liability l The information data and notes in these Instructions met the state of the art at the time of printing Claims on modifications r...

Page 19: ...killed personnel are persons who are familiar with the assembly installation commissioning and operation of the product and who have the qualifications necessary for their occupation ƒ Observe all specifications in this documentation This is the condition for safe and trouble free operation and the achievement of the specified product features The procedural notes and circuit details described in ...

Page 20: ...conditions can be obtained from the nameplate and the documentation They must be strictly observed Warning Controllers are products which can be installed in drive systems of category C2 according to EN 61800 3 These products can cause radio interferences in residential areas In this case special measures can be necessary Transport storage Please observe the notes on transport storage and appropri...

Page 21: ... residual current device RCD is used for protection against direct or indirect contact for a controller with three phase supply only a residual current device RCD of type B is permissible on the supply side of the controller If the controller has a single phase supply a residual current device RCD of type A is also permissible Apart from using a residual current device RCD other protective measure...

Page 22: ... the EC Directive 2006 42 EC Machinery Directive The notes on the integrated safety system provided in this documentation must be observed Maintenance and servicing The controllers do not require any maintenance if the prescribed operating conditions are observed Disposal Recycle metal and plastic materials Ensure professional disposal of assembled PCBs The product specific safety and application ...

Page 23: ...toring has been designed such that it will be activated after 179 s in the event of a motor with a thermal motor time constant of 5 minutes Lenze setting C0128 a motor current of 1 5 x IN and a trigger threshold of 100 Two adjustable trigger thresholds provide for different responses ƒ Adjustable response OC8 TRIP warning off The trigger threshold is set in C0127 The response is set in C0606 The r...

Page 24: ...d value in C0120 OC6 or C0127 OC8 Formulae for I2 x t load Information L t ǒIMot IN Ǔ 2 100 ǒ1 e t t Ǔ L t Chronological sequence of the I2 x t load of the motor Display C0066 IMot Actual motor current C0054 Ir Rated motor current C0088 t Thermal motor time constant C0128 If the controller is inhibited the I2 x t load is reduced L t LStart e t t Ǹ LStart I2 x t load before controller inhibit If an...

Page 25: ...error OC8 TRIP warning off Warning C0129 1 S1 torque characteristic I1 Irated 10 200 100 C0129 2 S1 torque characteristics n2 nrated 10 200 40 Effect of code C0129 x 0 0 9 0 0 1 C0129 2 0 2 0 3 0 4 0 6 0 7 0 8 1 0 1 1 1 0 0 132 2 I IN n nN C0129 1 3 9300STD350 Fig 2 2 Working point in the range of characteristic lowering The lowered speed torque characteristic Fig 2 2 reduces the permissible therm...

Page 26: ...tion Natural logarithm IMot Actual motor current C0054 Ir Rated motor current C0088 z Threshold value in C0120 OC6 or C0127 OC8 y Evaluation coefficient nrated Rated speed C0087 Formulae for I2 x t load Information L t ǒ IMot y IN Ǔ 2 100 ǒ1 e t t Ǔ L t Chronological sequence of the I2 x t load of the motor Display C0066 y Evaluation coefficient IMot Actual motor current C0054 Ir Rated motor curre...

Page 27: ... terminals must only be connected or disconnected when no voltage is applied ƒ The power terminals UG UG U V W and PE are not protected against polarity reversal When wiring observe the polarity of the power terminals ƒ Power must not be converted until all devices of the power system are ready for operation Otherwise the input current limitation may be destroyed Frequent mains switching e g inchi...

Page 28: ...nze motors meet these requirements ƒ When using motors with an unknown insulation resistance please contact your motor supplier ƒ Some settings of the axis module lead to an overheating of the connected motor e g longer operation of self ventilated motors with low speeds ƒ Use PTC thermistors or thermostats with PTC characteristic for motor temperature monitoring ...

Page 29: ...y i2t and peak let through current Ip of the inverse time current limiting circuit breaker will be less than that of the non semiconductor type K5 fuses with which the drive has been tested ƒ Alternate An inverse time circuit breaker may be used sized upon the input rating of the drive multiplied by 300 Markings provided for the inverter units ƒ The inverter units shall be used with supply units w...

Page 30: ... may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Reference to a possible danger that may result in property damage if the corresponding measures are not taken Application notes Pictograph and signal word Meaning Note Important note to ensure troublefree operation Tip Useful tip for simple handling Reference to another docume...

Page 31: ...ing position vertically suspended Free space above 65 mm below 65 mm With ECSZS000X0B shield mounting kit 195 mm to the sides can be mounted directly side by side without any clearance Environmental conditions Climate 3k3 in accordance with IEC EN 60721 3 3 Condensation splash water and ice formation not permissible Storage IEC EN 60721 3 1 1K3 25 55 C Transport IEC EN 60721 3 2 2K3 25 70 C Operat...

Page 32: ... for l Standard installation built in unit l Cold plate technique l Mounting with thermal separation push through technique IP54 on heatsink side Protective measures against l Short circuit in power terminals Motor terminal has a limited protection against short circuit after short circuit detection the error message must be reset l Short circuit in auxiliary circuits Digital outputs Short circuit...

Page 33: ...leration current Imax A 4 0 8 0 16 0 Continuous current at standstill holding current at 90 C 4 kHz I0 eff 4 kHz A 2 0 1 6 4 0 3 2 8 0 6 4 Short time standstill current holding current at 90 C 4 kHz 2 I0 eff 4 kHz A 2 3 4 6 9 1 Short time standstill current holding current at 70 C 4 kHz 2 I0 eff 4 kHz A 3 0 6 0 12 0 Short time standstill current holding current at 70 C 8 kHz 2 I0 eff 8 kHz A 1 5 3...

Page 34: ... Imax A 32 0 48 0 64 0 Continuous current at standstill 2 holding current at 90 C 4 kHz I0 eff 4 kHz A 16 0 12 8 23 0 18 4 27 0 21 6 Short time standstill current holding current at 90 C 4 kHz 2 I0 eff 4 kHz A 18 1 27 2 36 3 Short time standstill current holding current at 70 C 4 kHz 2 I0 eff 4 kHz A 24 0 36 0 48 0 Short time standstill current holding current at 70 C 8 kHz 2 I0 eff 8 kHz A 12 1 1...

Page 35: ... max ECSxS P M A064 I A 0 I A N ECSXA002 Fig 3 1 Continuous device current depending on the output voltage for Umains 400 V at 4 kHz Ir Rated output current of the axis module UMot_n Actual controller output voltage UMot_max 0 9 x current mains voltage The permissible continuous current depends on the control factor of the power output stages approximately on the ratio of the motor voltage output ...

Page 36: ...C 540 V DC 3 x 360 V AC 3 x 415 V AC 560 V DC 3 x 370 V AC 3 x 460 V AC 620 V DC 3 x 415 V AC 3 x 480 V AC 650 V DC 3 x 435 V AC 3 x 528 V AC 712 V DC 3 x 475 V AC For steady state operation in generator mode with increased DC bus voltage or supply from a closed loop DC voltage source interpolate accordingly between the values given in the table The increased rated currents are valid for the entir...

Page 37: ...ation based on the rated current of the ECS axis module would probably lead to selecting the ECSxS048 module with a rated current of 17 0 A However if we take into account the increased continuous current for smaller control factors the more cost effective ECSxS032 axis module with a rated current of 12 7 A can be used here ƒ When the MCS 14L32 is operated with 2500 rpm the real motor voltage is U...

Page 38: ...racteristic the switching frequency is automatically changed to 4 kHz e g for higher torque in acceleration processes Operation with switching frequency 4 kHz C0018 0 l The current limitation follows the characteristic l With output frequencies 5 Hz and heatsink temperatures between 70 and 90 C the current limit is steplessly adjusted in the range Type Imax A Switching frequency 8 kHz Switching fr...

Page 39: ...ounting positions Vertical at the mounting plate DC bus connections X23 at the top Motor connection X24 at the bottom ƒ Maintain the specified clearances above and below to other installations If the ECSZS000X0B shield mounting kit is used an additional clearance is required Ensure unimpeded ventilation of cooling air and outlet of exhaust air Several modules of the ECS series can be installed in ...

Page 40: ...t ƒ Mounting clearance below the module 195 mm h h a g g a d1 d g g 0 1 65 mm e 65 mm d1 d b b ECSxA005 Fig 4 1 Dimensions for panel mounted design Axis module Dimensions mm Type Size a b d d1 e h g ECSE 004 88 5 240 276 260 176 212 1 10 6 5 M6 ECSE 008 ECSE 016 ECSE 032 ECSE 048 131 ECSE 064 1 Max 212 mm depending on the plugged on communication module Application software S Speed Torque P Posi S...

Page 41: ...stall the axis module 1 Prepare the fixing holes on the mounting surface Use the drilling jig for this purpose 2 Take the fixing rails from the accessory kit in the cardboard box 3 Push the rails into the slots of the heatsink From above Push in the long side From below Push in the short side 4 Attach the axis module to the mounting surface ...

Page 42: ...ith the separated heatsink the heat generation in the control cabinet can be reduced ƒ Distribution of the power loss approx 65 via separated cooler approx 35 in the inside of the axis module ƒ Protection class of the separated cooler IP54 The sealing surface at the heatsink of the axis module must rest completely against the mounting plate Use a liquid thread sealant to bond the screws of the cla...

Page 43: ... a1 e e1 a g g g d b g a d b b1 b1 65 mm 65 mm a1 Z 0 1 ECSXA007 Fig 4 2 Dimensions for push through design Z Mounting cutout a1 x b1 44 Axis module Dimensions mm Type Size a a1 b b1 c1 d e e1 g h ECSD 004 88 5 78 5 240 197 75 250 109 145 1 67 M5 10 5 ECSD 008 ECSD 016 ECSD 032 ECSD 048 131 121 5 ECSD 064 1 Max 145 mm depending on the plugged on communication module Application software S Speed To...

Page 44: ...rance below the mounting cutout 220 mm 70 mm 90 mm a1 a1 1 0 c1 h c1 g g b1 b1 d 2 ECSXA063 Fig 4 3 Dimensions of mounting cutout Mounting surface Mounting cutout for size Mounting cutout for size Axis module Dimensions mm Type Size a1 b1 c1 d g h ECSD 004 78 5 197 75 250 M5 10 5 ECSD 008 ECSD 016 ECSD 032 ECSD 048 121 5 ECSD 064 Application software S Speed Torque P Posi Shaft M Motion A Applicat...

Page 45: ...iquid thread sealant to the threads of the screws for the wire clamps 4 Fix the wire clamps together with the functional earth conductor supplied Fig 4 4 The functional earth conductor is part of the scope of supply of the ECSDx axis module 5 Push the axis module into the mounting cutout 6 Engage axis module in the wire clamp at the top and the bottom 7 Connect the functional earth conductor to th...

Page 46: ...e max deviation 0 05 mm Connect the collective cooler with all specified screwed connections to the axis module ƒ Maintain the thermal resistance Rth according to the table The values apply for operating the axis modules under rated conditions Axis module Power to be dissipated Heat sink environment Type Ploss W Rth k W ECSC 004 14 0 0 31 ECSC 008 29 0 ECSC 016 64 0 ECSC 032 117 0 0 13 ECSC 048 13...

Page 47: ...odule 195 mm c1 c1 a1 a1 e g g g b g a d b a 0 1 65 mm 65 mm ECSXA009 Fig 4 5 Dimensions for cold plate design Axis module Dimensions mm Type Size a a1 b c1 d e g ECSC 004 88 5 60 282 50 287 121 157 1 M6 ECSC 008 ECSC 016 ECSC 032 ECSC 048 131 90 ECSC 064 1 Max 157 mm depending on the plugged on communication module Application software S Speed Torque P Posi Shaft M Motion A Application ...

Page 48: ... and degrease the contact area of collective cooler and heatsink of the axis module e g with methylated spirit 3 Screw the support onto the collective cooler 4 Insert the axis module from above into the support and fasten the two stud bolts with 3 5 4 5 Nm Note Penetration depth of the screws into the collective cooler approx 15 mm Tip The heat transfer resistance is reduced if following step 2 ƒ ...

Page 49: ...e machine or system regarding the EMC limit values This for instance applies to Use of unshielded cables Use of collective interference filters instead of the assigned RFI filters Operating without RFI filters ƒ The compliance of the machine application with the EMC Directive is in the responsibility of the user If you observe the following measures you can assume that the machine will operate wit...

Page 50: ...connection is 5 m install the capacitor module as close as possible to the axis module with the greatest power ƒ If you use several mounting plates Connect as much surface of the mounting plates as possible e g with copper bands ƒ Ensure the separation of the motor cable and the signal or mains cables ƒ Avoid a common terminal power strip for the mains input and motor output ƒ Lay the cables as cl...

Page 51: ...onnection of the shield and the motor housing ƒ Shield UG cables and control cables from a length of 0 3 m Connect both shields of the digital control cables Connect one shield end of the analog control cables Always connect the shields to the shield connection at the axis module over the shortest possible distance ƒ Use of the ECS modules in residential areas Additionally dampen the shield in ord...

Page 52: ...s ƒ Implement the actions required in the EN 61800 5 1 Especially Fixed installation PE connection must conform to standards PE conductor diameter 10 mm2 or PE conductor must be connected twice Stop No device protection if the mains voltage is too high The mains input is not internally fused Possible consequences ƒ Destruction of the device if the mains voltage is too high Protective measures ƒ Ob...

Page 53: ...C bus voltage X23 UG X23 PE Earth connection X23 PE X24 Motor connection X24 U Motor phase U Dependent on application and type 0 480 V 1 6 20 A 33 X24 V Motor phase V X24 W Motor phase W X24 PE Earth connection X25 Motor holding brake connection X25 BD1 Brake connection 23 30 V DC max 1 5 A X25 BD2 Brake connection Cable cross sections and screw tightening torques Cable type Wire end ferrule Possi...

Page 54: ...cables ƒ Good shield connection Ensure a contact surface as large as possible ƒ Low shield resistance Only use shields with tin plated or nickel plated copper braids shields with steel braids cannot be used ƒ High overlap rate of the braid At least 70 80 with 90 overlap angle The ECSZS000X0B shield mounting kit includes a wire clamp and shield sheet ...

Page 55: ... 24 V ƒ If the total cable length is 20 m install an axis module or a capacitor module directly at the power supply module ƒ Design the UG cables twisted and as short as possible Ensure short circuit proof routing ƒ Cable length module module 30 cm install shielded UG cables Cable cross section Cable length module module Wire end ferrule Cable cross section Tightening torque Stripping length Up to...

Page 56: ...he ECS devices Fuse Support Value A Lenze type Lenze type 50 EFSGR0500ANIN EFH20007 ƒ Observe the national and regional regulations VDE UL EVU Warnings ƒ Use UL approved cables fuses and fuse holders only ƒ UL fuse Voltage 500 600 V Tripping characteristic H K5 or CC Replacing defective fuses Danger Hazardous electrical voltage Components can carry hazardous voltages up to 3 minutes after power of...

Page 57: ...brake resistor internal external The ECS power supply modules in the standard built in unit and push through design ECSEE ECSDE are provided with a device internal brake resistor In order to use the internal brake resistor Rb carry out the following wiring ƒ Bridge between the terminals X22 UG and X22 BR0 CR Current flow from UG via the internal brake resistor Rb and the brake transistor to UG ƒ B...

Page 58: ... UG UG UG PE PE X23 M 3 R J 2 6 0 U V W PE X24 BD1 BD2 X25 X7 F4 F1 F3 ECSxS P M A ECSEE ECSDE ECSxS P M A ECSXA011 Fig 5 2 Interconnected power system with internal brake resistor HF shield termination by large surface connection to functional earth see mounting instructions for shield mounting ECSZS000X0B Twisted cables K1 Mains contactor F1 F4 Fuse Z1 Mains choke mains filter optional Rb Intern...

Page 59: ...odule will be switched off in case the brake resistor will be overheated ƒ Read the documentation for the external brake resistor Observe the safety instructions contained therein If the power supply module needs a high amount of braking power when it comes as standard built in unit or in push through technique design ECSEE ECSDE an external and more powerful brake resistor can be connected instea...

Page 60: ...G UG UG UG PE PE X23 M 3 R J 2 6 0 U V W PE X24 BD1 BD2 X25 X7 ECSxS P M A ECSxE ECSxS P M A J J Rbext Rbext ECSXA012 Fig 5 3 Interconnected power system with external brake resistor HF shield termination by large surface connection to functional earth see mounting instructions for shield mounting ECSZS000X0B Twisted cables K1 Mains contactor F1 F4 Fuse Z1 Mains choke mains filter optional Rbext E...

Page 61: ...lded ƒ The cross section of the motor cables are selected according to the motor standstill current I0 when using synchronous motors or according to the rated motor current IN for asynchronous motors ƒ Length of the unshielded ends 40 100 mm depending on the cable cross section ƒ Lenze system cables meet these requirements ƒ Use the ECSZS000X0B shield mounting kit for EMC compliant wiring Mounting...

Page 62: ... Spark suppressor The axis module comes with an integrated spark suppressor for protecting the contacts of the integrated brake relay when the motor holding brake inductive load is switched 5 2 5 2 Monitoring the brake connection The connection of the motor holding brake can be monitored for voltage failure and cable breakage if monitoring is activated under C0602 The monitoring system of the brak...

Page 63: ...age drop of 1 5 V is produced The voltage drop can be compensated by a higher voltage at the cable entry The voltage required at X6 B and X6 B for the Lenze system cables is calculated as follows UK V UB V 0 08 ƪ V m A ƫ LL m IB A 1 5 V Vcomp Voltage required at 6X B and X6 B V VB Rated operating voltage of the brake V LL Length of the brake cable m IB Brake current A B B X6 BD2 BD1 X25 23 30 V DC...

Page 64: ...pacitor module Observe the enclosed notes L3 N L1 L2 F4 K1 ECSxK K1 K1 L1 L2 L3 ECSxE PE X21 UG UG UG UG UG UG UG UG UG UG PE PE PE PE PE X22 X23 Off On UG BR1 X26 BR0 X23 T1 T2 X6 DI1 DI2 DO1 D24 24V GND GND 24 V DC 2 1 0 M 3 R J 2 6 U V W PE X24 BD1 BD2 X25 X7 F1 F3 Z1 ECSxS P M A ECSXX004 Fig 5 6 Wiring of capacitor module ECSxK HF shield termination by large surface connection to functional ea...

Page 65: ...The control cables must always be shielded to prevent interference injections ƒ The voltage difference between X6 AG X6 GND and PE of the axis module may maximally amount to 50 V ƒ The voltage difference can be limited by overvoltage limiting components or direct connection of X6 AG and X6 GND to PE ƒ The wiring has to ensure that for X6 DO1 0 LOW level the connected axis modules do not draw energ...

Page 66: ...m the ECSZS000X0B shield mounting kit L1 L2 L3 PE X21 UG UG UG UG UG UG PE PE PE X22 X23 UG BR1 BR0 T1 T2 X6 DI1 DI2 DO1 D24 24V GND DO1 DI1 X6 DI2 DI3 DI4 AI AI AG 24V GND S24 SO SI1 SI2 B B 24 VDC 24 VDC GND U F 1 6 A 3 4 0 2 1 ECSxE ECSxS P M A ECSXA013 Fig 5 8 Interconnection Control signals with internal brake resistor HF shield termination by large surface connection to functional earth see ...

Page 67: ... The switch on sequence of the auxiliary relay see Fig 5 8 is as follows 1 The digital input X6 DI1 power supply enable of the power supply module is switched to HIGH by the higher level control or by the operator The DC bus is charged 2 The ready for operation output of the axis module DO1 now switches the X6 DI2 digital input central controller enable of the power supply module via the relay In ...

Page 68: ...strip X3 10 10 V max 2 mA 20 20 mA Resolution 11 bits sign X6 AI Analog input X6 AG Reference potential of analog input internal ground X6 B Brake supply 23 30 V DC max 1 5 A Set brake voltage so that the permissible voltage at the brake is not under run or exceeded otherwise malfunction or destruction X6 B Brake supply X6 S24 Connection of safe torque off formerly safe standstill 71 X6 SO X6 SI1 ...

Page 69: ...ed DI1 DI2 DI3 DI4 47k GNDext 3k3 3k3 3k3 3k3 GND DO1 X6 1 5 A 1k _ 24 VDC 24 ECSXA014 Fig 5 9 Digital inputs and outputs at X6 HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit ƒ The digital inputs X6 DI1 DI4 are freely assignable ƒ The polarity of the digital inputs X6 DI1 DI4 is set under C0114 x ƒ The polarity of...

Page 70: ... V or a master current 4 20 mA or 20 mA ƒ Set jumper bar X3 according to the setting in C0034 Stop Do not plug the jumper on the pins 3 4 The axis module cannot be initialised like this Jumper bar X3 Setting Measuring range 6 4 2 5 3 1 5 6 open Jumper on 1 2 Parking position C0034 0 master voltage l Level 10 10 V l Resolution 5 mV 11 bits sign l Scaling 10 V º 16384 º 100 6 4 2 5 3 1 5 6 closed C0...

Page 71: ...1 Implementation In the axis module the safe torque off connection is implemented with optocouplers The optocouplers isolate the following areas electrically from each other ƒ The digital inputs and outputs input X6 SI1 controller enable inhibit input X6 SI2 pulse enable inhibit brake output X6 B B output X6 SO safe torque off active inactive ƒ The circuit for the internal control ƒ The final powe...

Page 72: ...OW pulses inhibited The supply voltage for the optocouplers of the power section driver is switched off i e the inverter can no longer be enabled and controlled via the microcontroller system The input signal at X6 SI2 to the hardware is additionally directed to the microcontroller system and is evaluated for the state control there For the external further processing a HIGH level is output for th...

Page 73: ...relays PLC and the control cabinet must meet the requirements of EN ISO 13849 These include for instance Switches relays in enclosure IP54 Control cabinet in enclosure IP54 All other requirements can be found in EN ISO 13849 ƒ Wiring with insulated wire end ferrules is essential ƒ All safety relevant cables e g control cable for the safety relay feedback contact outside the control cabinet must be...

Page 74: ...ler inhibited LOW level 3 5 V 3 1 5 mA HIGH level 15 30 V 2 15 mA Input current at 24 V DC 8 mA per input HIGH Controller enabled X6 SI2 Input 2 pulse enable inhibit LOW Pulses for power section are inhibited HIGH Pulses for power section are enabled Cable cross sections and screw tightening torques Cable type Wire end ferrule Cable cross section Starting torque Stripping length Flexible With insu...

Page 75: ...to impermissible states at the terminals commissioning cannot take place Test specifications ƒ Check the circuitry with regard to correct function ƒ Check directly at the terminals whether the safe torque off function operates faultlessly in the axis module States of the safe torque off function on the axis module Level at input terminal Resulting level at output terminal Impermissible level at ou...

Page 76: ...1vp 10s safety switching device T1 Test key 1 T2 Test key 2 ƒ The motor is shut down in accordance with stop category 1 of EN 60204 when the safety function is requested ƒ The delay time of the safety switching device and the quick stop deceleration time have to be coordinated with the brake closing time ƒ The diode capacitor combination prevents the test pulses of the safety switching device from...

Page 77: ...ependence and cutout ability of the two disconnecting paths Manual test of the disconnecting paths ƒ The disconnecting paths have to be checked individually in succession ƒ When any test key T1 T2 is pressed the motor has to become torqueless immediately Additionally the brake has to be applied since the supply of the brake is switched off via contact X6 B ƒ When the safety switching device is swi...

Page 78: ...ed ƒ The delay time of the safety switching device and the quick stop deceleration time have to be coordinated with the brake closing time Description of the function ƒ The Siemens 3TK2827 safety switching device has a two channel effect on the controller In the case of an emergency stop request the two channels terminals 48 and 58 become deenergised The safety switching device monitors the diagno...

Page 79: ...pushbuttons are pressed at the same time the STO state has to be signalled via the indicator light H1 In all other states this message has to be inactive If a deviation from the response described above is determined the controller must be switched off immediately Eliminate the fault before restarting the controller For obtaining a Performance Level PLd SIL 2 only components which also comply with...

Page 80: ...owing combinations are possible Operating communication module Type order number Can be used together with ECSxE ECSxS P M A Keypad XT EMZ9371BC ü ü Diagnosis terminal keypad XT with hand held E82ZBBXC ü ü LECOM A RS232 EMF2102IB V004 ü ü LECOM B RS485 EMF2102IB V002 ü ü LECOM A B RS232 485 EMF2102IB V001 ü ü LECOM LI optical fibre EMF2102IB V003 ü ü LON EMF2141IB ü INTERBUS EMF2113IB ü PROFIBUS D...

Page 81: ...s The two following schematic diagrams show drive systems with different master value concepts ƒ In Fig 5 14 a higher level control assumes the function of the master e g ETC ƒ In Fig 5 15 the function of the master is enabled by a controller intended as master In both representations the master value transmission is effected via the MotionBus CAN interface X4 The system bus CAN interface X14 serv...

Page 82: ...GH CL CAL CAN LOW CG CAG Reference potential Specification of the transmission cable We recommend the use of CAN cables in accordance with ISO 11898 2 CAN cable in accordance with ISO 11898 2 Cable type Paired with shielding Impedance 120 W 95 140 W Cable resistance cross section Cable length 300 m 70 mW m 0 25 0 34 mm2 AWG22 Cable length 301 1000 m 40 mW m 0 5 mm2 AWG20 Signal propagation delay 5...

Page 83: ... EDBCSXS064 EN 4 0 System bus CAN wiring ECS_COB004 Fig 5 17 Example System bus CAN wiring via interface X4 ECS ECS axis module M Master control e g ETC Note Connect one bus terminating resistor 120 W each to the first and last node of the system bus CAN ...

Page 84: ...able length is determined by the cable cross section used and the number of nodes Without a repeater the segment cable length corresponds to the total cable length Number of nodes Cable cross section 0 25 mm2 0 5 mm2 0 75 mm2 1 0 mm2 2 240 m 430 m 650 m 940 m 5 230 m 420 m 640 m 920 m 10 230 m 410 m 620 m 900 m 20 210 m 390 m 580 m 850 m 32 200 m 360 m 550 m 800 m 63 170 m 310 m 470 m 690 m Tab 5 ...

Page 85: ...th at 125 kbps 630 m Tab 5 1 2 Segment cable length for 28 bus nodes and a cable cross section of 0 5 mm2 360 m Tab 5 2 3 Comparison The value under point 2 is smaller than the required cable length of 450 m Conclusion l It is not possible to use a cable length of 450 m without using a repeater l After 360 m point 2 a repeater must be installed Result l The Lenze repeater type 2176 is used cable r...

Page 86: ...ation Hiperface interface supply voltage 5 8 V Note If a safe isolation acc to EN 61140 between the encoder cable and motor cable e g by using separating webs or separated trailing cables is not ensured on the entire cable length cable due to an installation on the system side the encoder cable must be provided with an insulation resistance of 300 V Lenze encoder cables meet this requirement ƒ We ...

Page 87: ...0414 recommended values 0 5 1 2 ideal value 1 0 ƒ Before using a resolver from another manufacturer please consult Lenze Connect a resolver via the 9 pole Sub D socket X7 Features ƒ Resolver U 10 V f 4 kHz ƒ Resolver and resolver supply cable are monitored for open circuit fault message Sd2 REF REF COS COS SIN SIN R1 KTY R2 KTY KTY 1 2 3 4 5 6 7 8 9 X7 0 14 26 0 5 20 mm2 AWG Æ 1 5 6 9 X7 ECSXA022 ...

Page 88: ...C0168 If an Sd8 TRIP is at the second or third place a reinitialisation is absolutely necessary For this purpose switch off and on again the 24 V supply of the control electronics Via the 9 pole Sub D plug X8 you can connect the following encoders ƒ Incremental encoder TTL encoder with two 5 V complementary signals RS 422 that are electrically shifted by 90 with zero track that can be connected op...

Page 89: ...rrent on output VCC X8 pin 4 Max 200 mA X8 5 1 9 6 B VCC GND Z R1 KTY R2 KTY 1 2 3 4 5 6 7 8 9 A 50 m A A A B Z B B Z Z KTY ECSXA026 Fig 5 19 Connection of incremental encoder with TTL level RS 422 Signals in case of clockwise rotation Cores twisted in pairs Assignment of plug connector X8 Sub D 9 pole Pin 1 2 3 4 5 6 7 8 9 Signal B A A VCC GND R1 KTY Z Z R2 KTY B 0 14 mm2 AWG 26 1 mm2 AWG 18 0 14...

Page 90: ...racks sine sine and cosine cosine Assign RefSIN with sine Assign RefCOS with cosine ƒ For SinCos absolute value encoders with Hiperface the serial interface RS 485 is available instead of the zero track Z track SIN COS 0 5 V 0 5V RefSIN RefCOS 2 5 V 2 5 V 0 V 0 V X8 5 1 9 6 SIN VCC GND Z R1 KTY R2 KTY 1 2 3 4 5 6 7 8 9 COS 50 m RefCOS RefSIN Z KTY ECSXA023 Fig 5 20 Connection of SinCos encoder Sig...

Page 91: ...k l Possible input signals incremental encoder with two 5 V complementary signals TTL encoders offset by 90 l The function of the inputs signals can be set via C0427 l Output frequency 0 200 kHz l Permissible current loading max 20 mA per channel l Two track with inverse 5 V signals RS422 l The function of the output signals can be set via C0540 Wiring ƒ 1 slave on the master Wire master and slave...

Page 92: ...X5 X2 X3 X4 EMF2132IB 120 120 X14 X14 X14 X14 120 120 120 ECSXP001 Fig 5 22 ECS axis modules in the digital frequency network with digital frequency distributor EMF2132IB PLC Master control PLC or a PLC device to control the drive system E Shaft master Master value master axis module ECSxP Slave 1 3 Slave 1 slave 2 slave 3 axis module ECSxP Master digital frequency cable EYD0017AxxxxW01W01 socket ...

Page 93: ...ken as a basis The parameters are displayed in the online mode i e GDC can directly access the codes of the axis module Prior to initial switch on of the drive system check the wiring for completeness short circuit and earth fault ƒ Power connection Polarity of the DC bus voltage supply via terminals UG UG ƒ Motor connection In phase connection to the motor direction of rotation ƒ Wiring of safe t...

Page 94: ...Set machine parameters for speed control 141 Set machine parameters for torque control 141 l Switch on the mains l Enable controller 154 l Save parameters in the controller with C0003 1 l Save parameter set with GDC in the parameter set file Optimise drive behaviour 154 l Save parameters in the controller with C0003 1 l Save parameter set with GDC in the parameter set file End ...

Page 95: ...s according the interface used Comm parameters AIF interface Please read the documentation for the Lenze communication module used Comm parameters CAN interface l CAN node address via DIP switch or C0350 C2450 l Baud rate via DIP switch or C0351 C2451 l C0356 CAN boot up cycle time l C1120 1 sync connection via MotionBus CAN l C1121 synchronisation cycle in ms 169 176 179 6 Set mains data Set the ...

Page 96: ... the GDC parameter menu under Short setup Speed C3005 1000 setpoint via analog input C3005 1003 setpoint via AIF C3005 1005 setpoint via MotionBus CAN 126 B Torque control has to be set in the GDC parameter menu under Short setup Torque C3005 4000 setpoint via analog input C3005 4003 setpoint via AIF C3005 4005 setpoint via MotionBus CAN 12 Enter machine parameters A Set parameters for the speed c...

Page 97: ... the Lenze setting C0002 0 3 Continue with 3 1 or 3 2 3 1 The 24 V supply voltage can be switched A Switch off and on again the 24 V supply voltage B Plug the keypad XT EMZ9371BC onto the AIF interface X1 3 2 The 24 V supply voltage cannot be switched A Plug the keypad XT EMZ9371BC onto the AIF interface X1 B Reset the PLC C2108 3 4 Continue with basic settings from point 5 of the table on 95 5 Au...

Page 98: ...limited by the charging resistors When a certain voltage level has been reached the charging resistors are short circuited by switching on closing the charge relay contacts Stop ƒ In case of a mains supply via a power supply module ECSxE the entire DC bus is charged in a controlled way by a semiconductor circuit thyristor in the power supply module Therefore set C0175 3 for the axis modules chargi...

Page 99: ...ly module 6 5 2 Setting the voltage thresholds Note All drive components in DC bus connections must have the same thresholds Selection Mains voltage Brake unit LU message Undervoltage OU message Overvoltage C0173 Power supply module V AC Setting V DC Resetting V DC Setting V DC Resetting V DC 0 230 yes no 130 275 400 390 1 400 yes no 285 430 800 790 2 400 460 yes no 328 473 800 790 3 480 no 342 48...

Page 100: ...lable GDC Easy does not provide the Input assistant for motor data which is described in the following so that you must enter the motor data manually 145 Parameter setting with the Input assistant for motor data of the GDC 1 Go to the GDC menu bar and select the Tool Motor data menu item or click the button with the motor symbol in the tool bar ECSXA300 Fig 6 2 GDC view menu bar and tool bar The I...

Page 101: ...election 3 Select the connected motor from the list see motor nameplate The corresponding motor data is displayed in the Motor data fields on the right 4 Click the Complete button The data is transferred to the controller This process can take a few seconds and is confirmed by a message after being completed ...

Page 102: ...me disengagement time The time required for opening the holding brake l During the time set the drive generates the torque set under C0244 against the holding brake l If an actual speed higher than the value in C0472 10 is detected before the brake opening time C0196 has expired the drive can immediately change to speed controlled operation C0244 Holding torque Holding torque of the drive against ...

Page 103: ...erial communication 106 as position and speed encoder 106 as position encoder and resolver as speed encoder 109 ƒ Absolute value encoder Hiperface single turn multi turn as position and speed encoder 113 as position encoder and resolver as speed encoder 117 The GDC includes the parameters or codes to be set in the parameter menu under Short setup Feedback system ECSXA304 Fig 6 6 GDC view Short set...

Page 104: ...Selection of feedback system for speed control 103 0 Resolver at X7 Standard setting 1 TTL encoder at X8 l Sets C0419 0 Common if a different encoder type as under C0419 is set here 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute value encoder multi turn at X8 C0058 Rotor diff 90 0 Rotor displacement angle offset angle Input in case of Lenze motor with l resolver 90 l ...

Page 105: ...c determination of the rotor displacement angle C0058 displays the determined rotor displacement angle offset angle 151 0 Inactive 1 Active C0414 DIS ResQual Resolver modulation Quality of the resolver excitation amplitude set under C0416 recommendation 0 5 1 2 ideal 1 0 104 0 00 0 01 1 60 C0416 Resolver adj 5 Resolver excitation amplitude 104 0 100 1 80 2 68 3 58 4 50 5 45 6 40 7 37 C0417 Resolve...

Page 106: ... will be automatically reset to input through the encoder selection Note When encoders are used for position and speed control the same feedback system will automatically be set for both control modes under C0490 and C0495 Separate feedback systems can only be selected in connection with a resolver 2 Select encoder used Incremental encoder TTL encoder C0419 110 113 Sin cos encoder without serial c...

Page 107: ...ver at X7 Standard setting 1 TTL encoder at X8 l Sets C0419 0 Common if a different encoder type as under C0419 is set here 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute value encoder multi turn at X8 C0495 Feedback n 0 Selection of feedback system for speed control 103 0 Resolver at X7 Standard setting 1 TTL encoder at X8 l Sets C0419 0 Common if a different encoder...

Page 108: ... encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher 408 AM128 8V 409 AM256 8V 410 AM512 8V 411 AM1024 8V C0420 Encoder co...

Page 109: ...r TTL encoder C0490 1 SinCos encoder without serial communication C0490 2 If X8 has been selected as output by changing C0491 X8 will be automatically reset to input through the encoder selection 2 Select resolver as speed encoder C0495 0 3 Select encoder used Incremental encoder TTL encoder C0419 110 113 SinCos encoder without serial communication C0419 210 213 Encoder used is not in the list C04...

Page 110: ...encoder type as under C0419 is set here 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute value encoder multi turn at X8 Codes for optimising the operation and display Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0058 Rotor diff 90 0 Rotor displacement angle offset angle Input in case of Lenze motor with l resolver 90 l hiperface absolute value e...

Page 111: ...c setup 110 Encoder selection l Selection of encoder type indicated on the nameplate of the Lenze motor l The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection 301 106 113 0 Common 110 IT512 5V Incremental encoder with TTL level 111 IT1024 5V 112 IT2048 5V 113 IT4096 5V 210 IS512 5V SinCos encoder 211 IS1024 5V 212 IS2048 5V 213 IS4096 5V 307 AS64 8V SinCos absol...

Page 112: ... of increments of the encoder 301 106 113 1 1 inc rev 8192 Sets C0419 0 common if the value is altered C0421 Encoder volt 0 Encoder voltage 301 106 113 0 5 0 V Sets C0419 0 common if the value is altered 1 5 6 V 2 6 3 V 3 6 9 V 4 7 5 V 5 8 1 V C0427 Enc signal 0 Function of the master frequency input signals on X8 DFIN 301 106 113 0 2 phase 1 A speed B direction 2 A or B speed or direction C0491 X...

Page 113: ...e value encoder is used check the history buffer C0168 If an Sd8 TRIP is at the second or third place a reinitialisation is absolutely necessary For this purpose switch off and on again the 24 V supply of the control electronics If an absolute value encoder with Hiperface interface is connected to X8 and used as position and speed encoder the following setting sequence must be observed 1 Select ab...

Page 114: ...ng the absolute value encoder an SD7 system error is activated The error can only be reset by means of mains switching Codes for feedback system selection Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0490 Feedback pos 0 Selection of feedback system for positioning control 103 0 Resolver at X7 Standard setting 1 TTL encoder at X8 l Sets C0419 0 Common if a different encoder...

Page 115: ...4096 5V 307 AS64 8V SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher 408 AM128 8V 409 AM256 8V 41...

Page 116: ...position and speed control Absolute value encoder as position and speed encoder 6 116 EDBCSXS064 EN 4 0 IMPORTANT Possible settings Code Selection Lenze Appl Designation No C0491 X8 in out 0 Function of X8 301 304 106 113 0 X8 is input 1 X8 is output ...

Page 117: ...ssible consequences ƒ Death or severe injuries ƒ Destruction or damage of the machine drive Protective measures ƒ If a fault trip occurs during commissioning when an absolute value encoder is used check the history buffer C0168 If an Sd8 TRIP is at the second or third place a reinitialisation is absolutely necessary For this purpose switch off and on again the 24 V supply of the control electronic...

Page 118: ...se codes C0420 C0421 and C0427 4 Save settings with C0003 1 Codes for feedback system selection Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0490 Feedback pos 0 Selection of feedback system for positioning control 103 0 Resolver at X7 Standard setting 1 TTL encoder at X8 l Sets C0419 0 Common if a different encoder type as under C0419 is set here 2 SinCos encoder at X8 3 A...

Page 119: ... 180 0 0 1 _ 179 9 C0060 Rotor pos Current rotor position value is derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Read only 148 0 1 inc 2047 Display with reduced resolution 1 revolution 2048 increments C0080 Res pole no 1 Number of pole pairs ...

Page 120: ...h Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher 408 AM128 8V 409 AM256 8V 410 AM512 8V 411 AM1024 8V C0420 Encoder const 512 Numb...

Page 121: ...f digital inputs and outputs in the parameter menu under Terminal I O ECSXA308 Fig 6 7 GDC view Setting of the polarity of digital inputs and outputs 6 9 2 Setting the direction of rotation Based on the Lenze setting the direction of rotation of the motor depends on ƒ the sign of the speed setpoint ƒ the polarity of the digital inputs X6 DI1 and X6 DI2 How to set the polarity direction of rotation...

Page 122: ...tions have to be deleted if required ƒ Example digital inputs outputs in basic configuration C3005 1000 Here the most important targets for digital inputs and outputs for speed control are listed Code Subcode Signal name Controlled by Signal interface Note C7411 1 SPEED RLQ CW DIGIn In1 terminal X6 DI1 HIGH level do not invert main setpoint CW rotation 2 SPEED RLQ CCW DIGIn In2 terminal X6 DI2 HIG...

Page 123: ...trolled setpoint via AIF 1005 SpeedCAN Speed controlled setpoint via MotionBus CAN 4000 TorqueTerm Torque controlled setpoint via analog input 343 4003 TorqueAIF Torque controlled setpoint via AIF 4005 TorqueCAN Torque controlled setpoint via MotionBus CAN C6371 Selection of the digital output signals for the digital output and the brake relay 308 1 DigoutIn dig 1000 0 FALSE not assigned Source fo...

Page 124: ...Keeping freezing the speed setpoint integrator to the actual value SPEED NSET RfgStop 10 SpeedIn dig 1000 0 FALSE not assigned Activation of the motor holding brake SPEED BRK SetBrake 340 11 SpeedIn dig 1000 0 FALSE not assigned Switching of speed torque SPEED MCTRL NMSwt 332 12 SpeedIn dig 1000 0 FALSE not assigned Source for the integral action component of the speed controller SPEED MCTRL ILoad...

Page 125: ...e setpoint integrator to 0 along the adjusted ramps TORQUE NSET Rfg0 351 4 TorqueIn dig 1000 0 FALSE not assigned Activation of the motor holding brake TORQUE BRK SetBrake 360 5 TorqueIn dig 1000 0 FALSE not assigned Setting of quick stop TORQUE QSP Set1 354 6 TorqueIn dig 1000 0 FALSE not assigned Setting of quick stop TORQUE QSP Set2 7 TorqueIn dig 1000 0 FALSE not assigned Source for the integr...

Page 126: ...27 318 1003 Control setpoint via AIF 130 1005 Control setpoint via MotionBus CAN 132 ƒ Torque control Code Value Interfaces Application examples Functional description C3005 4000 Activation setpoint via analog input 134 343 4003 Control setpoint via AIF 137 4005 Control setpoint via MotionBus CAN 139 Stop When the internal control structure is changed another terminal assignment may result In the ...

Page 127: ...voltage thresholds 99 C0175 x Charge relay function when using an ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 1000 Speed control with setpoint via analog input 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 333 C0012 x s Acceleration time 327 C0013 x s Deceleration time...

Page 128: ... 147 148 149 150 151 152 153 154 155 156 157 188 24 25 26 23 141 142 143 144 145 800 801 802 803 804 805 815 24 13 X4 CG CH CL W1 W2 Ctrl TripReset_B11 Ctrl TripSet_B10 Ctrl Disable_B8 Ctrl CInhibit_B9 W3 Ctrl Quickstop_B3 SPEED RLQ QSP RLQ Cw NSET NSet MCTRL Qspin NSET Jog1 MCTRL NSetIn NSET Jog2 MCTRL MMax NSET Jog4 MCTRL MSetIn NSET Jog8 MCTRL IMax NSET TI1 MCTRL HiMLim MCTRL IAct NSET TI2 MCTR...

Page 129: ...ES PES PES PES Off On K1 K1 K1 M 3 R J 6 2 0 2 1 3 4 7 5 6 9 24 VDC GND F 1 6 A ECSXA280 Fig 6 10 Connection diagram for configuration 1000 setpoint via analog input Direction of rotation quick stop QSP Direction of rotation quick stop QSP Fixed speed C0039 1 Holding brake Analog input voltage supply Switch for controller enable inhibit Motor system cable Voltage supply of motor holding brake Volt...

Page 130: ...olds and charge relay function C0173 x DC bus voltage thresholds 99 C0175 x Charge relay function when using an ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 1003 Speed control with setpoint via AIF 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 333 C0012 x s Acceleration...

Page 131: ...Bit0 W1 Bit1 W1 Bit2 W1 Bit3 W1 Bit4 W1 Bit5 W1 Bit15 W0 W1 W2 W3 146 147 148 149 150 151 152 153 154 155 156 157 188 24 25 26 23 141 142 143 144 145 800 801 802 803 804 805 815 24 13 X4 CG CH CL W1 W2 Ctrl TripReset_B11 Ctrl TripSet_B10 Ctrl Disable_B8 Ctrl CInhibit_B9 W3 Ctrl Quickstop_B3 SPEED RLQ QSP RLQ Cw NSET NSet MCTRL Qspin NSET Jog1 MCTRL NSetIn NSET Jog2 MCTRL MMax NSET Jog4 MCTRL MSetI...

Page 132: ...olds and charge relay function C0173 x DC bus voltage thresholds 99 C0175 x Charge relay function when using an ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 1005 Speed control with setpoint via MotionBus CAN 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 333 C0012 x s Ac...

Page 133: ...Bit0 W1 Bit1 W1 Bit2 W1 Bit3 W1 Bit4 W1 Bit5 W1 Bit15 W0 W1 W2 W3 146 147 148 149 150 151 152 153 154 155 156 157 188 24 25 26 23 141 142 143 144 145 800 801 802 803 804 805 815 24 13 X4 CG CH CL W1 W2 Ctrl TripReset_B11 Ctrl TripSet_B10 Ctrl Disable_B8 Ctrl CInhibit_B9 W3 Ctrl Quickstop_B3 SPEED RLQ QSP RLQ Cw NSET NSet MCTRL Qspin NSET Jog1 MCTRL NSetIn NSET Jog2 MCTRL MMax NSET Jog4 MCTRL MSetI...

Page 134: ...ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 4000 Torque control with setpoint via analog input 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 355 C0012 x s Acceleration time 351 C0013 x s Deceleration time C0105 x s Quick stop deceleration time 358 Speed limitation C047...

Page 135: ... MCTRL EncoderFault MCTRL ResolverFault MCTRL SensorFault MCTRL MotorTempGreaterSetValue MCTRL MotorTempGreaterCO121 MCTRL KuehlGreaterSetValue MCTRL KuehlGreaterCO122 BRK SetQSP BRK NegOut BRK Out BRK SetCInh BRK MStore BRK MSetOut RLQ CwCCw RLQ CCw NSET NOut NSET RfgStop NSET RfglEq0 NSET Rfg0 C7511 2 C7511 8 C7511 3 C7531 2 C7511 5 C7511 6 C7531 4 C7531 3 C7531 7 C7511 7 C7511 9 C7531 8 C7531 5...

Page 136: ...PES PES PES PES Off On K1 K1 K1 M 3 R J 6 2 0 2 1 3 4 7 5 6 9 24 VDC GND F 1 6 A ECSXA283 Fig 6 14 Connection diagram for configuration 4000 setpoint via analog input Direction of rotation quick stop QSP Direction of rotation quick stop QSP Fixed speed C0039 1 Holding brake Analog input voltage supply Switch for controller enable inhibit Motor system cable Voltage supply of motor holding brake Vol...

Page 137: ...9 C0175 x Charge relay function when using an ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 4003 Torque control with setpoint via AIF 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 355 C0012 x s Acceleration time 351 C0013 x s Deceleration time C0105 x s Quick stop decele...

Page 138: ...9 W3 Ctrl Quickstop_B3 AIF1in DctrlCtrl Ctrl Bit1 Ctrl Bit2 Ctrl Bit4 Ctrl Bit5 Ctrl Bit6 Ctrl Bit7 Ctrl Bit12 Ctrl Bit13 Ctrl Bit14 Ctrl Bit15 Bit0 Bit31 W1 Bit0 W1 Bit1 W1 Bit2 W1 Bit3 W1 Bit4 W1 Bit5 W1 Bit15 W0 W1 W2 W3 W1 13 19 20 11 12 10 24 25 26 27 28 29 30 31 32 33 34 35 66 21 22 23 10 21 700 701 702 703 704 705 715 X1 Ctrl Bit0 W2 Ctrl Quickstop_B3 Ctrl Disable_B8 Ctrl CInhibit_B9 Ctrl T...

Page 139: ... C0175 x Charge relay function when using an ECS supply module C0175 3 98 Maximum motor current C0022 x A Maximum motor current Imax Controller configuration and feedback system C3005 4005 Torque control with setpoint via MotionBus CAN 126 C0495 x Feedback system 103 Speed setpoint settings C0011 x rpm Maximum speed 355 C0012 x s Acceleration time 351 C0013 x s Deceleration time C0105 x s Quick st...

Page 140: ...9 W3 Ctrl Quickstop_B3 AIF1in DctrlCtrl Ctrl Bit1 Ctrl Bit2 Ctrl Bit4 Ctrl Bit5 Ctrl Bit6 Ctrl Bit7 Ctrl Bit12 Ctrl Bit13 Ctrl Bit14 Ctrl Bit15 Bit0 Bit31 W1 Bit0 W1 Bit1 W1 Bit2 W1 Bit3 W1 Bit4 W1 Bit5 W1 Bit15 W0 W1 W2 W3 W1 13 19 20 11 12 10 24 25 26 27 28 29 30 31 32 33 34 35 66 21 22 23 10 21 700 701 702 703 704 705 715 X1 Ctrl Bit0 W2 Ctrl Quickstop_B3 Ctrl Disable_B8 Ctrl CInhibit_B9 Ctrl T...

Page 141: ...peed and ramp times can be found in the parameter menu under ƒ Short setup Speed for speed control ƒ Short setup Torque for torque control Note Detailed information concerning the possible settings can be gathered from the function block descriptions ƒ Function block Speed 318 ƒ Function block Torque 343 ECSXA305 Fig 6 17 GDC view short setup of the speed control Speed ...

Page 142: ...l Analog setpoints e g master voltage or master current 1003 4003 AIF module l Fixed speed l Fieldbus setpoints 1005 4005 MotionBus CAN l Fixed speed l CAN setpoints 1 100x speed control Speed 400x torque control Torque Example selection of analog setpoints For selecting analog setpoints you can for instance configure the analog input signal in GDC in the parameter menu under Function blocks AIn1 ...

Page 143: ...le X6 SI1 has to be HIGH and X6 SI2 HIGH Terminal X6 SI2 0 4 V LOW level 13 30 V HIGH level C0040 C0040 0 C0040 1 Operating module keypad key key Inhibiting with key is only possible if the key is assigned with CINH via C0469 Fault l In case of TRIP l In case of message l No TRIP message active l TRIP reset For check see 232 Control word system bus CAN C0135 C0135 bit 9 1 C0135 bit 9 0 GDC functio...

Page 144: ...than 2 ms Speed control Speed l SPEED QSP Set1 C7411 17 TRUE or l SPEED QSP Set2 C7411 18 TRUE further information 338 Torque control Torque l TORQUE QSP Set1 C7511 17 TRUE or l TORQUE QSP Set2 C7511 18 TRUE further information 358 The deceleration time for the brake application is set via C0105 in the GDC parameter menu under ƒ Short setup Speed for speed control ƒ Short setup Torque for torque c...

Page 145: ...ble settings IMPORTANT No Designation Lenze Appl Selection C0006 Op mode 1 Operating mode of the motor control l If the master pulse via MCTRL C0911 0 or DfIn C0428 0 is used the voltage supply has to be switched off and then on again when the operating mode is changed l Otherwise the master pulses will not be recognised 1 Servo PM SM Servo control of synchronous motors 2 Servo ASM Servo control o...

Page 146: ...tor resistance of the motor The upper limit is device dependent 0 00 0 01 W 95 44 ECSxS P M A004 47 72 ECSxS P M A008 23 86 ECSxS P M A016 11 93 ECSxS P M A032 7 95 ECSxS P M A048 5 96 ECSxS P M A064 C0085 Mot Ls 5 30 Leakage inductance of the motor 0 00 0 01 mH 200 00 C0087 Mot speed 3700 Rated motor speed 300 1 rpm 16000 C0088 Mot current 7 0 Rated motor current 0 5 0 1 A 500 0 C0089 Mot frequen...

Page 147: ...e adjustment rotor resistance 50 00 1 199 99 C0112 Service Code Fine adjustment rotor time constant 50 1 200 C0113 Service Code Fine adjustment magnetising current Isd 50 1 200 C0128 Tau motor 5 0 Thermal time constant of the motor 210 0 5 0 1 min 25 0 For calculating the I2 x t disconnection C0418 Test Cur Ctrl 0 Controller adjustment 149 0 Deactivated Deactivate test mode 1 Activated Activate te...

Page 148: ...ived from the selected position encoder C0490 with reduced resolution Evaluation If the motor encoder resolver is set as position encoder C0490 and the rotor rotates in CW direction view on the front of the motor shaft the numerical value must rise If the values are falling reverse the Sin and Sin connections Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0060 Rotor pos Curr...

Page 149: ...stator resistance of the motor are known The gain of the current controller Vp and the integral action time of the current controller Tn can be calculated by approximation Current controller gain Vp Integral action time of the current controller Tn Vp L1S 250 ms Tn L1S R1S L1S Motor leakage inductance R1S Motor stator resistance Note Depending on the leakage inductance of the motor the calculated ...

Page 150: ...ys adjust the current controller at a switching frequency of 8 kHz Observe the current step in phase U to adjust the current controller Setting sequence 1 Select 8 kHz as switching frequency C0018 2 2 Select the test current under C0022 Start with a low current value e g half the rated motor current 3 Activate the test mode with C0418 1 4 Enable the controller 143 Adjust the synchronous motor The ...

Page 151: ...cremental encoder sin cos encoder with zero track ƒ If these encoder types are used for the operation of synchronous motors the rotor position must be adjusted every time the low voltage supply is switched on The rotor position must be adjusted if ƒ A motor from another manufacturer is connected to the controller ƒ Another encoder has been mounted subsequently ƒ A defective encoder has been replac...

Page 152: ...der C0058 For absolute value encoders Hiperface single turn multi turn at X8 C0058 is always 0 Danger Uncontrolled drive movements after an Sd7 fault with absolute value encoders If absolute value encoders are used and the rotor position adjustment is completed with the fault message Sd7 238 the rotor position could not be assigned to the feedback system In this case the drive may carry out uncont...

Page 153: ...gle Input in case of Lenze motor with l resolver 90 l hiperface absolute value encoder 0 Code value is adapted by the rotor position adjustment function C0095 Only relevant for the operation of synchronous motors 151 180 0 0 1 _ 179 9 C0095 Rotor pos adj 0 Activation of rotor position adjustment for automatic determination of the rotor displacement angle C0058 displays the determined rotor displac...

Page 154: ...nstellation has been completed ƒ The current controller is set correctly given with a Lenze motor and setting via motor data input assistant in the GDC ƒ The PE connection of the axis module is sufficient so that the actual values are not noisy ƒ There are as few as possible elasticity and backlash between drive and load ƒ The maximum current C0022 and the maximum speed C0011 are set to the values...

Page 155: ...the following applies Vp 100 C0070 C0070 For torque control Torque The proportional gain Vp can be altered via TORQUE MCTRL NAdapt C7531 7 ƒ Vp TORQUE MCTRL NAdapt x C0070 ƒ If TORQUE MCTRL NAdap is not assigned the following applies Vp 100 C0070 C0070 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0070 Vp speedCTRL 3 0 Proportional gain of speed controller Vpn 154 0 00 0 01...

Page 156: ...RUE ƒ The output TORQUE MCTRL MMax is set to TRUE Set the I component For selecting torque starting values the integral component of the speed controller can be set externally e g when using the brake control ƒ In case of speed control Speed SPEED MCTRL ILoad TRUE C7411 12 The speed controller accepts the value applied at SPEED MCTRL ISet C7431 8 into its integral component The value at SPEED MCTR...

Page 157: ...ng occurs if the maximum output voltage of the controller is reached with rising speed and cannot be increased further The maximum possible output voltage depends on ƒ the respective DC bus voltage mains voltage ƒ the voltage reduction through the controller load ƒ the voltage drop at the mains choke Experience values for the voltage drop under the influence of the mains choke and inverter are bet...

Page 158: ...ersion 7 0 see nameplate this is no longer necessary because C0006 see 2 can also be written when the PLC program is running 2 Set motor control for asynchronous motors C0006 2 The motor nameplate data must be entered correctly 3 Read rotor time constant Tr C0083 4 Read magnetising current Id C0092 5 Calculate field controller gain VpF and enter in C0077 VpF Tr C0083 Id C0092 875 ms Imax Imax Maxi...

Page 159: ...n be adjusted with the stator leakage inductance C0085 ƒ Low values cause a limitation at higher speeds ƒ Higher values cause a limitation at lower speeds Setting sequence 1 Set gain Vp C0577 0 01 0 99 Vp must not be 0 deactivates the field weakening controller 2 Set integral action time Tn C0578 1 40 ms 3 Select a speed setpoint so that the motor is operated in the field weakening range 4 Observe...

Page 160: ...red if the speed behaviour is irregular despite optimised settings of the speed and position control loop The resolver adjustment is started via code C0417 1 Then the resolver is adjusted automatically during the next 16 motor revolutions If it is not possible to adjust the resolver due to a fault or a defective cable the original adjustment values can be restored with C0417 2 C0417 can be found i...

Page 161: ...ence book Parameter setting with XT keypad or PC laptop Detailed information on parameter setting with the XT keypad can be found in the following chapters Detailed information on the parameterisation by means of a PC laptop can be found in the documentation for the Global Drive Control GDC parameterisation and operating program In addition to parameter setting the XT keypad or PC laptop serves to...

Page 162: ... of your application specific drive task with the PC or laptop ƒ The GDC input assistant offers a comfortable motor selection ƒ The menu structure supports the commissioning process by its clear structuring X14 0 1 L 3 2 4 5 ECSXA453 Fig 7 1 Using the GDC Lenze parameter program Global Drive Control GDC PC or laptop PC system bus adapter EMF2173IB EMF2177IB with connecting cable Sub D plug with 3 ...

Page 163: ... B b c p SHPRG Para Code Menu 0050 00 G L O B A L D R I V E I n i t Y Z y z T V S U d 0050 00 50 00 Hz 2 0 Y Z y z T V S U d 0050 00 50 00 Hz 2 0 d A B b c 0 1 2 3 9371BC018 Connect the keypad to the AIF interface X1 of the axis module power supply module It is possible to connect disconnect the keypad during operation As soon as the keypad is supplied with voltage it carries out a short self test...

Page 164: ... immediately The device immediately operates with the new parameter value SHPRG The parameter must be confirmed with The device operates with the new parameter value after being confirmed SHPRG When the controller is inhibited the parameter must be confirmed with The device operates with the new parameter value after the controller has been released again None Display parameters Cannot be changed ...

Page 165: ... No menu for ECSxE power supply module Code level Four digit code number Number Active level Meaning Explanation Menu level Submenu number l Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series l No menu for ECSxE power supply module Code level Two digit subcode number Parameter value Parameter value with unit Cursor The figure over the cursor can be changed ...

Page 166: ...e menu Short setup 2 Accept parameters when SHPRG or SHPRG is displayed Change between menu items Change code number Change figure over cursor Quick change between menu items Quick change of code number Quick change of figure over cursor Change between main menu submenus and code level Cursor to the right 0 Cursor to the left 1 Cancel function of 2 key the LED in the key goes out 2 Inhibit the con...

Page 167: ...e Display of the current parameter value 4 Change to parameter level 5 If SHPRG is displayed inhibit controller 2 The drive is coasting 6 Change parameter A 0 Move cursor under the digit to be changed B Change digit Change digit quickly 7 Accept changed parameter Display SHPRG or SHPRG Confirm change to accept parameter Display OK Display The parameter was accepted immediately 8 If necessary enabl...

Page 168: ...I for parameter setting and diagnostics e g with the Lenze parameter setting and operating program Global Drive Control or Interface to a decentralised I O system X4 4 5 X4 X14 X4 X14 X4 X14 Systembus CAN MotionBus CAN Y Z y z T V S U d A B b c p SHPRG Para Code Menu 0050 00 50 00_Hz MCTRL NOUT X1 X1 X4 X14 X1 X1 0 1 3 X1 2 ECSXA028 Fig 8 1 Example Wiring of the MotionBus CAN and system bus CAN Ke...

Page 169: ...s can be found in the appendix of this documentation 441 8 1 1 Setting CAN node address and baud rate For the CAN interfaces X4 MotionBus and X14 system bus the CAN node address and the baud rate can be set via the DIP switch S1 or via codes ƒ The address switch 1 serves to define whether the set CAN node address shall only apply to the interface X4 MotionBus or for both interfaces X4 MotionBus an...

Page 170: ...witch Specific values are assigned to the switches The sum of the values specifies the node address to be set see example Switch Value Example Switching status Node address ON OFF ON 1 6 2 7 4 3 8 5 9 10 S1 OFF Node address setting is only valid for CAN C0350 is overwritten if one of switches S2 S7 is in ON position ON Node address setting is valid for CAN and CANaux C0350 and C2450 are overwritte...

Page 171: ...ode address and baud rate 8 171 EDBCSXS064 EN 4 0 Baud rate setting Note The baud rate must be set identically for all CAN nodes Switch Baud rate kbit s 1000 500 250 125 50 ON OFF ON 1 6 2 7 4 3 8 5 9 10 8 ON OFF OFF OFF OFF 9 OFF OFF OFF ON ON 10 OFF OFF ON OFF ON ...

Page 172: ... not active if one of the switches 2 7 of the DIP switch is set to ON 169 l After the setting process a reset node is required l A definite node address must be assigned to each CAN node 169 460 1 1 63 C0351 CAN baud rate 0 Baud rate for CAN bus interface X4 l The baud rate must be set identically for all CAN nodes l This code is not active if one of the switches 2 7 of the DIP switch is set to ON...

Page 173: ...addressed To make the alternative node address valid set the corresponding subcode of C0353 1 Bus code Value The addresses are defined by MotionBus CAN C0353 1 0 C0350 Lenze setting 1 C0354 1 for CAN1_IN C0354 2 for CAN1_OUT C0353 2 0 C0350 Lenze setting 1 C0354 3 for CAN2_IN C0354 4 for CAN2_OUT C0353 3 0 C0350 Lenze setting 1 C0354 5 for CAN3_IN C0354 6 for CAN3_OUT Code Possible settings IMPORT...

Page 174: ... 2 CAN2_IN 4 CAN addr 258 Address 2 CAN2_OUT 5 CAN addr 385 Address 2 CAN3_IN 6 CAN addr 386 Address 2 CAN3_OUT Save changes with C0003 1 The settings are only accepted after carrying out one of the following actions ƒ Renewed switch on of the 24 V low voltage supply ƒ Reset node via the bus system by the network management NMT ƒ Reset node with C0358 1 Note If reset node is executed via GDC commu...

Page 175: ...te Operational by the master A data exchange via the process data objects can only be effected in this state The configuration is carried out via C0352 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0352 CAN mst 0 Boot up master slave configuration for CAN bus interface X4 175 0 Slave 1 Master boot up Device is active as CAN boot up master 2 Master node guarding 3 Slave hear...

Page 176: ...ƒ Only valid if C0352 1 master ƒ Normally the Lenze setting 3000 ms is sufficient ƒ State change from Pre operational to Operational Cycle time for process output data C0356 2 3 Transmission cycle time for the process data objects CAN2 3_OUT C0356 2 3 in cyclic operation without sync ƒ Setting 0 event controlled data transmission The output data will only be sent if a value in the output object ch...

Page 177: ...process data telegram 0 event controlled transmission 3 CAN times 0 4 CAN times 20 Delay time for initial transmission of the process data objects 2 and 3 after the CAN bus changed to Operational Save changes with C0003 1 The settings are only accepted after carrying out one of the following actions ƒ Renewed switch on of the 24 V low voltage supply ƒ Reset node via the bus system by the network m...

Page 178: ...ng 173 ƒ Change of the master slave boot up configuration 175 A reset node can be made by ƒ Renewed switch on of the 24 V low voltage supply ƒ the bus system via the network management NMT ƒ C0358 C2458 1 Note If reset node is executed via GDC communication will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again fieldbus scan Code Possibl...

Page 179: ...legram The controllers receive the CAN sync telegram and control the starting time of their own program cycle in relation to the instant of reception of the CAN sync signal The start is to be offset by the synchronisation phase C1122 The synchronisation cycle set under C1121 must be set the same as the transmission cycle of the CAN sync telegrams Code Possible settings IMPORTANT No Designation Len...

Page 180: ...time Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0363 Sync correct 1 CAN sync correction increment 180 1 0 2 ms ms 2 0 4 ms ms 3 0 6 ms ms 4 0 8 ms ms 5 1 0 ms ms C0369 SyNc Tx time 0 CAN sync transmission cycle for CAN bus interface X4 A sync telegram with the identifier of C0368 is sent with the cycle time set ECSxP The setting is effected automatically depending on C40...

Page 181: ...er 179 up to 200 ms on the LOW HIGH edges of the sync signal is permissible The amount of the jitter has an impact on the parameterisation of the time slot Code Possible settings IMPORTANT No Designation Lenze Appl Selection C1123 Sync window 0 010 Synchronisation window 181 0 000 0 001 ms 6 500 CAN sync response Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0366 Sync Respo...

Page 182: ... C0366 1 Lenze setting CAN sync reaction l Slaves respond to sync telegram Master 6 Define the telegram identifier sequence A Send new setpoint to all slaves B Send sync telegram C Receive response of all slaves 7 Start communication send sync telegrams Slaves 8 Read C0362 from the master Retrieve cycle time of the sync telegram from the master 9 Set C1121 according to C0362 of the master Adjust t...

Page 183: ...digital output 4 Connect the sync signal of the master to terminal X6 DI1 Slaves 5 C1120 2 Synchronisation through sync signal via terminal X6 DI1 DigIn_bIn1_b is active Slaves 6 C0366 1 Lenze setting CAN sync reaction l Slaves respond to sync telegram Master 7 Start communication send sync signals Slaves 8 Read C0362 from the master Retrieve cycle time of the sync signal from the master 9 Set C11...

Page 184: ...ception of the status enquiry by the master in C0383 3 Set the factor Node Life Time Factor for the monitoring time in C0383 Node Life Time Node Guard Time C0382 Node Life Time Factor C0383 4 Set the response to a Life Guarding Event via C0384 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0352 CAN mst 0 Boot up master slave configuration for CAN bus interface X4 175 0 Slave...

Page 185: ...4 0 IMPORTANT Possible settings Code Selection Lenze Appl Designation No C0384 Err NodeGuard 3 Node Guarding slave l Response for the occurrence of a NodeGuard Event l Only relevant for setting C0352 4 184 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL QSP ...

Page 186: ...essing ƒ serves to process statuses as Communication Error Bus Off State etc ƒ the instant of transmission of CAN2_Out and CAN3_Out can be influenced ƒ serves to monitor the CAN communication Tip Detailed information on the FB CAN can be found in the chapter 12 9 267 Note Even if the CAN function block has not been assigned to the control configuration a reset node can be carried out via C0358 ...

Page 187: ... from Pre operational to Operational is possible through l Master function of a higher level host system l If a drive is defined to be the master via C0352 the operating state is automatically changed for the entire drive system after mains connection when the boot up time set in C0356 1 has elapsed l Reset node via C0358 178 l With a binary input signal Reset node which can be set accordingly l R...

Page 188: ... received Subcode 3 Sent telegrams of CAN1_OUT Subcode 4 Telegrams sent from CAN2_OUT l Always 0 channel is not used Subcode 5 Telegrams sent from CAN3_OUT l Always 0 channel is not used Subcode 6 Telegrams sent from parameter data channel 1 Subcode 7 Telegrams sent of parameter data channel 2 Subcode 8 Telegrams received from CAN1_IN Subcode 9 Telegrams received from CAN2_IN l Always 0 channel is...

Page 189: ...ed Subcode 10 Telegrams received from CAN3_IN l Always 0 channel is not used Subcode 11 Telegrams received from parameter data channel 1 Subcode 12 Telegrams received of parameter data channel 2 The data transfer is limited The limits are determined by the number of telegrams transmitted per time unit and the baud rate The limits can be determined during data exchange in a drive network by adding ...

Page 190: ...ƒ Use C2470 CAN AUX to select the transmission channel for reading and writing parameter data ƒ A time out during remote parameterisation activates the system error message CE15 The corresponding response can be configured under C2485 200 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0370 SDO gateway 0 Activate address gateway remote parameterisation l C0370 0 All code writ...

Page 191: ...EDBCSXS064 EN 4 0 IMPORTANT Possible settings Code Selection Lenze Appl Designation No C2485 MONIT CE15 3 Fault response gate function monitoring CE15 Timeout when remote parameterisation C0370 is activated via interface X14 CAN AUX 198 190 0 TRIP 2 Warning 3 Off ...

Page 192: ...case of ECSxP C4168 x 233 In the fault history buffer C0168 x fault messages are saved in codes as 4 digit numbers The first digit describes the type of fault response The last three digits correspond to the fault number No of the fault message Type of response 0xxx TRIP 1xxx Message 2xxx Warning 3xxx FAIL QSP only for ECSxS P M A axis modules Example C0168 1 2061 ƒ x061 The current fault subcode ...

Page 193: ...he drive is coasting no control 0 5 s ð The drive is coasting due to internal controller inhibit If necessary restart program Message reset ð The drive runs to its setpoint with the maximum torque FAIL QSP ð The drive is decelerated to standstill within the quick stop deceleration time C0105 n Warning STOP The drive can be destroyed due to deactivated monitoring functions n o n ð The failure merel...

Page 194: ...x063 CE2 Communication error on the CAN2_IN process data input object monitoring time adjustable via C0357 2 CAN2_IN C0592 ü ü l x064 CE3 Communication error on the CAN3_IN process data input object monitoring time adjustable via C0357 3 CAN3_IN C0593 ü ü l x065 CE4 BUS OFF state CAN bus at interface X4 CAN too many faulty telegrams CAN C0595 ü ü l x066 CE5 Communication error of the gateway funct...

Page 195: ...6 Sd6 Thermal sensor error on the motor X7 or X8 MCTRL C0594 ü ü l x095 FAN1 Devicefan monitoring only for built in units ü l x110 H10 Device thermal sensor error on heatsink FWM C0588 l ü x111 H11 Device thermal sensor error in the interior of the device FWM C0588 l ü Motor feedback system 0011 OC1 Short circuit of motor cable MCTRL l 0012 OC2 Motor cable earth fault MCTRL l 0015 OC5 Device utili...

Page 196: ...in task 1 ID 2 Internal l ü ü 2 0218 float Task8 Float error in task 8 ID 9 Time out overflow 0105 H05 Internal fault memory Internal l x108 H08 Extension board not connected properly or not supported by program Internal l 0201 overrun Task1 Time out in task 1 ID 2 Internal l ü ü 2 0208 overrun Task8 Time out in task 8 ID 9 0219 overrun Cycl T Time out in cyclic task PLC_PRG ID 1 Internal l ü ü 2 ...

Page 197: ...ult message 0072 PR1 Check sum error in parameter set 1 Internal l 0074 PEr Program error Internal l 0075 PR0 Error in the parameter sets Internal l 0079 PI Error during parameter initialisation Internal l 0080 PR6 l For ECSxS P M Internal fault l For ECSxA Too many user codes Internal l x 0 TRIP 1 message 2 warning 3 FAIL QSP 1 Adjustable in the DDS under Project Exceptional handling 2 For ECSxA ...

Page 198: ...n error at the process data input object CANaux1_IN CANaux_bCe1CommErrCanIn1_ b ü ü x123 CE12 Communication error at the process data input object CANaux2_IN CANaux_bCe2CommErrCanIn2_ b ü ü x124 CE13 Communication error at the process data input object CANaux3_IN CANaux_bCe3CommErrCanIn3_ b ü ü x125 CE14 BUS OFF state of the CAN bus at interface X14 CAN AUX CANaux_bCe4BusOffState_b ü ü Default set...

Page 199: ...g the response to the monitoring functions CAN bus interface Code Monitoring X4 ECSxS P M MotionBus CAN ECSxA System bus CAN C0591 CAN1_IN CE1 C0592 CAN2_IN CE2 C0593 CAN3_IN CE3 C0595 Bus off CE4 C0603 Gateway function CE5 X14 System bus CAN C2481 CANaux1_IN CE11 C2482 CANaux2_IN CE12 C2483 CANaux3_IN CE13 C2484 Bus off CE14 C2485 Gateway function CE15 The input signals CAN1 3_IN CANaux1 3_IN can...

Page 200: ...message CE5 CE15 is output The response to this can be configured via C0603 C2485 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0603 MONIT CE5 3 Fault response gateway function monitoring CE5 Timeout when remote parameter setting C0370 is activated via interface X4 CAN 198 190 0 TRIP 2 Warning 3 Off C2485 MONIT CE15 3 Fault response gate function monitoring CE15 Timeout whe...

Page 201: ...on if an earth fault occurs ƒ If monitoring is actuated the drive controller has to be disconnected from the mains and the short circuit has to be eliminated 9 3 4 Earth fault monitoring OC2 Fault message Monitoring function System variable Possible response TRIP Messag e Warnin g Off 012 OC2 Earth fault MCTRL_bEarthFault_b Default setting üSetting possible The ECSxS axis module is equipped with a...

Page 202: ...erature fixed 150 C MCTRL_bMotorTempGreaterSet Value_b ü ü 057 OH7 Motor temperature adjustable C0121 MCTRL_bMotorTempGreaterC0 121_b ü ü Default setting üSetting possible ƒ Adjustable warning threshold OH7 The warning threshold can be set under C0121 The reaction to exceeding the threshold can be set under C0584 ƒ Fixed warning threshold OH3 Threshold 150 C The reaction to exceeding the threshold...

Page 203: ...toring of motor temperature fixed temperature threshold Detection through KTY thermal sensor via resolver input X7 or encoder input X8 202 0 TRIP 2 Warning 3 Off C0584 MONIT OH7 2 Fault response motor temperature monitoring Temperature threshold can be set under C0121 Detection through KTY thermal sensor via resolver input X7 or encoder input X8 Only effective if OH3 is switched on under C0583 202...

Page 204: ...d OH4 is intended as an early warning stage prior to the final disconnection of the controller by means of TRIP OH In this way the process can be influenced accordingly so that a final disconnection of the controller at an unfavourable moment is avoided Furthermore it is possible to activate e g additional fans which would generate an unacceptable noise nuisance when operated continuously Code Pos...

Page 205: ...s 85 C The monitoring with the adjustable threshold OH4 is designed as an early warning stage before final disconnection of the controller by means of TRIP OH Therefore the process can be influenced accordingly so that the final disconnection of the controller at unfavourable moments is avoided Furthermore for instance additional fans can be activated generating a noise load when switched to conti...

Page 206: ... the interior of the device is monitored If the thermal sensors report values outside the measuring range fault H10 heatsink or H11 interior is reported The response to these faults can be defined under C0588 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0588 MONIT H10 H11 0 Fault response monitoring Thermal sensors in the controller H10 Sensor inside the device H11 Heatsin...

Page 207: ...ible for 30 s with a device output current 1 5 x Ir The overload protection of the axis module can be set with thresholds ƒ adjustable threshold OC7 via C0123 ƒ fixed threshold OC5 100 After an overcurrent phase you can calculate with a recovery phase of 120 s For a more precise consideration see the overcurrent characteristic and the value 3 x taxis module 208 The response to exceeding the adjust...

Page 208: ...rrent characteristic shows the maximum time tTRIP till the axis module generates an I x t error In order to reach this time tTRIP again the time 3 x taxis module with the load I Ir 0 A must be observed Device taxis module s Overcurrent characteristic ECSxS004 54 6 I t Isubprofile_x Irated ǒIsubprofile_x Irated I tsubprofile_x 1Ǔ e t subprofile_x t axis_module ECSxS008 27 3 ECSxS016 27 3 ECSxS032 2...

Page 209: ...mple Arithmetic mean for characteristic 60 s 150 120 s 75 180 s 100 Imax limit set in C0022 150 Ir ƒ For 60 s the arithmetic mean value of the motor current must not exceed 70 of the rated device current ƒ Example Arithmetic mean for characteristic 10 s 200 50 s 44 60 s 70 The current device utilisation is displayed in C0064 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C006...

Page 210: ... manufacturer of the motor The I2 x t monitoring has been designed such that it will be activated after 179 s in the event of a motor with a thermal motor time constant of 5 minutes Lenze setting C0128 a motor current of 1 5 x IN and a trigger threshold of 100 Two adjustable trigger thresholds provide for different responses ƒ Adjustable response OC8 TRIP warning off The trigger threshold is set i...

Page 211: ...reshold value in C0120 OC6 or C0127 OC8 Formulae for I2 x t load Information L t ǒIMot IN Ǔ 2 100 ǒ1 e t t Ǔ L t Chronological sequence of the I2 x t load of the motor Display C0066 IMot Actual motor current C0054 Ir Rated motor current C0088 t Thermal motor time constant C0128 If the controller is inhibited the I2 x t load is reduced L t LStart e t t Ǹ LStart I2 x t load before controller inhibit...

Page 212: ...C0606 Response to error OC8 TRIP warning off Warning C0129 1 S1 torque characteristic I1 Irated 10 200 100 C0129 2 S1 torque characteristics n2 nrated 10 200 40 Effect of code C0129 x 0 0 9 0 0 1 C0129 2 0 2 0 3 0 4 0 6 0 7 0 8 1 0 1 1 1 0 0 132 2 I IN n nN C0129 1 3 9300STD350 Fig 9 4 Working point in the range of characteristic lowering The lowered speed torque characteristic Fig 9 4 reduces the...

Page 213: ...tant C0128 In Function Natural logarithm IMot Actual motor current C0054 Ir Rated motor current C0088 z Threshold value in C0120 OC6 or C0127 OC8 y Evaluation coefficient nrated Rated speed C0087 Formulae for I2 x t load Information L t ǒ IMot y IN Ǔ 2 100 ǒ1 e t t Ǔ L t Chronological sequence of the I2 x t load of the motor Display C0066 y Evaluation coefficient IMot Actual motor current C0054 Ir...

Page 214: ...ault setting üSetting possible These monitoring functions monitor the DC bus and protect the controller ƒ If the DC bus voltage at terminals UG and UG exceeds the upper switch off threshold set in C0173 an OU message is sent ƒ If the DC bus voltage at terminals UG and UG falls below the lower switch off threshold set in C0174 an LU message is sent The monitoring response remains active until the c...

Page 215: ... 342 487 800 785 10 230 yes no C0174 C0174 5 V 400 390 11 400 Lenze setting yes no C0174 C0174 5 V 800 790 12 400 460 yes no C0174 C0174 5 V 800 790 13 480 no C0174 C0174 5 V 800 785 14 480 yes C0174 C0174 5 V 800 785 Tip If undervoltage is existent for more that 3 s or if mains connection is carried out an entry into the fault memory is effected ƒ This operational mode can occur if the control mo...

Page 216: ...or without brake unit LU 285 V OU 800 V 2 Mains 460 V B Operation on 460 V mains with or without brake unit LU 328 V OU 800 V 3 Mains 480V B Operation on 480 V mains without brake unit LU 342 V OU 800 V 4 Mains 480V B Operation on 480 V mains with brake unit LU 342 V OU 800 V 10 Mains 230 V B Operation on 230 V mains with or without brake unit LU C0174 OU 400 V 11 Mains 400 V B Operation on 400 V ...

Page 217: ...nction checks whether a motor phase has failed Note ƒ This monitoring function can only be used for asynchronous motors ƒ When this monitoring function is activated the calculating time available to the user is reduced ƒ The response is set via C0597 ƒ The monitoring limit is set via C0599 Reset fault message 1 Check motor cables 2 Carry out TRIP RESET Code Possible settings IMPORTANT No Designati...

Page 218: ... as a response ƒ For commissioning C0586 always use the Lenze setting TRIP ƒ Only use the possibility of disconnection via C0586 if the monitoring is activated without apparent reason e g by very long cables or intense interference injection of other drives ƒ Configure C0586 2 warning only on the above mentioned condition because the pulses are enabled despite faulty feedback If a fault with regar...

Page 219: ...ensor fault MCTRL_bSensorFault_b ü ü Default setting üSetting possible This monitoring function checks whether the motor temperature sensor supplies values within the measuring range of 50 250 C If the values are outside this measuring range monitoring is activated The response is set via C0594 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0594 MONIT SD6 3 Fault response mo...

Page 220: ...setting üSetting possible When the ECSxS axis module is switched on this monitoring function repeatedly downloads the absolute value of the hiperface absolute value encoder to identify whether the same value is transferred to the drive The absolute value encoders single turn multi turn are supported by a hiperface interface with various numbers of increments e g SRM50 with 1024 Sin Cos periods rev...

Page 221: ...s IMPORTANT No Designation Lenze Appl Selection C0580 Monit SD8 3 Fault response monitoring of SinCos signals at X8 221 0 TRIP 3 Off C0559 SD8 filter t 1 Filter time constant SD8 1 1 ms 200 Example If the setting is 10 ms a SD8 TRIP is actuated after 10 ms Note For the desired encoder monitoring and in particular when using synchronous machines set fault handling to TRIP In order to achieve furthe...

Page 222: ...e may be the cause Furthermore this monitoring function can be used to additionally protect a speed sensor operating in the speed controlled mode The monitoring function thus supplements the individual encoder monitoring ƒ Faults on the encoder system bring about an incorrect actual speed value This normally results in a system deviation on the speed controller that is greater than that in the nor...

Page 223: ...monitoring function responds if the current speed exceeds the max system speed or twice the value of C0011 nmax Stop ƒ With regard to active loads e g hoists pay attention to the fact that the drive in this case operates without torque Specific on site measures are required ƒ If the actual speed value encoder fails it is not provided that this monitoring will be activated The max system speed can ...

Page 224: ...rect execution of the rotor position adjustment This monitoring function can occur during rotor position adjustment in connection with feedback systems ƒ Resolver ƒ TTL encoder ƒ Sin cos encoder ƒ Absolute value encoder single multi turn Cause for this is a cancellation of the adjustment routine as a result of ƒ a supply voltage loss ƒ an encoder cable interruption ƒ a routine stop through the dea...

Page 225: ...controller operation click Diagnostics Actual info in the GDC parameter menu The table which appears then shows the current motor data operating times error messages etc ECSXA346 Fig 10 1 GDC view Diagnostics Device current status The parameter menu of the GDC displays values regarding the fault history under Diagnostics History ECSXA348 Fig 10 2 GDC view Fault diagnostics ...

Page 226: ...e GDO serves to record e g input and output data and device internal states during controller operation Note ƒ Detailed information concerning the handling and functional range of GDO can be gathered from the Manual Global Drive Oscilloscope GDO First steps ƒ Overview of the variables used in the GDO 428 ECSXA480 Fig 10 3 Global Drive Oscilloscope GDO Menu bar Symbol bar at the top Data sets Symbo...

Page 227: ...File W Save Print set Here the recorded curve can be printed in different variants Copy data Here data sets can be copied This button has the same function as the menu command Edit W Copy Symbol bar on the left Fig 10 3 Symbol button Function Zoom Here different zoom functions can be executed Automatic scaling Here all selected curves can be automatically scaled and repositioned and the offset val...

Page 228: ...RIP Active TRIP contents of C0168 1 3 XXX MESSAGE Active message contents of C0168 1 4 Special device states Switch on inhibit 5 Source for controller inhibit the value of C0004 is displayed simultaneously STP1 9300 servo Terminal X5 28 ECSxS P M A Terminal X6 SI1 STP3 Operating module or LECOM A B LI STP4 INTERBUS or PROFIBUS DP STP5 9300 servo ECSxA E System bus CAN ECSxS P M MotionBus CAN STP6 ...

Page 229: ... be transmitted manually and periodically Errors on the bus system and memory overflows of the triggered CAN hardware are displayed 10 4 1 Monitoring of telegram traffic on the CAN bus How to monitor the telegram traffic 1 Connect the Engineering PC directly to the CANopen bus via the EMF2177IB USB system bus adapter 2 Start the PCAN View program 3 Connect PCAN View to Connect to CAN Hardware usin...

Page 230: ... If no telegrams are displayed this may be caused by various factors ƒ Is your Engineering PC connected to the correct CAN bus ƒ Is the correct system bus adapter activated under System control CAN Hardware ƒ What does the status line of the PCAN View contain In case of Bus Heavy mostly a node with a wrong baud rate disturbs the bus traffic ƒ Do the devices are in the Operational status ...

Page 231: ...31 EDBCSXS064 EN 4 0 10 4 2 Setting all CAN nodes to the Operational status How to set all CAN nodes to the Operational status 1 Create the following CAN message under New transmit message 2 Select the CAN message in the Transmit window and press the space bar once to transmit the CAN message ...

Page 232: ...ault analysis via the LED display LED Operating state Check Red Green Off On Controller enabled no fault Off Blinking Controller inhibit CINH active switch on inhibit C0183 Blinking Off Trouble fault TRIP is active C0168 1 Blinking On Warning FAIL QSP is active C0168 1 11 1 2 Fault analysis with keypad XT EMZ9371BC The status messages in the display indicate the controller status Display Controlle...

Page 233: ...units for every fault occurred Fault number and response Time of the last occurrence Frequency of successive occurrence Note ƒ If several faults with different responses occur at the same time only the fault the response of which has the highest priority is entered in the history buffer Power supply module ECSxE TRIP KSB TRIP highest message warning lowest Axis module ECSxS P M A TRIP highest mess...

Page 234: ...Lenze Appl Selection C0043 Trip reset 0 Reset active fault message TRIP RESET 246 0 Reset fault message TRIP RESET no fault 1 Active fault message Delete entries in the history buffer The entries in the history buffer can be deleted via C0167 ƒ This function only works when no trouble is active Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0167 Reset failmem 0 Delete histor...

Page 235: ...ot assigned Bit4 Not assigned Bit5 Not assigned Bit 6 n 0 Bit 7 Controller inhibit CINH Bit 8 Device status bit 1 Bit 9 Device status bit 2 Bit10 Device status bit 3 Bit11 Device status bit 4 Bit12 Warning Bit13 Message Bit14 Not assigned Bit15 Not assigned The status bits 8 11 in C0150 display the binary coded device status of the axis module Status bit 11 Status bit 10 Status bit 9 Status bit 8 ...

Page 236: ...us word Display only 0 1 65535 Controller interprets information as 16 bit binary coded Bit 0 Active fault Bit 1 Mmax reached Bit 2 Imax reached Bit 3 Pulse inhibit IMP Bit 4 Ready for operation RDY Bit 5 Controller inhibit CINH Bit 6 TRIP active Bit 7 Initialisation Bit 8 Motor direction of rotation Cw CCw Bit 9 Not assigned Bit 10 Not assigned Bit 11 Not assigned Bit 12 Not assigned Bit 13 Not a...

Page 237: ...point change Motor is not connected in correct phase relation Connect motor in correct phase relation at the terminals U V W Synchronous motor l Motor does not follow the setpoint change l Imax follows the setpoint selection in idle state Motor is not connected in correct phase relation Connect motor in correct phase relation at the terminals U V W l Motor rotates CCW when viewed to the motor shaf...

Page 238: ...nt overload of the motor e g due to l frequent or too long acceleration processes l impermissible continuous current l Check drive dimensioning l Check setting of C0120 x017 OC7 I x t overload warning axis module C0123 Current overload of the axis module C0123 e g due to frequent or too long acceleration phases l Check drive dimensioning l Check setting of C0123 x018 OC8 I2 x t overload warning mo...

Page 239: ...e to cool and ensure better ventilation l Check ambient temperature in the control cabinet l Switch off monitoring C0582 3 Heatsink is very dirty Clean heatsink Wrong mounting position Change mounting position The value specified under C0122 is set too low Enter a higher value under C0122 x055 OH5 Interior temperature C0124 l Allow module to cool and ensure better ventilation l Check ambient tempe...

Page 240: ...s received too many incorrect telegrams via the system bus CAN and has disconnected from the bus l Check wiring at X4 bus termination available l Check screen contact of the cables l Check PE connection l Check bus load reduce baud rate if necessary Observe cable length l Switch off monitoring C0595 3 x066 CE5 System bus CAN time out communication error of gateway function interface X4 For remote ...

Page 241: ...rformance l Correct parameter set l Check code initialisation values After fault correction completely deenergise the device switch off 24 V supply discharge DC bus 0080 PR6 With ECSxS P M internal error Contact Lenze With ECSxA too many user codes Reduce number of user codes x082 Sd2 Resolver error at X7 Resolver cable is interrupted l Check cable for wire breakage l Check resolver l Switch off m...

Page 242: ...adjustment Otherwise the drive may carry out uncontrolled movements after controller enable The drive must not be commissioned without a successfully executed rotor position adjustment After fault elimination Completely deenergise device switch off 24 V supply discharge DC bus x088 Sd8 SinCos encoder at X8 sends inconsistent data The tracks in the SinCos encoder are damaged Replace SinCos encoder ...

Page 243: ...a input object CANaux1_IN CANaux1_IN object receives faulty data or communication is interrupted l Check wiring at X14 l Check transmitter l Increase monitoring time under C2457 1 if necessary l Switch off monitoring C2481 3 x123 CE12 Communication error at the process data input object CANaux2_IN CANaux2_IN object receives faulty data or communication is interrupted l Check wiring at X14 l Check ...

Page 244: ...l T Float error in cyclic task PLC_PRG ID 1 0211 float Task1 Float error in task 1 ID 2 0218 float Task8 Float error in task 8 ID 9 0219 overrun Cyc T Time out in cyclic task PLC_PRG ID 1 Task processing takes longer than the monitoring time set l Adjust the length of the task runtime l Adjust monitoring time l Determine the cause of time out by checking the task runtime at the task monitor l Swap...

Page 245: ...rolong the cycle time x241 ovr Receive Too many receive telegrams Reduce the number of telegrams on the system bus CAN x260 Err Node Guard Life guarding event The controller configured as CAN slave does not receive a Node Guarding telegram within the Node Life Time from the CAN master l Check wiring at X4 l Check CAN configuration l Make sure that Node Guarding has been activated in the CAN master...

Page 246: ...AIL QSP can be reset by l pressing ð 2 on keypad XT EMZ9371 BC Then press 1 to re enable the controller l Set code C0043 0 l Control word C0135 bit 11 l Control word AIF l Control word system bus CAN MotionBus CAN at ECSxS P M After the reset of the TRIP FAIL QSP the drive remains at standstill Message Danger The fault message is reset automatically after the fault has been eliminated and the driv...

Page 247: ...he AIF FieldBusStateBit0 7 Please read the documentation for the connected fieldbus module AIF AIF Communication Error AIF Fieldbus State 10 11 12 13 14 15 16 17 18 AIF Ce0CommErr AIF FieldBusStateBit0 AIF FieldBusStateBit1 AIF FieldBusStateBit2 AIF FieldBusStateBit6 AIF FieldBusStateBit5 AIF FieldBusStateBit4 AIF FieldBusStateBit3 AIF FieldBusStateBit7 X1 ECSXA200 Fig 12 1 AIF function block Resp...

Page 248: ...2 C0856 3 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Controlword 10 24 25 26 19 27 28 29 30 20 21 22 23 31 32 33 34 11 700 715 21 12 35 50 13 51 66 10 AIF1In W1 AIF1In W1 Bit0 AIF1In W1 Bit15 AIF1In W0 W1 AIF1In W2 W3 AIF1In DctrlCtrl AIF1In Ctrl Bit0 AIF1In Ctrl Bit1 AIF1In Ctrl Bit2 AIF1In Ctrl Quickstop_B3 AIF1In Ctrl Bit4 AIF1In Ctrl Bit5 AIF1In Ctrl Bit6 AIF1In Ctrl Bit7 AIF1In C...

Page 249: ...ords are indicated on the AIF interface AIF1_IN Hexadecimal value is bit coded Read only 248 1 AIF1 IN bits 0000 hex FFFF Input word 2 bit 0 15 2 AIF1 IN bits Input word 3 bit 0 15 C0856 Analog process data input words are indicated decimally on the AIF interface AIF1_IN 100 00 16384 Read only 248 1 AIF1 IN words 199 99 0 01 199 99 Input word 1 2 AIF1 IN words Input word 2 3 AIF1 IN words Input wo...

Page 250: ...In Ctrl Quickstop_B3 AIF1In Ctrl Bit4 AIF1In Ctrl Bit7 AIF1In Ctrl Disable_B8 AIF1In Ctrl CInhibit_B9 AIF1In Ctrl TripSet_B10 AIF1In Ctrl TripReset_B11 AIF1In Ctrl Bit12 AIF1In Ctrl Bit15 AIF1In DctrlCtrl AIF1In W0 W1 Note The internal control word is firmly allocated to bytes 1 and 2 Via this control word it is possible touse l signals for the functions quick stop QSP DISABLE CINH TRIP SET und TR...

Page 251: ...e 8 C6130 1 C6130 2 C6130 4 C6150 1 C6130 3 C6110 1 C6110 16 16 Bit LowWord 16 Bit HighWord 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit 16 Bit 16 binary signals 16 Bit 16 binary signals C6154 C6131 1 C6131 2 C6131 3 C6111 1 C6111 16 C6131 4 C6151 1 X1 0 0 0 1 1 1 2 2 2 3 3 3 4 4 4 5 5 5 AIF1Out DctrlStat AIF1Out W1 AIF1Out W1 AIF1Out W2 AIF1Out W2 AIF1Out Bit0 AIF1Out Bit0 AIF1Out Bit15 AIF1Out B...

Page 252: ...FALSE not assigned Source for AIF1Out Bit1 bit 1 3 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit2 bit 2 4 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit3 bit 3 5 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit4 bit 4 6 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit5 bit 5 7 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit6 bit 6 8...

Page 253: ...AIF1Out W1 3 AIF1Out anl 1000 FIXED 0 not assigned Source for output word AIF1Out W2 4 AIF1Out anl 1000 FIXED 0 not assigned Source for output word AIF1Out W3 5 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W0 258 6 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W1 7 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W2 8 AIF2Out anl 1...

Page 254: ...e fieldbus module 251 0 W2 Int W3 Int Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 Byte 7 byte 8 AIF1Out W3 1 W2 W3 Dint Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 W3 Byte 7 byte 8 AIF1Out W2 W3 2 W2 Int W3 bit Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 Byte 7 byte 8 AIF1Out Bit0 Bit1...

Page 255: ...F1Out DctrlStat AIF1Out W1 AIF1Out W2 W3 16 bits C6131 1 16 bits C6131 2 32 bits C6151 1 2 AIF1Out DctrlStat AIF1Out W1 AIF1Out W2 AIF1Out Bit0 15 16 bits C6131 1 16 bits C6131 2 16 bits C6131 3 1 bit C6111 1 15 3 AIF1Out DctrlStat AIF1Out W1 AIF1Out Bit0 15 AIF1Out W3 16 bits C6131 1 16 bits C6131 2 1 bit C6111 1 15 16 bits C6131 4 4 AIF1Out DctrlStat AIF1Out Bit0 15 AIF1Out W2 AIF1Out W3 16 bits...

Page 256: ...ntation for the connected fieldbus module 16 Bit 16 binary signals Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 16 Bit 16 binary signals 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit AIF2In 16 Bit LowWord 16 Bit HighWord 22 14 67 82 15 83 98 11 16 17 X1 AIF2In Bit0 AIF2In Bit15 AIF2In W0 AIF2In Bit16 AIF2In Bit31 AIF2In W1 AIF2In W2 AIF2In W0 W1 AIF2In W3 AIF2In W2 W3 ECSXA203 Fig 12 4 A...

Page 257: ...For this reason they can be evaluated as required as ƒ digital signals 1 bit ƒ analog signals 16 bit ƒ phase signals 32 Bit in the axis module Byte Digital signals 1 bit Analog signals 16 Bit Phase signals 32 Bit 1 2 AIF2In Bit0 AIF2In Bit15 AIF2In W0 AIF2In W0 W1 3 4 AIF2In Bit16 AIF2In Bit31 AIF2In W1 5 6 AIF2In W2 AIF2In W2 W3 7 8 AIF2In W3 ...

Page 258: ...t W1 AIF2Out W0 AIF2Out W3 AIF2Out W0 W1 AIF2Out W2 ECSXA204 Fig 12 5 AIF2Out function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C6130 Display of the analog output signals to the fieldbus module 32768 1 32767 1 AIF AnOut Output word AIF1Out DctrlStat 251 2 AIF AnOut Output word AIF1Out W1 3 AIF AnOut Output word AIF1Out W2 4 AIF AnOut Output word AIF1Out W3 5...

Page 259: ...W3 9 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W0 263 10 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W1 11 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W2 12 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W3 For possible signals see selection list analog signals 437 C6150 Display of the phase output s...

Page 260: ...e 2 AIF2Out W0 W1 Byte 3 byte 4 AIF2Out W0 W1 Byte 5 byte 6 AIF2Out W2 Byte 7 byte 8 AIF2Out W3 User data The eight bytes of user data to the fieldbus module can be assigned with ƒ analog signals 16 bits ƒ phase signals 32 bits The switch C6155 is used to assign the eight bytes of user data to the fieldbus module Value in C6155 User data Byte 1 2 Byte 3 4 Byte 5 6 Byte 7 8 0 AIF2Out W0 AIF2Out W1 ...

Page 261: ...ation for the connected fieldbus module 16 Bit 16 binary signals Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 16 Bit 16 binary signals 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit AIF3In 16 Bit LowWord 16 Bit HighWord 23 18 99 114 19 115 130 12 20 21 X1 AIF3In Bit0 AIF3In Bit15 AIF3In W0 AIF3In Bit16 AIF3In Bit31 AIF3In W1 AIF3In W2 AIF3In W0 W1 AIF3In W3 AIF3In W2 W3 ECSXA205 Fig 12 6 ...

Page 262: ...For this reason they can be evaluated as required as ƒ digital signals 1 bit ƒ analog signals 16 bit ƒ phase signals 32 Bit in the axis module Byte Digital signals 1 bit Analog signals 16 bit Phase signals 32 Bit 1 2 AIF3In Bit0 AIF3In Bit15 AIF3In W0 AIF3In W0 W1 3 4 AIF3In Bit16 AIF3In Bit31 AIF3In W1 5 6 AIF3In W2 AIF3In W0 W1 7 8 AIF3In W3 ...

Page 263: ...3Out W1 AIF3Out W0 AIF3Out W3 AIF3Out W0 W1 AIF3Out W2 ECSXA206 Fig 12 7 AIF3Out function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C6130 Display of the analog output signals to the fieldbus module 32768 1 32767 1 AIF AnOut Output word AIF1Out DctrlStat 251 2 AIF AnOut Output word AIF1Out W1 3 AIF AnOut Output word AIF1Out W2 4 AIF AnOut Output word AIF1Out W...

Page 264: ...W3 9 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W0 263 10 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W1 11 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W2 12 AIF3Out anl 1000 FIXED 0 not assigned Source for output word AIF3Out W3 For possible signals see selection list analog signals 437 C6150 Display of the phase output s...

Page 265: ... AIF3Out W0 W1 Byte 3 byte 4 AIF3Out W0 W1 Byte 5 byte 6 AIF3Out W2 Byte 7 byte 8 AIF3Out W3 User data The eight bytes of user data to the fieldbus module can be assigned with ƒ analog signals 16 bits ƒ phase signals 32 bits The switch C6156 is used to assign the eight bytes of user data to the fieldbus module Value in C6156 User data Byte 1 2 Byte 3 4 Byte 5 6 Byte 7 8 0 AIF3Out W0 AIF3Out W1 AIF...

Page 266: ... Fig 12 8 AIn1 function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0026 Offset for relative analog signals AIN 266 309 1 FCODE offset 0 0 199 99 0 01 199 99 FCODE_nC26_1_a 2 FCODE offset 0 0 FCODE_nC26_2_a C0027 Gain for relative analog signals AIN 266 309 1 FCODE gain 100 0 199 99 0 01 199 99 FCODE_nC27_1_a 2 FCODE gain 100 0 FCODE_nC27_2_a C0034 Mst current...

Page 267: ...AN3_OUT CAN_SYNC 1 C6210 18 C6210 20 C6210 19 137 138 139 140 C6211 18 C6211 19 C6211 20 CAN_ResetNode CAN ResetNode CAN Ce2CommErrCanIn2 CAN TxCan2Synchronized CAN Ce1CommErrCanIn1 CAN Ce3CommErrCanIn3 CAN Ce4BusOffState CAN TxCan3Synchronized X4 CG CH CL ECSXA210 Fig 12 9 CAN function block system bus management Tip More detailed information on the CAN bus can be found in the appendix of this do...

Page 268: ...bit 2 4 CAN DigOut CAN1Out Bit3 bit 3 5 CAN DigOut CAN1Out Bit4 bit 4 6 CAN DigOut CAN1Out Bit5 bit 5 7 CAN DigOut CAN1Out Bit6 bit 6 8 CAN DigOut CAN1Out Bit7 bit 7 9 CAN DigOut CAN1Out Bit8 bit 8 10 CAN DigOut CAN1Out Bit9 bit 9 11 CAN DigOut CAN1Out Bit10 bit 10 12 CAN DigOut CAN1Out Bit11 bit 11 13 CAN DigOut CAN1Out Bit12 bit 12 14 CAN DigOut CAN1Out Bit13 bit 13 15 CAN DigOut CAN1Out Bit14 b...

Page 269: ...bit 7 9 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit8 bit 8 10 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit9 bit 9 11 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit10 bit 10 12 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit11 bit 11 13 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit12 bit 12 14 CAN1Out dig 1000 0 FALSE not as...

Page 270: ...4 253 C6211 17 CANSync ForInterpolator CANSync ResetSyncForInterpolatord CANSync Deviation CANSync InsideWindow C6210 17 DI3 DI1 DI2 X6 DI4 DO1 ECSXA217 Fig 12 10 CANSync function block Tip Detailed information on CAN synchronisation and configuration via codes can be found in the chapter 8 1 6 Axis synchronisation CAN synchronisation 179 Codes Code Possible settings IMPORTANT No Designation Lenze...

Page 271: ...0 001 ms 6 500 C1123 Sync window 0 010 Synchronisation window 181 0 000 0 001 ms 6 500 C6210 Display of the digital output signals to the MotionBus CAN 0 FALSE 1 TRUE 1 CAN DigOut CAN1Out Bit0 bit 0 276 2 CAN DigOut CAN1Out Bit1 bit 1 3 CAN DigOut CAN1Out Bit2 bit 2 4 CAN DigOut CAN1Out Bit3 bit 3 5 CAN DigOut CAN1Out Bit4 bit 4 6 CAN DigOut CAN1Out Bit5 bit 5 7 CAN DigOut CAN1Out Bit6 bit 6 8 CAN...

Page 272: ...t Bit7 bit 7 9 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit8 bit 8 10 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit9 bit 9 11 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit10 bit 10 12 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit11 bit 11 13 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit12 bit 12 14 CAN1Out dig 1000 0 FALSE...

Page 273: ...3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Controlword 23 146 147 148 141 149 150 151 152 142 143 144 145 153 154 155 156 24 25 157 172 26 173 188 13 C0136 2 24 800 815 CAN1In W0 W1 CAN1In W2 W3 CAN1In DctrlCtrl CAN1In Ctrl Bit0 CAN1In Ctrl Bit1 CAN1In Ctrl Bit2 CAN1In Ctrl Quickstop_B3 CAN1In Ctrl Bit4 CAN1In Ctrl Bit5 CAN1In Ctrl Bit6 CAN1In Ctrl Bit7 CAN1In Ctrl Disable_B8 CAN1In Ctrl CInhibit_B9 CAN...

Page 274: ...1 4 CAN IN bits Bit 16 Bit 31 CAN2_IN Process data input word 2 5 CAN IN bits Bit 0 Bit15 CAN3_IN Process data input word 1 6 CAN IN bits Bit 16 Bit 31 CAN3_IN Process data input word 2 C0866 Analog process data input words decimal for CAN bus interface X4 100 00 16384 Read only 448 273 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 C...

Page 275: ...trl Bit7 CAN1In Ctrl Disable_B8 CAN1In Ctrl CInhibit_B9 CAN1In Ctrl TripSet_B10 CAN1In Ctrl TripReset_B11 CAN1In Ctrl Bit12 CAN1In Ctrl Bit15 CAN1In DctrlCtrl CAN1In W0 W1 Note The internal control word is firmly allocated to bytes 1 and 2 Via this control word it is possible touse l signals for the functions quick stop QSP DISABLE CINH TRIP SET und TRIP RESET and l the other 11 control bits CAN1I...

Page 276: ...te 6 Byte 7 Byte 8 C6230 1 C6230 2 C6230 4 C6250 1 C6230 3 C6210 1 C6210 16 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit 16 Bit 16 binary signals 16 Bit 16 binary signals C6254 C6231 1 C6231 2 C6231 3 C6211 1 C6211 16 C6231 4 C6251 1 0 0 0 1 1 1 2 2 2 3 3 3 4 4 4 5 5 5 CAN1Out DctrlStat CAN1Out W1 CAN1Out W1 CAN1Out W2 CAN1Out W2 CAN1Out Bit0 CAN1Out Bit0 CAN1Out Bit15 CAN1Out Bit15 CAN1Out W3 CAN...

Page 277: ...t CAN1Out Bit4 bit 4 6 CAN DigOut CAN1Out Bit5 bit 5 7 CAN DigOut CAN1Out Bit6 bit 6 8 CAN DigOut CAN1Out Bit7 bit 7 9 CAN DigOut CAN1Out Bit8 bit 8 10 CAN DigOut CAN1Out Bit9 bit 9 11 CAN DigOut CAN1Out Bit10 bit 10 12 CAN DigOut CAN1Out Bit11 bit 11 13 CAN DigOut CAN1Out Bit12 bit 12 14 CAN DigOut CAN1Out Bit13 bit 13 15 CAN DigOut CAN1Out Bit14 bit 14 16 CAN DigOut CAN1Out Bit15 bit 15 17 CAN D...

Page 278: ...ce for CAN1Out Bit11 bit 11 13 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit12 bit 12 14 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit13 bit 13 15 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit14 bit 14 16 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit15 bit 15 17 CAN1Out dig 1000 0 FALSE not assigned Source for CANSync ResetSyncForInterpol...

Page 279: ... W3 9 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W0 291 10 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W1 11 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W2 12 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W3 For possible signals see selection list analog signals 437 C6250 Display of the phase output ...

Page 280: ... byte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out W2 W3 Byte 7 byte 8 CAN1Out W2 W3 2 W2 Int W3 bit Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out W2 Byte 7 byte 8 CAN1Out Bit0 Bit15 3 W2 Bit W3 Int Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out Bit0 Bit15 Byte 7 byte 8 CAN1Out W3 4 W1 Bit W23 I Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CA...

Page 281: ...1Out DctrlStat CAN1Out W1 CAN1Out W2 W3 16 bits C6231 1 16 bits C6231 2 32 bits C6251 1 2 CAN1Out DctrlStat CAN1Out W1 CAN1Out W2 CAN1Out Bit0 15 16 bits C6231 1 16 bits C6231 2 16 bits C6231 3 1 bit C6211 1 15 3 CAN1Out DctrlStat CAN1Out W1 CAN1Out Bit0 15 CAN1Out W3 16 bits C6231 1 16 bits C6231 2 1 bit C6211 1 15 16 bits C6231 4 4 CAN1Out DctrlStat CAN1Out Bit0 15 CAN1Out W2 CAN1Out W3 16 bits ...

Page 282: ... 16 binary signals 16 Bit LowWord 16 Bit LowWord 16 Bit HighWord 16 Bit HighWord 16 Bit C0863 3 16 binary signals C0866 6 C0866 7 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Controlword 14 29 30 25 C0866 5 C0866 4 C0867 2 28 27 205 189 220 204 16 Bit 16 Bit CAN2In W0 W1 CAN2In W2 W3 CAN2In W2 CAN2In W1 CAN2In W0 CAN2In Bit16 CAN2In Bit0 CAN2In Bit31 CAN2In Bit15 CAN2In W3 X4 CG CH CL E...

Page 283: ...it 0 Bit15 CAN3_IN Process data input word 1 6 CAN IN bits Bit 16 Bit 31 CAN3_IN Process data input word 2 C0866 Analog process data input words decimal for CAN bus interface X4 100 00 16384 Read only 448 273 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN...

Page 284: ...red as ƒ digital signals 1 bit ƒ analog signals 16 bit ƒ phase signals 32 Bit in the axis module Byte Digital signals 1 bit Analog signals 16 bit Phase signals 32 Bit 1 2 CAN2In Bit0 CAN2In Bit15 CAN2In W0 CAN2In W0 W1 3 4 CAN2In Bit16 CAN2In Bit31 CAN2In W1 5 6 CAN2In W2 CAN2In W2 W3 7 8 CAN2In W3 Note Via C0357 you can set the monitoring time Lenze setting 3000 ms for data reception 198 ...

Page 285: ...a value within the eight bytes of user data has changed event controlled or with the cycle time set under C0356 2 time controlled 176 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit 16 Bit 16 Bit C6255 0 0 1 1 C6251 2 C6231 6 C6231 7 C6231 8 C6231 5 CAN2Out C6230 6 C6230 7 C6230 8 C6250 2 C6230 5 CAN2Out W1 CAN2Out W0 CAN2Out W3 CAN2Out W0 W1 CA...

Page 286: ...d CAN1Out W1 3 CAN1Out anl 1000 FIXED 0 not assigned Source for output word CAN1Out W2 4 CAN1Out anl 1000 FIXED 0 not assigned Source for output word CAN1Out W3 5 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W0 285 6 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W1 7 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W2 8 CAN2Out anl...

Page 287: ...of the CAN2Out function block to the MotionBus CAN 285 0 W0 Int W1 Int Byte 1 byte 2 CAN2Out W0 Byte 3 byte 4 CAN2Out W1 Byte 5 byte 6 CAN2Out W2 Byte 7 byte 8 CAN2Out W3 1 W0 W1 Dint Byte 1 byte 2 CAN2Out W0 W1 Byte 3 byte 4 CAN2Out W0 W1 Byte 5 byte 6 CAN2Out W2 Byte 7 byte 8 CAN2Out W3 User data The eight bytes of user data to the MotionBus CAN can be assigned with ƒ analog signals 16 bits ƒ ph...

Page 288: ...16 binary signals 16 Bit LowWord 16 Bit LowWord 16 Bit HighWord 16 Bit HighWord 16 Bit C0863 5 16 binary signals C0866 10 C0866 11 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Controlword 15 33 34 26 C0866 9 C0866 8 C0867 3 32 31 237 221 252 236 16 Bit 16 Bit CAN3In W0 W1 CAN3In W2 W3 CAN3In W2 CAN3In W1 CAN3In W0 CAN3In Bit16 CAN3In Bit0 CAN3In Bit31 CAN3In Bit15 CAN3In W3 X4 CG CH CL ...

Page 289: ...it 0 Bit15 CAN3_IN Process data input word 1 6 CAN IN bits Bit 16 Bit 31 CAN3_IN Process data input word 2 C0866 Analog process data input words decimal for CAN bus interface X4 100 00 16384 Read only 448 273 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN...

Page 290: ...red as ƒ digital signals 1 bit ƒ analog signals 16 bit ƒ phase signals 32 Bit in the axis module Byte Digital signals 1 bit Analog signals 16 bit Phase signals 32 Bit 1 2 CAN3In Bit0 CAN3In Bit15 CAN3In W0 CAN3In W0 W1 3 4 CAN3In Bit16 CAN3In Bit31 CAN3In W1 5 6 CAN3In W2 CAN3In W2 W3 7 8 CAN3In W3 Note Via C0357 you can set the monitoring time Lenze setting 3000 ms for data reception 198 ...

Page 291: ...alue within the eight bytes of user data has changed event controlled or with the cycle time set under C0356 2 time controlled 176 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 16 Bit LowWord 16 Bit HighWord 16 Bit 16 Bit 16 Bit 16 Bit C6256 0 0 1 1 C6251 3 C6231 10 C6231 11 C6231 12 C6231 9 CAN3Out C6230 10 C6230 11 C6230 12 C6250 3 C6230 9 CAN3Out W1 CAN3Out W0 CAN3Out W3 CAN3Out W0 W1...

Page 292: ...d CAN1Out W1 3 CAN1Out anl 1000 FIXED 0 not assigned Source for output word CAN1Out W2 4 CAN1Out anl 1000 FIXED 0 not assigned Source for output word CAN1Out W3 5 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W0 285 6 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W1 7 CAN2Out anl 1000 FIXED 0 not assigned Source for output word CAN2Out W2 8 CAN2Out anl...

Page 293: ... the CAN3Out function block to the MotionBus CAN 291 0 W0 Int W1 Int Byte 1 byte 2 CAN3Out W0 Byte 3 byte 4 CAN3Out W1 Byte 5 byte 6 CAN3Out W2 Byte 7 byte 8 CAN3Out W3 1 W0 W1 Dint Byte 1 byte 2 CAN3Out W0 W1 Byte 3 byte 4 CAN3Out W0 W1 Byte 5 byte 6 CAN3Out W2 Byte 7 byte 8 CAN3Out W3 User data The eight bytes of user data to the MotionBus CAN can be assigned with ƒ analog signals 16 bits ƒ phas...

Page 294: ...C6310 9 C6310 11 255 36 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 37 C6331 2 C6331 1 C6311 1 C6311 2 C6311 5 C6311 6 C6311 7 C6311 8 C6311 9 C6311 10 C6311 11 C6311 14 C6311 15 C6311 3 C6311 13 C6311 12 C6311 4 DCTRL 1 1 C6310 3 DCTRL_bTrip_b DCTRL_bWarn_b DCTRL_bMess_b DCTRL_bFail_b DCTRL_bCwCCw_b DCTRL_bExternalFault_b DCTRL_bNActEq0_b DCTRL_bStat1_b DCTRL_bStat2_b DCTRL_bStat4...

Page 295: ... Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned C0136 Control words Hexadecimal value is bit coded Read only 1 CTRLWORD 0 hex FFFF Control word C0135 2 CTRLWORD CAN control word 3 CTRLWORD AIF control word C0150 Status word 0 Device status word for networking via automation interface AIF Read only 299 0 1 65535 Controller evaluates information as 16 bits binary coded Bit 0 Not assigne...

Page 296: ... CInh2 3 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripSet1 4 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripReset1 5 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL StatB0 6 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL StatB2 7 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL StatB3 8 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL StatB4 9 DCTRL dig 100...

Page 297: ...t DISABLE This function sets Operation inhibit DISABLE in the drive i e the power output stages are inhibited and all speed current position controllers are reset In the Operation inhibit state the drive cannot be started with the command Controller enable ƒ The function can be controlled via the following inputs OR d Control word CAN1In DctrlCtrl bit 8 of CAN1_IN function block Control word AIF1I...

Page 298: ...581 MONIT EEr 0 Fault response external fault monitoring ExternalFault EEr 298 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL QSP 12 17 5 Resetting TRIP TRIP RESET This function resets an upcoming TRIP provided that the cause of malfunction has been eliminated If the cause of malfunction is still active there will be no reaction ƒ The function can be controlled via the following inputs OR d Control word ...

Page 299: ...nh DCTRL Stat DCTRL StatB0 DCTRL StatB2 DCTRL StatB3 DCTRL StatB4 DCTRL StatB5 DCTRL StatB14 DCTRL StatB15 ECSXA266 Fig 12 18 DCTRL function block Output of the status word DCTRL Stat Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0150 Status word 0 Device status word for networking via automation interface AIF Read only 299 0 1 65535 Controller evaluates information as 16 b...

Page 300: ... bit 10 Status bit 9 Status bit 8 Description 0 0 0 0 Initialisation after connecting the supply voltage 0 0 0 1 Switch on inhibit restart protection active C0142 0 0 0 1 1 Controller inhibited 0 1 1 0 Controller enabled 0 1 1 1 A monitoring function returns a message 1 0 0 0 A monitoring function returns a TRIP 1 0 1 0 A monitoring function returns a FAIL QSP 0 FALSE 1 TRUE ...

Page 301: ...l ƒ The master frequency input X8 can be configured as a master frequency output via C0491 ƒ An encoder can be selected and configured via the codes C0419 encoder selection C0420 encoder increments C0421 encoder bias C0427 Type of master frequency input signal ƒ Output of the analog signal DFIN_In_v ƒ 2 to 3 slaves connected to the master Use the EMF2132IB digital frequency distributor to wire the...

Page 302: ... 307 308 309 are only possible with operating system 7 0 or higher 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher 408 AM128 8V 409 AM256 8V 410 AM512 8V 411 AM1024 8V C0420 Encoder const 512 Number of increments of the encoder 301 106 113 ...

Page 303: ...at DFIN_In_v B Signal sequence with phase shift CW rotation C0427 1 A speed B direction B B A A Z Z a transmits the speed transmits the speed B FALSE positive value at DFIN_In_v TRUE negative value at DFIN_In_v Control of the direction of rotation via track B C0427 2 A or B speed or direction B B A A Z Z a transmits speed and direction of rotation positive value at DFIN_In_v FALSE B FALSE transmit...

Page 304: ...to 3 slaves connected to the master Use the EMF2132IB digital frequency distributor to wire the ECS axis modules with master digital frequency cable EYD0017AxxxxW01W01 and slave digital frequency cable EYD0017AxxxxW01S01 DFOUT X8 C0540 0 1 2 CTRL C0549 C0545 C0030 C0540 0 1 2 nmax 15000 rpm 0 0 1 1 X7 C0491 910 C6431 C6431 C0547 DFOut Out DFOut In_v ECSXA232 Fig 12 20 DFOUT function block Codes Co...

Page 305: ... offset 304 0 1 inc 65535 1 revolution 65535 increments C0547 DIS AN IN Analog signal on the input of the DFOUT block Read only 304 199 99 0 00 199 99 C0549 DIS DF IN Speed on the input of the DFOUT block Only display 304 32767 1 rpm 32767 C6430 DFOUT Display of the analog output signal DFOut Out in the DFOUT function block 304 32768 1 32767 C6431 DFOUT 1000 Selection of the analog output signal D...

Page 306: ... X8 Scaling 15000 rpm º INT 16384 Transfer function f Hz DFOUT Out rpm C0030 60 Example l DFOUT_nOut_v 3000 rpm l C0030 3 this corresponds to a number of increments of 2048 increments revolution f Hz 3000 rpm 2048 60 102400 Hz C0540 2 Encoder simulation of the resolver with zero track in resolver position Function l The function is used if a resolver is connected to X7 l The encoder constant for o...

Page 307: ...ion block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0114 Polarity of the digital inputs 307 121 1 DIGIN pol 0 HIGH level active X6 DI1 DIGIN_bIn1_b 2 DIGIN pol 0 HIGH level active X6 DI2 DIGIN_bIn2_b 3 DIGIN pol 0 HIGH level active X6 DI3 DIGIN_bIn3_b 4 DIGIN pol 0 HIGH level active X6 DI4 DIGIN_bIn4_b 0 HIGH level active 1 LOW level active C0443 DIS DIGIN Signal ...

Page 308: ...1_b DIGOUT_bRelais_b ECSXA242 Fig 12 22 DigOut function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0118 Polarity of the digital outputs 308 121 1 DIGOUT pol 0 HIGH level active X6 DO1 DIGOUT_bOut1_b 2 DIGOUT pol 0 HIGH level active X25 DIGOUT_bRelais_b brake connection 0 HIGH level active 1 LOW level active C6370 Display of the output signals at the digital o...

Page 309: ... 271 272 303 49 68 69 78 16 20 79 80 304 319 FCODE C0017 FCODE C0037 FCODE C0141 FCODE C0108 1 FCODE C0108 2 FCODE C0109 2 FCODE C0135 Bit0 FCODE C0109 1 FCODE C0471 Bit0 FCODE C0471 Bit31 FCODE C0250 FCODE C0472 1 FCODE C0472 20 FCODE C0473 1 FCODE C0473 10 FCODE C0475 2_v FCODE C0135 Bit15 FCODE C0474 1 FCODE C0474 5 FCODE C0475 1_v ECSXA261 Fig 12 23 FCODE function block Beispiel You can enter ...

Page 310: ... 0 System control word DCTRL 0 1 65535 Controller evaluates information as 16 bits binary coded Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Quick stop QSP Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Operation inhibit DISABLE Bit 9 Controller inhibit CINH Bit 10 TRIP SET Bit 11 TRIP RESET Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not ass...

Page 311: ... 309 1 0 0 199 99 0 01 199 99 FCODE_bC472_1_a 2 0 0 FCODE_bC472_2_a 3 100 0 FCODE_bC472_3_a 4 0 0 FCODE_bC472_4_a 20 0 0 FCODE_bC472_20_a C0473 Freely configurable code for absolute analog signals 309 1 FCODE abs 1 32767 1 32767 2 FCODE abs 1 3 FCODE abs 0 10 FCODE abs 0 C0474 Freely configurable code for phase signals 309 1 FCODE PH 0 2147483647 1 2147483647 5 FCODE PH 0 C0475 Freely configurable...

Page 312: ...tput of constant signals Function This function block outputs fixed values to provide easy programming in the standard calculation of percentage 100 16384 of the drive technology FIXED 2 3 2 FIXED 100 FIXED 100 FIXED 1 True ECSXA262 Fig 12 24 FIXED function block output of constant signals ...

Page 313: ...111 2 C7111 3 C7151 1 C7151 2 651 652 651 652 653 651 652 InNeg AnIn1 InNeg AnIn2 InNeg PhiIn1 InNeg DigIn1 InNeg DigIn2 InNeg DigIn3 InNeg PhiIn2 InNeg AnOut1 InNeg AnOut2 InNeg PhiOut1 InNeg DigOut1 InNeg DigOut2 InNeg DigOut3 InNeg PhiOut2 ECSXA251 Fig 12 25 InNeg function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C7110 Display of the digital input signals...

Page 314: ... 0 not assigned Source for InNeg AnIn1 2 InNeg An 1000 FIXED 0 not assigned Source for InNeg AnIn2 For possible signals see selection list analog signals 437 C7150 Display of the phase input signals in the InNeg function block signal inversion 313 2147483647 1 2147483647 1 InNeg PhiV InNeg PhiIn1 2 InNeg PhiV InNeg PhiIn2 C7151 Selection of the phase input signals for the InNeg function block sign...

Page 315: ...3 C7251 1 C7251 2 671 672 671 672 673 671 672 OutNeg AnIn1 OutNeg AnIn2 OutNeg PhiIn1 OutNeg DigIn1 OutNeg DigIn2 OutNeg DigIn3 OutNeg PhiIn2 OutNeg AnOut1 OutNeg AnOut2 OutNeg PhiOut1 OutNeg DigOut1 OutNeg DigOut2 OutNeg DigOut3 OutNeg PhiOut2 ECSXA252 Fig 12 26 OutNeg function block Codes Code Possible settings IMPORTANT No Designation Lenze Appl Selection C7210 Display of the digital input sign...

Page 316: ... not assigned Source for OutNeg AnIn1 2 OutNeg An 1000 FIXED 0 not assigned Source for OutNeg AnIn2 For possible signals see selection list analog signals 437 C7250 Display of the phase input signals in the OutNeg function block signal inversion 315 2147483647 1 2147483647 1 OutNeg PhiV OutNeg PhiIn1 2 OutNeg PhiV OutNeg PhiIn2 C7251 Selection of the phase input signals for the OutNeg function blo...

Page 317: ...use ratio are output ƒ The outputs are toggled in real time ƒ If you use these output signals observe the scanning frequency at which the outputs are scanned Aliasing effect It should at least be twice the toggle frequency The following outputs are integrated Output Toggle frequency Period Clock01Hz 0 1 Hz T 10 s Clock1Hz 1 0 Hz T 1 s Clock10Hz 10 Hz T 100 ms Clock0100Hz 100 Hz T 10 ms SYS 880 881...

Page 318: ...18 EDBCSXS064 EN 4 0 12 27 Speed speed control Function Completely wired speed control with the subfunctions ƒ Selectable direction of rotation 325 ƒ Setpoint conditioning 326 ƒ Motor control 332 ƒ Brake control 340 ƒ Monitoring functions 192 ...

Page 319: ...C7410 6 C7410 13 C7410 16 1 411 C7430 10 C0244 C0241 C0190 C0182 C0134 C0220 C0221 C0195 C0196 C7410 2 C7410 9 C7410 7 C7410 1 C7430 9 C7410 10 C7431 1 1 0 0 1 1 15 15 C7431 10 C7411 10 SPEED NSET Rfg0 SPEED NSET RfgStop SPEED NSET NSet SPEED NSET Jog2 SPEED NSET Jog4 SPEED NSET Jog8 SPEED NSET TI1 SPEED NSET TI2 SPEED NSET TI4 SPEED NSET TI8 SPEED NSET NAddInv SPEED NSET NAdd SPEED NSET Jog1 SPEE...

Page 320: ...X8 C0121 MONIT OH7 85 C MONIT OH C0061 Heatsink temp C0122 MONIT OH4 C0098 DFOUT 1 0 C0491 DFOUT 1 95 96 97 30 328 98 329 335 336 330 331 333 334 X7 X8 A SPEED MCTRL HiMLim SPEED QSP Set1 SPEED QSP Set2 SPEED MCTRL NegLoMLim SPEED MCTRL NMSwt SPEED MCTRL NAdapt SPEED MCTRL ILoad SPEED MCTRL ISet SPEED MCTRL PAdapt SPEED MCTRL PosSet SPEED MCTRL PosLim SPEED MCTRL PosOn SPEED MCTRL NStartMLim SPEED...

Page 321: ...al speed setpoint SPEED NAddInv 9 Speed dig Keeping freezing the speed setpoint integrator to the actual value SPEED NSET RfgStop 10 Speed dig Activation of the motor holding brake SPEED BRK SetBrake 340 11 Speed dig Switching of speed torque SPEED MCTRL NMSwt 332 12 Speed dig Source for the integral action component of the speed controller SPEED MCTRL ILoad 13 Speed dig Selection of the accelerat...

Page 322: ...SPEED NAddInv 9 SpeedIn dig 1000 0 FALSE not assigned Keeping freezing the speed setpoint integrator to the actual value SPEED NSET RfgStop 10 SpeedIn dig 1000 0 FALSE not assigned Activation of the motor holding brake SPEED BRK SetBrake 340 11 SpeedIn dig 1000 0 FALSE not assigned Switching of speed torque SPEED MCTRL NMSwt 332 12 SpeedIn dig 1000 0 FALSE not assigned Source for the integral acti...

Page 323: ...an Upper torque limit SPEED MCTRL HiMLim 5 Speed an Additional torque setpoint SPEED MCTRL MAdd 6 Speed an Manual field weakening SPEED MCTRL FldWeak 7 Speed an Manual adaptation of the proportional gain of the speed controller SPEED MCTRL NAdapt 8 Speed an Manual adaptation of the integral action component of the speed controller SPEED MCTRL ISet 9 Speed an Speed threshold for the motor holding b...

Page 324: ...0 not assigned Manual adaptation of the Integral action component of the speed controller SPEED MCTRL ISet 9 SpeedIn anl 1000 FIXED 0 not assigned Speed threshold for the motor holding brake SPEED BRK SpeedThreshold 340 10 SpeedIn anl 1000 FIXED 0 not assigned Direction of torque created by the drive against the motor holding brake SPEED BRK Sign 11 SpeedIn anl 1000 FIXED 0 not assigned Manual ada...

Page 325: ...1 2 of the function block Speed two functions are carried out ƒ Changing the direction of rotation ƒ Set quick stop QSP Note Both inputs only have an effect on the speed setpoint Stop The speed and direction of torque have to be selected according to the application Signal name Response SPEED RLQ CW SPEED RLQ CCW Rotation Quick stop QSP 0 0 None Yes 1 0 To the right No 0 1 To the left No 1 1 No ch...

Page 326: ...ints can be activated via the inputs SPEED NSET Jogx C7411 3 6 When the fixed setpoints are active the input SPEED NSET NSet is switched off Signal name Source for the speed setpoint SPEED Nset Jog8 SPEED NSET Jog4 SPEED Nset Jog2 SPEED Nset Jog1 0 0 0 0 SPEED NSET NSet 0 0 0 1 C0039 1 0 0 1 0 C0039 2 0 0 1 1 C0039 3 0 1 0 0 C0039 4 0 1 0 1 C0039 5 0 1 1 0 C0039 6 0 1 1 1 C0039 7 1 0 0 0 C0039 8 1...

Page 327: ...A001 Fig 12 30 Diagram for acceleration and deceleration time In C0101 1 15 and C0103 1 15 15 time pairs Ti times can be stored additionally Via the inputs SPEED NSET TIx C7411 13 C7411 16 the Ti times can be activated Signal name Source for active time pair SPEED NSET TI8 SPEED NSET TI4 SPEED NSET TI2 SPEED NSET TI1 Acceleration time Deceleration time 0 0 0 0 C0012 C0013 0 0 0 1 C0101 1 C0103 1 0...

Page 328: ...e setpoint for torque control 327 0 000 0 001 s 999 999 Relating to speed variation 0 rpm nmax C0011 C0101 15 additional acceleration times for the speed setpoint Can be retrieved via digital signals SPEED NSET TIx 327 1 add Tir 0 000 0 000 0 001 s 999 999 Relating to speed variation 0 rpm nmax C0011 2 add Tir 0 000 add Tir 0 000 14 add Tir 0 000 15 add Tir 0 000 C0103 add Tif 15 additional decele...

Page 329: ...generator have no effect on the output signal ƒ If the input SPEED NSET Rfg0 TRUE C7411 7 the ramp function generator reaches zero along the deceleration ramp ƒ The threshold in C0241 specifies when the message Setpoint reached is output On the ramp function generator for the speed setpoint the following applies input signal output signal Code Possible settings IMPORTANT No Designation Lenze Appl ...

Page 330: ...rocesses that require a jerk free acceleration Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0134 RFG charac 0 Characteristic of the ramp function generator for the l speed setpoint for speed control l torque setpoint for torque control 330 1 Linear Ramp function generator operates linearly 2 S shaped Ramp function generator operates without jerk S shaped C0182 Ti S shaped ...

Page 331: ...ED NSET NAdd C7431 1 C7431 2 2 SPEED NSET NSet SPEED NSET NAdd C7431 1 C7431 2 3 SPEED NSET NSet x SPEED NSET NAdd C7431 1 x C7431 2 4 SPEED NSET NSet I SPEED NSET NAdd I C7431 1 C7431 2 5 SPEED NSET NSet 100 SPEED NSET NAdd C7431 1 100 C7431 2 Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0190 NSET ARIT 0 Linking of speed setpoint NSet and additional setpoint NAdd 331 0 OU...

Page 332: ...n of the motor ƒ Additional torque setpoint additional torque setpoint If SPEED MCTRL NMSwt FALSE the speed control is active SPEED MCTRL MAdd is added to the output of the speed controller The limits determined by the torque limitation SPEED MCTRL NegLoMLim C7431 3 and SPEED MCTRL HiMLim C7431 4 are not exceeded The additional torque setpoint is used e g for friction compensation or increase in a...

Page 333: ...nly be set correctly when the system constellation has been completed ƒ The current controller is set correctly given with a Lenze motor and setting via motor data input assistant in the GDC ƒ The PE connection of the axis module is sufficient so that the actual values are not noisy ƒ There are as few as possible elasticity and backlash between drive and load ƒ The maximum current C0022 and the ma...

Page 334: ...TANT No Designation Lenze Appl Selection C0070 Vp speedCTRL 3 0 Proportional gain of speed controller Vpn 154 0 00 0 01 127 99 ƒ The reset time Tnn is set via C0071 Reduce C0071 until the drive becomes instable pay attention to engine noises Increase C0071 until the drive runs stable again Increase C0071 to approx the double value Code Possible settings IMPORTANT No Designation Lenze Appl Selectio...

Page 335: ...e g when using the brake control ƒ In case of speed control Speed SPEED MCTRL ILoad TRUE C7411 12 The speed controller accepts the value applied at SPEED MCTRL ISet C7431 8 into its integral component The value at SPEED MCTRL ISet C7431 8 acts as a torque setpoint for the motor control SPEED MCTRL ILoad FALSE C7411 12 The function is switched off ƒ In case of torque control Torque TORQUE MCTRL ILo...

Page 336: ...upper speed limit The upper speed limit is defined at SPEED NSET NSet C7431 8 in by Nmax positive sign for CW rotation ƒ The speed controller 2 auxiliary speed controller is used to make up the lower speed limit The lower speed limit is defined at SPEED MCTRL NStartMLim C7431 13 in by Nmax negative sign for CCW rotation ƒ Nmax is selected via C0011 Stop The upper speed limit is only to be used for...

Page 337: ...apt is not assigned the following applies Vpn 100 C0070 C0070 5 Set the gain of the phase controller 0 via C0254 Increase C0254 during operation until the drive has the required control mode Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0254 Vp angle CTRL 0 4000 Phase controller gain Vp 337 0 0000 0 0001 3 9999 Phase controller influence The output of the angle controller i...

Page 338: ...n If a torque control has been selected it is switched inactive The drive is guided by the speed controller The speed is reduced to zero within the deceleration time set under C0105 The torque limitation SPEED MCTRL NegLoMLim C7431 3 and SPEED MCTRL HiMLim C7431 4 is switched inactive i e the operation runs with 100 The phase controller is switched active achieving a drift free standstill If the r...

Page 339: ...ng speed due to the mains voltage or DC bus voltage Note An optimal machine operation in the field weakening range requires a correct setting of the field controller and field weakening controller 157 Manual field weakening Stop If the field is weakened manually SPEED MCTRL FldWeak C7431 6 100 the drive cannot create the maximum torque A manual field weakening is possible via SPEED MCTRL FldWeak 7...

Page 340: ... During the time set the drive continues to generate a torque After the set time is expired the status mechanical brake closed is reached C0196 BRK T rel 0 0 Opening time of the motor holding brake 340 360 102 0 0 0 1 sec 60 0 During the time set the drive can generate the torque set under C0244 against the holding brake After the set time is expired the status mechanical brake opened is reached C...

Page 341: ... a fail safe design this signal must be inverted at the output e g via C0118 After the brake closing time set C0195 has lapsed the output SPEED BRK SetCInh switches to TRUE By means of this signal you can for example activate controller inhibit device internal on the function block DCTRL The setting of the brake closing time is required because the brake is not immediately activated at SPEED BRK O...

Page 342: ...as lapsed After the brake opening time has lapsed the output SPEED BRK SetQSP is reset to LOW This signal serves to e g release the setpoint integrator after the brake opening time has expired If an actual speed value higher than the value at SPEED BRK SpeedThreshold C7431 9 is recognised before the brake opening time has expired the signals SPEED BRK SetQSP and SPEED BRK MStore are immediately re...

Page 343: ...2 28 Torque torque control Function Completely wired torque control with the subfunctions ƒ Torque control with speed limitation 349 ƒ Selectable direction of rotation 350 ƒ Setpoint conditioning 351 ƒ Motor control 354 ƒ Brake control 360 ƒ Monitoring functions 192 ...

Page 344: ...134 C0195 C0196 C7510 2 C7510 8 C7510 3 C7510 1 C7530 9 C7510 4 C7531 2 C7531 10 TORQUE NSET Rfg0 TORQUE NSET RfgStop TORQUE NSET NSet TORQUE BRK SetBrake TORQUE BRK Sign TORQUE BRK TorqueThreshold TORQUE RLQ Cw TORQUE RLQ CCw TORQUE NSET NOut TORQUE NSET RfgIEq0 TORQUE BRK MSetOut TORQUE BRK SetCInh TORQUE BRK MStore TORQUE BRK Out TORQUE BRK NegOut TORQUE BRK SetQSP TORQUE RLQ QSP TORQUE RLQ CwC...

Page 345: ...ONIT OH C0061 Heatsink temp C0122 MONIT OH4 C0098 DFOUT 1 0 C0491 DFOUT 1 105 106 107 40 348 108 349 355 356 350 351 353 354 X7 X8 A TORQUE MCTRL HiMLim TORQUE QSP Set1 TORQUE QSP Set2 TORQUE MCTRL NegLoMLim TORQUE MCTRL NAdapt TORQUE MCTRL ILoad TORQUE MCTRL ISet TORQUE MCTRL NStartMLim TORQUE MCTRL FldWeak TORQUE MCTRL QspIn TORQUE MCTRL NSetIn TORQUE MCTRL MMax TORQUE MCTRL MSetIn TORQUE MCTRL ...

Page 346: ...orque setpoint TORQUE MAddInv C7511 Selection of the signal source for the digital input signals of the Torque function block 1 TorqueIn dig 1000 0 FALSE not assigned CW rotation TORQUE RLQ Cw 350 2 TorqueIn dig 1000 0 FALSE not assigned CCW rotation TORQUE RLQ CCw 3 TorqueIn dig 1000 0 FALSE not assigned Setting of the torque setpoint integrator to 0 along the adjusted ramps TORQUE NSET Rfg0 351 ...

Page 347: ...MCTRL negLoMLim 354 4 TorqueIn anl Upper torque limit TORQUE MCTRL HiMLim 5 TorqueIn anl Setpoint for the lower limit of speed limitation TORQUE MCTRL NStartMLim 6 TorqueIn anl Manual field weakening TORQUE MCTRL FldWeak 7 TorqueIn anl Manual adaptation of the proportional gain of the speed controller TORQUE MCTRL NAdapt 8 TorqueIn anl Manual adaptation of the integral action component of the spee...

Page 348: ...L HiMLim 5 TorqueIn anl 1000 FIXED 0 not assigned Setpoint for the lower limit of speed limitation TORQUE MCTRL NStartMLim 6 TorqueIn anl 1000 FIXED 0 not assigned Manual field weakening TORQUE MCTRL FldWeak 7 TorqueIn anl 1000 FIXED 0 not assigned Manual adaptation of the proportional gain of the speed controller TORQUE MCTRL NAdapt 8 TorqueIn anl 1000 FIXED 0 not assigned Manual adaptation of th...

Page 349: ... the load torque suddenly fails e g due to a defect The speed limits for positive and negative directions of rotations can be altered dynamically For this purpose the unused speed controller and a second speed controller auxiliary speed controller are used ƒ The speed controller 1 is used to make up the upper speed limit The upper speed limit is defined at TORQUE NSET NSet C7531 8 in by Nmax posit...

Page 350: ...ck two functions are carried out changing the direction of rotation ƒ Changing the direction of rotation ƒ Set quick stop QSP Stop The speed and direction of torque have to be selected according to the application Note Both input signals only have an effect on the torque setpoint path Signal name Response TORQUE RLQ Cw TORQUE RLQ CCw Direction of rotation Quick stop QSP 0 0 None Yes 1 0 To the rig...

Page 351: ...on time Tir and deceleration time Tif refer to a change in speed from 0 to nmax 0 100 The times to be set are calculated according to the formulae Acceleration time code C0012 Deceleration time code C0013 Tir tir 100 w2 w1 Tif tif 100 w2 w1 w2 100 w1 0 tir tif Tir Tif t RFG OUT ECSXASA001 Fig 12 35 Diagram for acceleration and deceleration time Code Possible settings IMPORTANT No Designation Lenze...

Page 352: ... generator have no effect on the output signal ƒ If the input TORQUE NSET Rfg0 TRUE C7511 3 the ramp function generator reaches zero along the deceleration ramp ƒ The threshold in C0241 specifies when the message Setpoint reached is output On the ramp function generator for the torque setpoint the following applies input signal output signal Code Possible settings IMPORTANT No Designation Lenze Ap...

Page 353: ...hat require a jerk free acceleration Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0134 RFG charac 0 Characteristic of the ramp function generator for the l speed setpoint for speed control l torque setpoint for torque control 330 1 Linear Ramp function generator operates linearly 2 S shaped Ramp function generator operates without jerk S shaped C0182 Ti S shaped 20 00 Form...

Page 354: ...CCW rotation of the motor Positive values cause a torque in CW rotation of the motor 12 28 4 2 Torque limitation An external torque limitation can be set via TORQUE MCTRL NegLoMLim C7531 3 and TORQUE MCTRL HiMLim C7531 4 This enables you to select different torques for the quadrants driving and braking ƒ TORQUE MCTRL HiMLim is the limit in the positive direction in of the maximum possible torque ƒ...

Page 355: ...n only be set correctly when the system constellation has been completed ƒ The current controller is set correctly given with a Lenze motor and setting via motor data input assistant in the GDC ƒ The PE connection of the axis module is sufficient so that the actual values are not noisy ƒ There are as few as possible elasticity and backlash between drive and load ƒ The maximum current C0022 and the...

Page 356: ...ORTANT No Designation Lenze Appl Selection C0070 Vp speedCTRL 3 0 Proportional gain of speed controller Vpn 154 0 00 0 01 127 99 ƒ The reset time Tnn is set via C0071 Reduce C0071 until the drive becomes instable pay attention to engine noises Increase C0071 until the drive runs stable again Increase C0071 to approx the double value Code Possible settings IMPORTANT No Designation Lenze Appl Select...

Page 357: ... e g when using the brake control ƒ In case of speed control Speed SPEED MCTRL ILoad TRUE C7411 12 The speed controller accepts the value applied at SPEED MCTRL ISet C7431 8 into its integral component The value at SPEED MCTRL ISet C7431 8 acts as a torque setpoint for the motor control SPEED MCTRL ILoad FALSE C7411 12 The function is switched off ƒ In case of torque control Torque TORQUE MCTRL IL...

Page 358: ...11 6 TRUE ƒ Output TORQUE RLQ QSP TRUE Function If a torque control has been selected it is switched inactive The drive is guided by the speed controller The speed is reduced to zero within the deceleration time set under C0105 The torque limitation TORQUE MCTRL NegLoMLim C7531 3 and TORQUE MCTRL HiMLim C7531 4 is switched inactive i e the operation runs with 100 The phase controller is switched a...

Page 359: ...g speed due to the mains voltage or DC bus voltage Note An optimal machine operation in the field weakening range requires a correct setting of the field controller and field weakening controller 157 Manual field weakening Stop If the field is weakened manually TORQUE MCTRL FldWeak C7531 6 100 the drive cannot create the maximum torque A manual field weakening is possible via TORQUE MCTRL FldWeak ...

Page 360: ...9 During the time set the drive continues to generate a torque After the set time is expired the status mechanical brake closed is reached C0196 BRK T rel 0 0 Opening time of the motor holding brake 340 360 102 0 0 0 1 sec 60 0 During the time set the drive can generate the torque set under C0244 against the holding brake After the set time is expired the status mechanical brake opened is reached ...

Page 361: ...or a fail safe design this signal must be inverted at the output e g via C0118 After the brake closing time set C0195 has lapsed the output TORQUE BRK CInh switches to TRUE By means of this signal you can for example activate controller inhibit device internal on the DCTRL function block The setting of the brake closing time is required because the brake is not immediately activated at TORQUE BRK ...

Page 362: ... lapsed After the brake opening time has lapsed the output TORQUE BRK SetQSP is reset to LOW This signal serves to e g release the setpoint integrator after the brake opening time has expired If an actual speed value higher than the value at TORQUE BRK TorqueThreshold C7531 9 is recognised before the brake opening time has expired the signals TORQUE BRK SetQSP and TORQUE BRK MStore are immediately...

Page 363: ...alisation values can be restored by loading the application software with Global Drive Loader GDL à The Important column contains further information Selection 1 99 minimum value unit maximum value IMPORTANT Short code description Code Possible settings IMPORTANT No Designation Lenze Appl Selection C0002 Par load 0 Load parameter set The Lenze setting can only be loaded if the controller is inhibi...

Page 364: ...relative setpoint selection for the acceleration and deceleration times For parameter setting via interface greater changes in one step should only be made when the controller is inhibited CINH C0012 TIR ACC 0 000 Acceleration time for the l speed setpoint for speed control l torque setpoint for torque control 327 0 000 0 001 s 999 999 Relating to speed variation 0 rpm nmax C0011 C0013 TIF DEC 0 0...

Page 365: ...27_2_a C0030 DFOUT const 3 Constant for the digital frequency signal DFOUT_nOut_v on X8 in increments per revolution 304 106 113 0 256 incr rev 1 512 incr rev 2 1024 incr rev 3 2048 incr rev 4 4096 incr rev 5 8192 incr rev 6 16384 incr rev C0032 FCODE Gearbox 1 Freely configurable code for gearbox factor FCODE_nC32_a 309 32767 1 32767 C0034 Mst current 0 Master voltage master current on analog inp...

Page 366: ...d setpoint on speed controller input MCTRL_nNSetIn_a Read only 100 00 0 01 100 00 C0051 MCTRL NACT Actual speed MCTRL_nNAct_a Read only 30000 1 rpm 30000 C0052 MCTRL Umot Actual motor voltage Read only 0 1 V 800 C0053 UG VOLTAGE DC bus voltage Read only 0 1 V 900 C0054 Imot Actual motor current Read only 0 0 0 1 A 500 0 C0055 Phase current Motor phase current Read only 1 iu 0 0 0 1 A 500 0 Actual ...

Page 367: ...e position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Read only 148 0 1 inc 2047 Display with reduced resolution 1 revolution 2048 increments C0061 Heatsink temp Heatsink temperature Read only 204 200 1 C 200 C0062 Interior temp Interior device temperature Read only 205 200 1 C 200 C0063 Mot temp Motor temperature Read only 202 ...

Page 368: ... 00 0 01 W 381 80 ECSxS P M A004 190 90 ECSxS P M A008 95 46 ECSxS P M A016 47 72 ECSxS P M A032 31 82 ECSxS P M A048 23 86 ECSxS P M A064 C0076 Tn currCTRL 5 0 Reset time of current controller Tni 149 0 01 0 01 ms 200 00 C0077 Vp fieldCTRL 5 0 Field controller gain VpF 157 0 00 0 01 63 99 C0078 Tn fieldCTRL 20 0 Field controller reset time TnF 157 1 0 0 5 ms 6000 0 C0079 DIS Lh Mutual inductance ...

Page 369: ...85 Rated motor frequency 10 1 Hz 1000 C0090 Mot voltage 325 Rated motor voltage 50 1 V 500 C0091 Mot cos phi 1 0 cos j of the asynchronous motor 0 50 0 01 1 00 C0092 DIS Isdeff Magnetising current of the asynchronous motor Read only 0 00 0 01 A 327 67 C0093 Drive ident Device identification of the ECS axis module Read only 0 Defective power section 1 No power section recognised 4 ECSxS P M A004C4 ...

Page 370: ...te protection Reading and writing not possible C0097 DIS Lt Ident 0 Power stage identification 0 1 255 C0098 Set position 0 Home position of encoder 2147483647 1 inc 2147483647 C0099 S W version Firmware version Read only 0 0 0 1 25 5 C0101 15 additional acceleration times for the speed setpoint Can be retrieved via digital signals SPEED NSET TIx 327 1 add Tir 0 000 0 000 0 001 s 999 999 Relating ...

Page 371: ...ve X6 DI1 DIGIN_bIn1_b 2 DIGIN pol 0 HIGH level active X6 DI2 DIGIN_bIn2_b 3 DIGIN pol 0 HIGH level active X6 DI3 DIGIN_bIn3_b 4 DIGIN pol 0 HIGH level active X6 DI4 DIGIN_bIn4_b 0 HIGH level active 1 LOW level active C0118 Polarity of the digital outputs 308 121 1 DIGOUT pol 0 HIGH level active X6 DO1 DIGOUT_bOut1_b 2 DIGOUT pol 0 HIGH level active X25 DIGOUT_bRelais_b brake connection 0 HIGH lev...

Page 372: ...when a CE0 fault occurs 247 0 TRIP A communication error activates the CE0 response set 2 Warning 3 Off Monitoring switched off C0127 OC8 limit 100 Threshold for I2 x t warning motor 210 0 1 120 I2 x t C0127 ð fault message OC8 C0606 C0128 Tau motor 5 0 Thermal time constant of the motor 210 0 5 0 1 min 25 0 For calculating the I2 x t disconnection C0129 Charc Ix Nx Reduction of the speed torque c...

Page 373: ...signed Bit 1 Not assigned Bit 2 Not assigned Bit 3 Quick stop QSP Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Operation inhibit DISABLE Bit 9 Controller inhibit CINH Bit 10 TRIP SET Bit 11 TRIP RESET Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned C0136 Control words Hexadecimal value is bit coded Read only 1 CTRLWORD 0 hex FFFF...

Page 374: ...tus bit 1 Bit 9 Device status bit 2 Bit10 Device status bit 3 Bit11 Device status bit 4 Bit12 Warning Bit13 Message Bit14 Not assigned Bit15 Not assigned C0155 Status word 2 0 Status word 2 advanced status word Display only 0 1 65535 Controller interprets information as 16 bit binary coded Bit 0 Active fault Bit 1 Mmax reached Bit 2 Imax reached Bit 3 Pulse inhibit IMP Bit 4 Ready for operation RD...

Page 375: ... only 233 238 1 Fail number Currently active fault 2 Fail number Last fault 3 Fail number Last fault but one 4 Fail number Last fault but two 5 Fail number Last fault but three 6 Fail number Last fault but four 7 Fail number Last fault but five 8 Fail number Last fault but six All fault indications TRIP FAIL QSP warning message C0169 Time at which the fault messages entered in the history buffer C...

Page 376: ...0 1 65535 1 Counter Frequency of the fault message currently active 2 Counter Frequency of the last fault message 3 Counter Frequency of the second last fault message 4 Counter Frequency of the third last fault message 5 Counter Frequency of the fourth last fault message 6 Counter Frequency of the fifth last fault message 7 Counter Frequency of the sixth last fault message 8 Counter Frequency of t...

Page 377: ...with brake unit LU 342 V OU 800 V 10 Mains 230 V B Operation on 230 V mains with or without brake unit LU C0174 OU 400 V 11 Mains 400 V B Operation on 400 V mains with or without brake unit LU C0174 OU 800 V 12 Mains 460 V B Operation on 460 V mains with or without brake unit LU C0174 OU 800 V 13 Mains 480V B Operation on 480 V mains without brake unit LU C0174 OU 800 V 14 Mains 480V B Operation o...

Page 378: ...r status information l If several fault or status information are to be shown at the same time the information with the smallest number is displayed 0 OK No fault 101 Initialisation phase 102 TRIP trouble 103 Emergency stop activated 104 IMP message 105 Power off 111 Operation inhibit C0135 112 Operation inhibit AIF 113 Operation inhibit CAN 121 Controller inhibit via X6 SI1 122 Internal controlle...

Page 379: ...nerate a torque After the set time is expired the status mechanical brake closed is reached C0196 BRK T rel 0 0 Opening time of the motor holding brake 340 360 102 0 0 0 1 sec 60 0 During the time set the drive can generate the torque set under C0244 against the holding brake After the set time is expired the status mechanical brake opened is reached C0199 BuildNumber Software identification Only ...

Page 380: ...unction generator for l speed setpoint for speed control l torque setpoint for torque control input signal output signal 329 352 0 00 0 01 100 00 100 nmax C0244 BRK M set 0 00 Holding torque of the drive against the motor holding brake 340 360 102 199 99 0 01 199 99 Referring to Mmax C0057 During the time set in C0196 the drive generates the set torque against the holding brake C0250 FCODE 1 Bit 0...

Page 381: ...s interface X4 l The baud rate must be set identically for all CAN nodes l This code is not active if one of the switches 2 7 of the DIP switch is set to ON l After the setting process a reset node is required 169 0 500 kbps 1 250 kbits sec 2 125 kbit s 3 50 kbps 4 1000 kbit s C0352 CAN mst 0 Boot up master slave configuration for CAN bus interface X4 175 0 Slave 1 Master boot up Device is active ...

Page 382: ...UT C0356 CAN time settings for CAN bus interface X4 176 1 CAN times 3000 0 1 ms 65000 CAN boot up time Delay time after mains connection for initialisation through the master 2 CAN times 0 CAN2 3_OUT cycle times Factor for the task time to send process data telegram 0 event controlled transmission 3 CAN times 0 4 CAN times 20 Delay time for initial transmission of the process data objects 2 and 3 ...

Page 383: ... 10 CAN Messages Received from CAN3_IN 11 CAN Messages Received from parameter data channel 1 12 CAN Messages Received from parameter data channel 2 C0361 Detected load CAN_IN CAN_OUT CAN bus interface X4 Read only A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value 80 189 1 Load IN OUT 0 1 100 All sent telegrams 2 Load IN OUT All received teleg...

Page 384: ...ways be set 181 0 No response 1 Response C0367 Sync Rx ID 128 CAN sync receipt ID for CAN bus interface X4 180 1 1 256 C0368 Sync Tx Id 128 CAN Sync transmission ID for CAN bus interface X4 444 179 1 1 256 C0369 SyNc Tx time 0 CAN sync transmission cycle for CAN bus interface X4 A sync telegram with the identifier of C0368 is sent with the cycle time set ECSxP The setting is effected automatically...

Page 385: ...nquiry of the master l Only relevant for setting C0352 4 184 0 1 ms 65535 C0383 LifeTimeFact 0 Node Guarding slave NodeLifeTime factor l Factor for the monitoring time of NodeLifeTime l NodeLifeTime C0383 x C0382 NodeGuardTime l Only relevant for setting C0352 4 184 0 1 255 C0384 Err NodeGuard 3 Node Guarding slave l Response for the occurrence of a NodeGuard Event l Only relevant for setting C035...

Page 386: ... automatically in accordance with the selection 301 106 113 0 Common 110 IT512 5V Incremental encoder with TTL level 111 IT1024 5V 112 IT2048 5V 113 IT4096 5V 210 IS512 5V SinCos encoder 211 IS1024 5V 212 IS2048 5V 213 IS4096 5V 307 AS64 8V SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher 308 AS128 8V 30...

Page 387: ...der C0490 X7 X8 1 Touch probe input TP1 X6 DI1 2 Zero pulse of digital frequency input X8 C0429 TP1 delay 0 DFIN dead time compensation TP1 DI1 32767 1 inc 32767 C0431 DFIN TP Edge 0 DFIN touch probe TP1 edge for touch probe via digital input X6 DI1 C0428 1 0 Rising edge TP1 1 Falling edge TP1 2 Rising and falling edge TP1 3 Switched off C0443 DIS DIGIN Signal status of the digital inputs on X6 af...

Page 388: ... 0 7 2 FCODE 8bit 0 C0470 2 C0471 bit 8 15 3 FCODE 8bit 0 C0470 3 C0471 bit 16 23 4 FCODE 8bit 0 C0470 4 C0471 bit 24 31 C0471 FCODE 32bit 0 Hexadecimal 32 bit interpretation of C0470 309 0 1 4294967295 C0472 FCODE analog Freely configurable code for relative analog signals 309 1 0 0 199 99 0 01 199 99 FCODE_bC472_1_a 2 0 0 FCODE_bC472_2_a 3 100 0 FCODE_bC472_3_a 4 0 0 FCODE_bC472_4_a 20 0 0 FCODE...

Page 389: ...e encoder multi turn at X8 C0497 Nact filter 2 0 Time constant of actual speed value 0 0 0 1 ms 50 0 0 0 ms switched off C0504 Service codes Only the Lenze service is allowed to make changes C0509 C0510 ProtAppFlash 0 Write protection application FLASH 0 No write protection 1 Write protection is active C0517 User menu with up to 32 entries 0 00 0 01 7999 00 l Enter the numbers of the required code...

Page 390: ...LC program 23 User menu 2108 00 C2108 PLC run stop Control of the PLC program 24 User menu 2111 00 C2111 GDC ID Creation date of the PLC program 25 User menu 2113 00 C2113 PLC prog name Name of the PLC program 26 User menu 2115 00 C2115 T fct Credit Number of technology units 27 User menu 0 00 Not assigned 28 User menu 0 00 Not assigned 29 User menu 0 00 Not assigned 30 User menu 0 00 Not assigned...

Page 391: ... nErr response 3 Fault response monitoring of speed system deviation 222 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL QSP C0580 Monit SD8 3 Fault response monitoring of SinCos signals at X8 221 0 TRIP 3 Off C0581 MONIT EEr 0 Fault response external fault monitoring ExternalFault EEr 298 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL QSP C0582 MONIT OH4 2 Setting of the fault response monitoring of heatsink te...

Page 392: ... Sd2 218 0 TRIP 2 Warning 3 Off C0588 MONIT H10 H11 0 Fault response monitoring Thermal sensors in the controller H10 Sensor inside the device H11 Heatsink sensor 206 0 TRIP 2 Warning 3 Off C0591 MONIT CE1 3 Fault response monitoring CAN1_IN no telegrams CommErrCANIN1 CE1 198 0 TRIP 2 Warning 3 Off C0592 MONIT CE2 3 Fault response monitoring CAN2_IN no telegrams CommErrCANIN2 CE2 198 0 TRIP 2 Warn...

Page 393: ...Warning 3 Off C0598 MONIT SD5 3 Fault response master current monitoring at X6 2 mA MastISourceDef 0 TRIP 2 Warning 3 Off C0599 Limit LP1 5 0 Monitoring limit for motor phase failure monitoring LP1 with regard to the current limit 217 0 01 0 01 10 00 C0602 MONIT REL1 3 Fault response open circuit monitoring of relay output X25 0 TRIP 2 Message 3 Off 4 FAIL QSP C0603 MONIT CE5 3 Fault response gate...

Page 394: ...itoring of the machine 0 TRIP 2 Warning 3 Off C0608 ovr Tx Queue 2 Fault response transmission memory overflow of free CAN objects 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL QSP C0745 Only the Lenze service is allowed to make changes Oscilloscope internal service C0746 Only the Lenze service is allowed to make changes Oscilloscope internal service 1 24 C0747 Only the Lenze service is allowed to make ...

Page 395: ...OUT 100 00 16384 Read only 1 AIF1 OUT words 199 99 0 01 199 99 Output word 1 2 AIF1 OUT words Output word 2 3 AIF1 OUT words Output word 3 C0859 AIF1 OUT phi 32 bit phase information at the AIF interface AIF1_OUT Only display 2147483648 1 2147483647 C0863 Digital process data input words for CAN bus interface X4 Hexadecimal value is bit coded Read only 448 273 0000 hex FFFF 1 CAN IN bits Bit 0 Bit...

Page 396: ...N word 2 10 CAN IN words CAN3_IN word 3 11 CAN IN words CAN3_IN word 4 C0867 32 bit phase information for CAN bus interface X4 Read only 1 CAN IN phi 2147483648 1 2147483647 CAN1_IN 2 CAN IN phi CAN2_IN 3 CAN IN phi CAN3_IN C0868 DIS OUTx Wx Analog process data output words decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN OUT words 32768 1 32768 CAN1_OUT word 1 2 CAN OUT words CAN1_OU...

Page 397: ... word of CAN 0 No reset 1 Reset Performs one reset C0906 Analog input signals to MCTRL Read only 1 MCTRL analog 199 99 0 01 199 99 Speed controller input 2 MCTRL analog Torque setpoint 3 MCTRL analog Lower torque limit 4 MCTRL analog Upper torque limit 5 MCTRL analog Limit of the position controller 6 MCTRL analog Speed for activating the torque limitation 7 MCTRL analog Field weakening 8 MCTRL an...

Page 398: ...via interface X4 CAN 182 2 Terminal sync Sync connection via terminal X6 DI1 183 C1121 Sync cycle 2 Synchronisation cycle 179 1 1 ms 13 C1122 Sync phase 0 460 Synchronisation phase 179 0 000 0 001 ms 6 500 C1123 Sync window 0 010 Synchronisation window 181 0 000 0 001 ms 6 500 C1190 MPTC mode 0 Selection of PTC motor temperature sensor characteristic 0 Characteristic for PTC 83 110 Lenze standard ...

Page 399: ...PRG end of system task C2104 PLC Autorun 0 1 Automatic start of the PLC program after mains connection 0 Off 1 On C2106 Downl protect 0 Write protection of PLC program 0 Inactive 1 Active 2 Reserved C2108 PLC run stop 2 1 PLC programcontrol 0 No function 1 Run 2 Stop 3 Reset C2111 GDC Id 27012006132510 l Date day month year 27 01 2006 l Time h min sec 13 25 10 Creation date of PLC program Read onl...

Page 400: ...d in fieldbus module Read only 1 1 255 Binary interpretation reflects bit states Bit 0 XCAN1_IN monitoring time Bit 1 XCAN2_IN monitoring time Bit2 XCAN3_IN monitoring time Bit3 XCAN bus off Bit4 XCAN operational Bit5 XCAN pre operational Bit 6 XCAN warning Bit 7 Assigned internally C2130 FileNameAdd Da Symbolic data name Information on the additional data that have been transmitted together with ...

Page 401: ...XCAN2_INaddress 2 4 XCAN addr 258 XCAN2_OUTaddress 2 5 XCAN addr 385 XCAN3_INaddress 2 6 XCAN addr 386 XCAN3_OUTaddress 2 C2355 Identifier for XCAN_IN XCAN_OUT AIF interface X1 Read only 1 XCAN Id 1 1 2047 Identifier XCAN1_IN 2 XCAN Id Identifier XCAN1_OUT 3 XCAN Id Identifier XCAN2_IN 4 XCAN Id Identifier XCAN2_OUT 5 XCAN Id Identifier XCAN3_IN 6 XCAN Id Identifier XCAN3_OUT C2356 Time settings f...

Page 402: ...c monitoring time can only be set if C2357 5 0 C2359 AIF HW Set 0 0 1 65535 C2367 Sync Rx Id 128 XCAN receive identifier of the sync telegram AIF interface X1 1 1 2047 C2368 Sync Tx Id 128 XCAN send identifier of the sync telegram AIF interface X1 1 1 2047 C2373 XCAN Sync counter AIF interface X1 1 Sync Rate IN 1 1 1 240 XCAN1_IN 2 Sync Rate IN 1 XCAN2_IN 3 Sync Rate IN 1 XCAN3_IN C2374 XCAN Sync ...

Page 403: ...k for process data output word 4 C2378 XCAN3_OUT mask AIF interface X1 1 XCAN3 Mask FFFF 0000 hex FFFF Mask for process data output word 1 2 XCAN3 Mask FFFF Mask for process data output word 2 3 XCAN3 Mask FFFF Mask for process data output word 3 4 XCAN3 Mask FFFF Mask for process data output word 4 C2382 The XCAN monitoring is configured if no telegrams have been received AIF interface X1 1 XCAN ...

Page 404: ...ress CANaux2_IN OUT 3 CANa addr sel 0 CAN node address C2450 Address CANaux3_IN OUT 0 C2450 auto Automatically determined by C2450 1 C2454 man Determined by C2454 C2454 Alternative node addresses for CANaux_IN CANaux_OUT CAN bus interface X14 173 1 CANa addr 129 1 1 512 CANaux1_INaddress 2 2 CANa addr 1 CANaux1_OUTaddress 2 3 CANa addr 257 CANaux2_INaddress 2 4 CANa addr 258 CANaux2_OUTaddress 2 5...

Page 405: ...am 0 event controlled transmission 3 CANa times 0 4 CANa times 20 Delay time for initial transmission of the process data objects 2 and 3 after the CAN bus changed to Operational C2457 Monitoring time for CANaux1 3_IN CAN bus interface X14 198 1 CE monit time 3000 1 1 ms 65000 CE11 monitoring time 2 CE monit time 3000 CE12 monitoring time 3 CE monit time 3000 CE13 monitoring time C2458 Reset node ...

Page 406: ... 10 CANa Messages Received from CANaux3_IN 11 CANa Messages Received from parameter data channel 1 12 CANa Messages Received from parameter data channel 2 C2461 Detected load CANaux_IN CANaux_OUT CAN bus interface X14 Read only A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value 80 189 1 Load IN OUT 0 1 100 All sent telegrams 2 Load IN OUT All r...

Page 407: ... of C2468 is sent with the set cycle time 179 176 0 1 ms 65000 0 switched off C2470 ParWrite 0 CANaux channel used by L_ParWrite L_ParRead byComChannel 11 190 0 Unused PDO channel free for reconfiguration CANaux1 3_IN CANaux1 3_OUT 1 Parameter data channel 2 C2481 MONIT CE11 3 Fault response monitoring CANaux1_IN error CommErrCANauxIN1 CE11 198 0 TRIP 2 Warning 3 Off C2482 MONIT CE12 3 Fault respo...

Page 408: ...a IN bits CANaux1_IN bit 16 31 3 CANa IN bits CANaux2_IN bit 0 15 4 CANa IN bits CANaux2_IN bit 16 31 5 CANa IN bits CANaux3_IN bit 0 15 6 CANa IN bits CANaux3_IN bit 16 31 C2492 Process data input words decimal for CAN bus interface X14 100 00 16384 Read only 1 CANa IN words 199 99 0 01 199 99 CANaux1_IN word 1 2 CANa IN words CANaux1_IN word 2 3 CANa IN words CANaux1_IN word 3 4 CANa IN words CA...

Page 409: ... 10 CANa OUT words CANaux3_OUT word 3 11 CANa OUT words CANaux3_OUT word 4 C2500 PLC flag 1 255 0 1 65535 C2501 PLC flag 256 512 0 1 65535 C3005 ControlMode 0 Selection of operating modes 126 0 Common Display with changed standard application 100 None Reset of all signal connections 1000 SpeedTerm Speed controlled setpoint via analog input 318 1003 SpeedAIF Speed controlled setpoint via AIF 1005 S...

Page 410: ... not assigned Source for AIF1Out Bit1 bit 1 3 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit2 bit 2 4 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit3 bit 3 5 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit4 bit 4 6 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit5 bit 5 7 AIF1Out dig 1000 0 FALSE not assigned Source for AIF1Out Bit6 bit 6 8 AIF1...

Page 411: ...1Out W1 3 AIF1Out anl 1000 FIXED 0 not assigned Source for output word AIF1Out W2 4 AIF1Out anl 1000 FIXED 0 not assigned Source for output word AIF1Out W3 5 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W0 258 6 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W1 7 AIF2Out anl 1000 FIXED 0 not assigned Source for output word AIF2Out W2 8 AIF2Out anl 1000...

Page 412: ...ieldbus module 251 0 W2 Int W3 Int Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 Byte 7 byte 8 AIF1Out W3 1 W2 W3 Dint Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 W3 Byte 7 byte 8 AIF1Out W2 W3 2 W2 Int W3 bit Byte 1 byte 2 AIF1Out DctrlStat Byte 3 byte 4 AIF1Out W1 Byte 5 byte 6 AIF1Out W2 Byte 7 byte 8 AIF1Out Bit0 Bit15 3...

Page 413: ...W0 W1 Dint Byte 1 byte 2 AIF3Out W0 W1 Byte 3 byte 4 AIF3Out W0 W1 Byte 5 byte 6 AIF3Out W2 Byte 7 byte 8 AIF3Out W3 C6210 Display of the digital output signals to the MotionBus CAN 0 FALSE 1 TRUE 1 CAN DigOut CAN1Out Bit0 bit 0 276 2 CAN DigOut CAN1Out Bit1 bit 1 3 CAN DigOut CAN1Out Bit2 bit 2 4 CAN DigOut CAN1Out Bit3 bit 3 5 CAN DigOut CAN1Out Bit4 bit 4 6 CAN DigOut CAN1Out Bit5 bit 5 7 CAN D...

Page 414: ...for CAN1Out Bit11 bit 11 13 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit12 bit 12 14 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit13 bit 13 15 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit14 bit 14 16 CAN1Out dig 1000 0 FALSE not assigned Source for CAN1Out Bit15 bit 15 17 CAN1Out dig 1000 0 FALSE not assigned Source for CANSync ResetSyncForInterpolat ...

Page 415: ...3 9 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W0 291 10 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W1 11 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W2 12 CAN3Out anl 1000 FIXED 0 not assigned Source for output word CAN3Out W3 For possible signals see selection list analog signals 437 C6250 Display of the phase output si...

Page 416: ...yte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out W2 W3 Byte 7 byte 8 CAN1Out W2 W3 2 W2 Int W3 bit Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out W2 Byte 7 byte 8 CAN1Out Bit0 Bit15 3 W2 Bit W3 Int Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CAN1Out W1 Byte 5 byte 6 CAN1Out Bit0 Bit15 Byte 7 byte 8 CAN1Out W3 4 W1 Bit W23 I Byte 1 byte 2 CAN1Out DctrlStat Byte 3 byte 4 CAN1...

Page 417: ... 0 W0 Int W1 Int Byte 1 byte 2 CAN3Out W0 Byte 3 byte 4 CAN3Out W1 Byte 5 byte 6 CAN3Out W2 Byte 7 byte 8 CAN3Out W3 1 W0 W1 Dint Byte 1 byte 2 CAN3Out W0 W1 Byte 3 byte 4 CAN3Out W0 W1 Byte 5 byte 6 CAN3Out W2 Byte 7 byte 8 CAN3Out W3 C6310 Display of the digital input signals in the DCTRL function block 294 0 FALSE 1 TRUE 1 DCTRL DigOut DCTRL CINH1 2 DCTRL DigOut DCTRL CINH2 3 DCTRL DigOut DCTRL...

Page 418: ...atB14 11 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL StatB15 12 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripSet2 13 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripSet3 14 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripSet4 15 DCTRL dig 1000 0 FALSE not assigned Source for DCTRL TripReset2 For possible signals see selection list digital signals 428 C6330 Di...

Page 419: ...inversion 313 1 InNeg digV InNeg DigIn1 2 InNeg digV InNeg DigIn2 3 InNeg digV InNeg DigIn3 C7111 Selection of the digital input signals for the InNeg function block signal inversion 313 1 InNeg dig 1000 0 FALSE not assigned Source for InNeg DigIn1 2 InNeg dig 1000 0 FALSE not assigned Source for InNeg DigIn2 3 InNeg dig 1000 0 FALSE not assigned Source for InNeg DigIn3 For possible signals see se...

Page 420: ...00 0 FALSE not assigned Source for OutNeg DigIn3 For possible signals see selection list digital signals 428 C7230 Display of the analog input signals in the OutNeg function block signal inversion 315 32768 199 9 1 32767 199 9 1 OutNeg AnV OutNeg AnIn1 2 OutNeg AnV OutNeg AnIn2 C7231 Selection of the analog input signals for the OutNeg function block signal inversion 315 1 OutNeg An 1000 FIXED 0 n...

Page 421: ...eeping freezing the speed setpoint integrator to the actual value SPEED NSET RfgStop 10 Speed dig Activation of the motor holding brake SPEED BRK SetBrake 340 11 Speed dig Switching of speed torque SPEED MCTRL NMSwt 332 12 Speed dig Source for the integral action component of the speed controller SPEED MCTRL ILoad 13 Speed dig Selection of the acceleration and deceleration times stored in C0101 an...

Page 422: ... integrator to the actual value SPEED NSET RfgStop 10 SpeedIn dig 1000 0 FALSE not assigned Activation of the motor holding brake SPEED BRK SetBrake 340 11 SpeedIn dig 1000 0 FALSE not assigned Switching of speed torque SPEED MCTRL NMSwt 332 12 SpeedIn dig 1000 0 FALSE not assigned Source for the integral action component of the speed controller SPEED MCTRL ILoad 13 SpeedIn dig 1000 0 FALSE not as...

Page 423: ...tional torque setpoint SPEED MCTRL MAdd 6 Speed an Manual field weakening SPEED MCTRL FldWeak 7 Speed an Manual adaptation of the proportional gain of the speed controller SPEED MCTRL NAdapt 8 Speed an Manual adaptation of the integral action component of the speed controller SPEED MCTRL ISet 9 Speed an Speed threshold for the motor holding brake SPEED BRK SpeedThreshold 340 10 Speed an Direction ...

Page 424: ...igned Manual adaptation of the Integral action component of the speed controller SPEED MCTRL ISet 9 SpeedIn anl 1000 FIXED 0 not assigned Speed threshold for the motor holding brake SPEED BRK SpeedThreshold 340 10 SpeedIn anl 1000 FIXED 0 not assigned Direction of torque created by the drive against the motor holding brake SPEED BRK Sign 11 SpeedIn anl 1000 FIXED 0 not assigned Manual adaptation o...

Page 425: ...nt TORQUE MAddInv C7511 Selection of the signal source for the digital input signals of the Torque function block 1 TorqueIn dig 1000 0 FALSE not assigned CW rotation TORQUE RLQ Cw 350 2 TorqueIn dig 1000 0 FALSE not assigned CCW rotation TORQUE RLQ CCw 3 TorqueIn dig 1000 0 FALSE not assigned Setting of the torque setpoint integrator to 0 along the adjusted ramps TORQUE NSET Rfg0 351 4 TorqueIn d...

Page 426: ...LoMLim 354 4 TorqueIn anl Upper torque limit TORQUE MCTRL HiMLim 5 TorqueIn anl Setpoint for the lower limit of speed limitation TORQUE MCTRL NStartMLim 6 TorqueIn anl Manual field weakening TORQUE MCTRL FldWeak 7 TorqueIn anl Manual adaptation of the proportional gain of the speed controller TORQUE MCTRL NAdapt 8 TorqueIn anl Manual adaptation of the integral action component of the speed control...

Page 427: ...5 TorqueIn anl 1000 FIXED 0 not assigned Setpoint for the lower limit of speed limitation TORQUE MCTRL NStartMLim 6 TorqueIn anl 1000 FIXED 0 not assigned Manual field weakening TORQUE MCTRL FldWeak 7 TorqueIn anl 1000 FIXED 0 not assigned Manual adaptation of the proportional gain of the speed controller TORQUE MCTRL NAdapt 8 TorqueIn anl 1000 FIXED 0 not assigned Manual adaptation of the Integra...

Page 428: ...F1In Ctrl TripSet_B10 AIF1 CB10 AIF1_bCtrlTripSet_b 23 AIF1In Ctrl TripReset_B11 AIF1 CB11 AIF1_bCtrlTripReset_b 24 AIF1In Ctrl Bit0 AIF1 CB0 AIF1_bCtrlB0_b 25 AIF1In Ctrl Bit1 AIF1 CB1 AIF1_bCtrlB1_b 26 AIF1In Ctrl Bit2 AIF1 CB2 AIF1_bCtrlB2_b 27 AIF1In Ctrl Bit4 AIF1 CB4 AIF1_bCtrlB4_b 28 AIF1In Ctrl Bit5 AIF1 CB5 AIF1_bCtrlB5_b 29 AIF1In Ctrl Bit6 AIF1 CB6 AIF1_bCtrlB6_b 30 AIF1In Ctrl Bit7 AIF...

Page 429: ...In Bit3 AIF2 Bit3 AIF2_bInB3_b 71 AIF2In Bit4 AIF2 Bit4 AIF2_bInB4_b 72 AIF2In Bit5 AIF2 Bit5 AIF2_bInB5_b 73 AIF2In Bit6 AIF2 Bit6 AIF2_bInB6_b 74 AIF2In Bit7 AIF2 Bit7 AIF2_bInB7_b 75 AIF2In Bit8 AIF2 Bit8 AIF2_bInB8_b 76 AIF2In Bit9 AIF2 Bit9 AIF2_bInB9_b 77 AIF2In Bit10 AIF2 Bit10 AIF2_bInB10_b 78 AIF2In Bit11 AIF2 Bit11 AIF2_bInB11_b 79 AIF2In Bit12 AIF2 Bit12 AIF2_bInB12_b 80 AIF2In Bit13 AI...

Page 430: ...t21 AIF3 Bit21 AIF3_bInB21_b 121 AIF3In Bit22 AIF3 Bit22 AIF3_bInB22_b 122 AIF3In Bit23 AIF3 Bit23 AIF3_bInB23_b 123 AIF3In Bit24 AIF3 Bit24 AIF3_bInB24_b 124 AIF3In Bit25 AIF3 Bit25 AIF3_bInB25_b 125 AIF3In Bit26 AIF3 Bit26 AIF3_bInB26_b 126 AIF3In Bit27 AIF3 Bit27 AIF3_bInB27_b 127 AIF3In Bit28 AIF3 Bit28 AIF3_bInB28_b 128 AIF3In Bit29 AIF3 Bit29 AIF3_bInB29_b 129 AIF3In Bit30 AIF3 Bit30 AIF3_bI...

Page 431: ...166 CAN1In Bit9 CAN1 Bit9 CAN1_bInB9_b 167 CAN1In Bit10 CAN1 Bit10 CAN1_bInB10_b 168 CAN1In Bit11 CAN1 Bit11 CAN1_bInB11_b 169 CAN1In Bit12 CAN1 Bit12 CAN1_bInB12_b 170 CAN1In Bit13 CAN1 Bit13 CAN1_bInB13_b 171 CAN1In Bit14 CAN1 Bit14 CAN1_bInB14_b 172 CAN1In Bit15 CAN1 Bit15 CAN1_bInB15_b 173 CAN1In Bit16 CAN1 Bit16 CAN1_bInB16_b 174 CAN1In Bit17 CAN1 Bit17 CAN1_bInB17_b 175 CAN1In Bit18 CAN1 Bit...

Page 432: ...n Bit25 CAN2 Bit25 CAN2_bInB25_b 215 CAN2In Bit26 CAN2 Bit26 CAN2_bInB26_b 216 CAN2In Bit27 CAN2 Bit27 CAN2_bInB27_b 217 CAN2In Bit28 CAN2 Bit28 CAN2_bInB28_b 218 CAN2In Bit29 CAN2 Bit29 CAN2_bInB29_b 219 CAN2In Bit30 CAN2 Bit30 CAN2_bInB30_b 220 CAN2In Bit31 CAN2 Bit31 CAN2_bInB31_b 221 CAN3In Bit0 CAN3 Bit0 CAN3_bInB0_b 222 CAN3In Bit1 CAN3 Bit1 CAN3_bInB1_b 223 CAN3In Bit2 CAN3 Bit2 CAN3_bInB2_...

Page 433: ...t1_b 264 DCTRL Stat2 DCT Stat2 DCTRL_bStat2_b 265 DCTRL Stat4 DCT Stat4 DCTRL_bStat4_b 266 DCTRL Stat8 DCT Stat8 DCTRL_bStat8_b 267 DCTRL WARN DCT Warn DCTRL_bWarn_b 268 DCTRL MESS DCT Mess DCTRL_bMess_b 269 DCTRL INIT DCT Init DCTRL_bInit_b 270 DCTRL ExternalFault DCT EEr DCTRL_bExternalFault_b 271 FCODE C0250 FC 250 FCODE_bC250_b 272 FCODE C0471 Bit0 FC 471 0 FCODE_bC471Bit0_b 273 FCODE C0471 Bi...

Page 434: ...it8_b 313 FCODE C0135 Bit9 FC 135 9 FCODE_bC135Bit9_b 314 FCODE C0135 Bit10 FC 135 10 FCODE_bC135Bit10_b 315 FCODE C0135 Bit11 FC 135 11 FCODE_bC135Bit11_b 316 FCODE C0135 Bit12 FC 135 12 FCODE_bC135Bit12_b 317 FCODE C0135 Bit13 FC 135 13 FCODE_bC135Bit13_b 318 FCODE C0135 Bit14 FC 135 14 FCODE_bC135Bit14_b 319 FCODE C0135 Bit15 FC 135 15 FCODE_bC135Bit15_b 320 SPEED MCTRL QspIn SP M Qsp MCTRL_bQs...

Page 435: ...CS_MAIN L_BRK1 bOut_b 413 SPEED BRK SetCInh SP B CInh ECS_MAIN L_BRK1 bCInh_b 414 SPEED BRK MStore SP B MSt ECS_MAIN L_BRK1 bMStore_b 420 TORQUE BRK SetQSP T B QSP ECS_MAIN L_BRK1 bQSP_b 421 TORQUE BRK NegOut T B NOut ECS_MAIN BRK_bNegOut_b 422 TORQUE BRK Out T B Out ECS_MAIN L_BRK1 bOut_b 423 TORQUE BRK SetCInh T B CInh ECS_MAIN L_BRK1 bCInh_b 424 TORQUE BRK MStore T B MSt ECS_MAIN L_BRK1 bMStore...

Page 436: ...n W1 Bit5 CAN1 1 5 CAN1_bInWord1B5_b 806 CAN1In W1 Bit6 CAN1 1 6 CAN1_bInWord1B6_b 807 CAN1In W1 Bit7 CAN1 1 7 CAN1_bInWord1B7_b 808 CAN1In W1 Bit8 CAN1 1 8 CAN1_bInWord1B8_b 809 CAN1In W1 Bit9 CAN1 1 9 CAN1_bInWord1B9_b 810 CAN1In W1 Bit10 CAN1 1 10 CAN1_bInWord1B10_b 811 CAN1In W1 Bit11 CAN1 1 11 CAN1_bInWord1B11_b 812 CAN1In W1 Bit12 CAN1 1 12 CAN1_bInWord1B12_b 813 CAN1In W1 Bit13 CAN1 1 13 CA...

Page 437: ... CAN1In W3 CAN1In W3 CAN1_nInW3_a 27 CAN2In W1 CAN2In W1 CAN2_nInW1_a 28 CAN2In W2 CAN2In W2 CAN2_nInW2_a 29 CAN2In W3 CAN2In W3 CAN2_nInW3_a 30 CAN2In W4 CAN2In W4 CAN2_nInW4_a 31 CAN3In W1 CAN3In W1 CAN3_nInW1_a 32 CAN3In W2 CAN3In W2 CAN3_nInW2_a 33 CAN3In W3 CAN3In W3 CAN3_nInW3_a 34 CAN3In W4 CAN3In W4 CAN3_nInW4_a 35 CANSync Deviation CANSync De CAN_nSyncDeviation 36 DCTRL Stat DCTRL Stat DC...

Page 438: ..._9_a 78 FCODE C0473 10 FC C473_10 FCODE_nC473_10_a 79 FCODE C0475 1_v FC 475_1_v FCODE_nC475_1_v 80 FCODE C0475 2_v FC 475_2_v FCODE_nC475_2_v 90 SPEED MCTRL NSetIn SP MC NSe MCTRL_nNSetIn_a 91 SPEED MCTRL MSetIn SP MC MSe MCTRL_nMSetIn_a 92 SPEED MCTRL IAct SP MC IAct MCTRL_nIAct_a 93 SPEED MCTRL DCVolt SP MC DCV MCTRL_nDCVolt_a 94 SPEED MCTRL MAct SP MC MAct MCTRL_nMAct_a 95 SPEED MCTRL Pos SP M...

Page 439: ...loscope GDO Keypad display Signal Selection No 651 InNeg AnOut1 IN AnOut1 InNeg_nAnOut1 652 InNeg AnOut2 IN AnOut2 InNeg_nAnOut2 671 OutNeg AnOut1 ON AnOut1 OutNeg_nAnOut1 672 OutNeg AnOut2 ON AnOut2 OutNeg_nAnOut2 900 DFIn In_v DFIn In_v DFIN_nIn_v_Shadow 910 DFOut In_v DFOUT I_v DFOUT_nIn_v_Shadow 920 AIN1 OUT AIN1 OUT L_AIN1 nOut_a ...

Page 440: ...474 1 FCE 474_1 FCODE_dnC474_1_p 17 FCODE C0474 2 FC 474_2 FCODE_dnC474_2_p 18 FCODE C0474 3 FC 474_3 FCODE_dnC474_3_p 19 FCODE C0474 4 FC 474_4 FCODE_dnC474_4_p 20 FCODE C0474 5 FC 474_5 FCODE_dnC474_5_p 21 AIF1In W0 W1 AIF1 W0 W1 AIF1_dnInD0_p 22 AIF2In W2 W3 AIF2 W2 W3 AIF2_dnInD2_p 23 AIF3In W2 W3 AIF3 W2 W3 AIF3_dnInD2_p 24 CAN1In W0 W1 CAN1 W0 W1 CAN1_dnInD0_p 25 CAN2In W2 W3 CAN2 W2 W3 CAN2...

Page 441: ...ects to the CANopen communication profile CiA DS301 version 4 01 which has been created under the umbrella association of the der CiA CAN in Automation to conform with the CAL CAN Application Layer Tip For further information visit the homepage of the CAN user organisation CiA CAN in Automation www can cia org Note System bus CAN The ECSxA axis module can communicate with a higher level host syste...

Page 442: ... PC interface HMI for parameter setting and diagnostics Interface to a decentralised I O system The data is exchanged via parameter data channels only Parameter setting diagnostics via code range C24xx The communication is effected via data telegrams 13 4 1 Structure of the CAN data telegram Control field CRC delimit ACK delimit Start RTR bit CRC sequence ACK slot End Identifier User data 0 8 byte...

Page 443: ... system and the controllers to ensure a permanent exchange of current input and output data l Process data are not stored in the controller l Process data are for instance setpoints and actual values Parameter data SDO Service Data Objects l Parameter data are transferred via the parameter data channel and acknowledged by the receiver i e the receiver gets a feedback whether the transmission was s...

Page 444: ...ler is not involved in the data exchange on the bus A part of the initialisation or the complete initialisation can be run through again in every NMT status by transmitting different telegrams see state transition Here all parameters are written with their set values After completing the initialisation the controller automatically adopts the Pre Operational status Pre Operational The controller ca...

Page 445: ...s included in the command specifies the receiver s 3 6 01xx Operational Network management telegrams sync emergency process data PDO and parameter data SDO are active corresponds to Start Remote Node Optional In case of change event controlled and time controlled process data PDO are sent once 4 7 80 xx Pre operational Network management telegrams sync emergency and parameter data SDO are active c...

Page 446: ...ne by a controller With a certain delay after mains connection a telegram is sent once which changes the status of the entire drive system to Operational The delay time can be set via the following codes Interface Code X1 Automation interface AIF C2356 4 X4 ECSxS P M MotionBus CAN ECSxA E System bus CAN C0356 4 X14 System bus CAN l Interface is not available for ECSxE C2456 4 Note Only a change to...

Page 447: ...lows with regard to their direction Process data telegrams to the controller Process data telegrams from the controller ƒ In CANopen the process data objects are named from the node s view RPDOx A process data object received by a node TPDOx A process data object transmitted by a node 13 4 3 1 Available process data objects The following process data objects PDOs are available for the ECS modules ...

Page 448: ...ux1_IN ü ü CANaux2_IN ü ü CANaux3_IN ü TPDO CANaux1_OUT ü ü CANaux2_OUT ü ü CANaux3_OUT ü 1 ECSxE from V5 0 CAN2_OUT Diagnostic PDO Note Power supply module ECSxE In case of the ECSxE power supply module the PDOs CAN1_IN OUT and CAN3_IN OUT cannot be used simultaneously The PDOs to be used are selected via C0360 ƒ The process data objects are integrated into the ECSxS axis modules in the form of f...

Page 449: ...s information can be as follows Current status of the controller Status of the digital inputs States about internal analog values Fault error messages This information enables the higher level host system PLC to respond accordingly ƒ The status word 1 is transmitted in byte 1 and 2 of the user data ƒ In byte 3 and 4 of the user data the extended status word 2 can be optionally transferred Identifi...

Page 450: ...ut sync CAN3_OUT event controlled cyclic without sync CANaux3_OUT ƒ Cyclic data transmission with sync telegram 452 via AIF1 CAN1 CANaux1 The sync telegram enables the controller to accept the process data from the master RPDOs or send them to the master TPDOs ƒ Event controlled data transmission via AIF2 3 CAN2 3 CANaux2 3 The data will be transmitted if a value changes in the corresponding outpu...

Page 451: ...4 X14 X1 X1 X4 X14 X1 X1 PLC Rx PDO1 Tx PDO1 ECSxS P M A ECSXA218 Fig 13 6 Example Cyclic process data transfer from to master PLC For the quick exchange of process data from or to the master respectively one process data object for input signals Rx PDO1 and one process data object for output signals Tx PDO18 each with 8 bytes of user data is provided ...

Page 452: ...e time TPDOs RPDOs 2 3 Fig 13 7 Sync telegram 1 After the CAN sync telegram has been received the synchronous process data from the controllers are sent to the master TPDOs They are read as process input data in the master 2 When the transmission process is completed the process output data of the master are received by the controllers RPDOs All other telegrams e g parameters or event controlled p...

Page 453: ...O2 TPDO2 RPDO2 ECSxS P M A ECSXA219 Fig 13 8 Example event controlled process data objects PDO2 The process data objects serve to transmit simple binary signals e g states of digital input terminals or complete values in 16 and 32 bits e g analog signals Event controlled process data objects with adjustable cycle time optional The output data is transmitted ƒ event controlled if a value changes wi...

Page 454: ...itted with low priority Parameter data are transmitted as SDOs Service Data Objects via the system bus CAN and acknowledged by the receiver The SDOs enable the writing and reading access to the object directory The CAN bus interfaces X4 and X14 are provided with two separated parameter data channels each which serve to simultaneously connect different devices for parameter setting and diagnostics ...

Page 455: ...r data is shown in motorola format Examples for parameter data transfer can be found from 458 Command The command contains the services for writing and reading the parameters and information on the length of the user data Command Bit 7 MSB Bit6 Bit5 Bit4 Bit3 Bit 2 Bit 1 Bit 0 LSB Command specifier cs toggle t Length e E Write request 0 0 1 0 00 4 bytes 01 3 bytes 10 2 bytes 11 1 byte 1 1 Write re...

Page 456: ...e of a communication error an Error response is generated by the addressed node This telegram always contains the value 6 in Data 4 and an error code in Data 3 The error codes are standardised acc to DS301 V4 02 Addressing by index and subindex The parameter or Lenze code is addressed with these bytes according to the following formula Index 24575 Lenze code number Data 1 Data 4 Parameter value le...

Page 457: ... 2 4 In these bytes the index byte 2 and 3 and subindex byte 4 of the code in which an error occurred are entered ƒ Bytes 5 8 In the bytes 5 to 8 the error code is entered The structure of the error code is reversed to the read direction Example Representation of the error codes 0x06040041 in the bytes 5 8 Read direction of the error code 41 00 04 06 5 byte 6 byte 7 byte 8 byte Low word High word ...

Page 458: ...r Command Value hex Read request 0x40 ƒ Index calculation Index Calculation 24575 code number 24575 61 24514 0x5FC2 ƒ Subindex 0 ƒ Telegram to controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 Data 2 Data 3 Data 4 1541 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00 ƒ Telegram from controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 D...

Page 459: ...ation Index Calculation 24575 code number 24575 12 24563 0x5FF3 ƒ Subindex 0 ƒ Calculation of the acceleration time Data 1 4 Calculation Value for acceleration time 20 s ú 10000 200000 0x00030D40 ƒ Telegram to controller Identifier User data Command Index LOW byte Index HIGH byte Subindex Data 1 Data 2 Data 3 Data 4 1537 0x23 0xF3 0x5F 0x00 0x40 0x0D 0x03 0x00 ƒ Telegram from controller if execute...

Page 460: ...ollowing values Object Direction Basic identifier to the ECS module from the ECS module dec hex NMT 0 0 Sync 128 80 PDO1 Process data channel 1 RPDO1 XCAN1_IN CAN1_IN CANaux1_IN X 512 200 TPDO1 XCAN1_OUT CAN1_OUT CANaux1_OUT X 384 180 PDO2 Process data channel 2 RPDO2 XCAN2_IN CAN2_IN CANaux2_IN X 640 280 TPDO2 XCAN2_OUT CAN2_OUT CANaux2_OUT X 641 281 PDO3 Process data channel 3 RPDO3 XCAN3_IN CAN...

Page 461: ... set so that the devices are able to communicate with each other L Node ID 1 CAN2_OUT CAN2_IN CAN3_OUT CAN3_IN L Node ID 2 CAN2_OUT CAN2_IN CAN3_OUT CAN3_IN L Node ID 3 Fig 13 10 Data exchange between Lenze devices Assign each node within the system bus network to a node address also called node ID for a clear identification in the range 1 to 63 ƒ A node address may not be assigned more than once ...

Page 462: ... the connector sets are available as separate delivery units for the ECS power supply capacitor and axis modules ƒ ECSZE000X0B connector set for ECS power supply modules ƒ ECSZK000X0B connector set for ECS capacitor modules ƒ ECSZA000X0B connector set for ECS axis modules 13 5 2 Shield mounting kit The shield mounting kit ECSZS000X0B001 contains components for reliable and quick fixing of the cabl...

Page 463: ...INTERBUS EMF2113IB ü PROFIBUS DP EMF2133IB ü CANopen EMF2178IB ü DeviceNet EMF2179IB ü EtherCAT EMF2192IB ü ü System bus components PC system bus adapter Type order number Voltage supply via DIN connection EMF2173IB Voltage supply via PS2 connection EMF2173IB V002 Voltage supply via PS2 connection electrical isolation to CAN bus EMF2173IB V003 USB system bus adapter EMF2177IB Components for digita...

Page 464: ...n Rated data Type Brake resistor ERBM039R120W ERBM020R150W Resistance RB Ω 39 20 Continuous power Pd W 120 150 Amount of heat QB kWs 6 13 Max running time te s 5 Required recovery time ta s 90 Operating voltage Umax VDC 800 Max braking power PBmax kW PBmax Wärmemenge QB Einschaltzeit Brake resistors of type ERBD Brake resistors with an increased power loss in IP20 design protection against acciden...

Page 465: ... loss in IP65 design NEMA 250 type 4x Rated data Type Brake resistor ERBS039R01K6 ERBS020R03K2 Resistance RB Ω 39 20 Continuous power Pd W 1640 3200 Amount of heat QB kWs 246 480 Max running time te s 15 Required recovery time ta s 135 Operating voltage Umax VDC 800 Max braking power PBmax kW PBmax Wärmemenge QB Einschaltzeit ...

Page 466: ...d not be fused ƒ When ECS axis modules are supplied by devices of the 82xx and 93xx series with a continuous DC current 40 A install the following fuses between the supplying device and the ECS devices Fuse Support Value A Lenze type Lenze type 50 EFSGR0500ANIN EFH20007 ƒ Observe the national and regional regulations VDE UL EVU Warnings ƒ Use UL approved cables fuses and fuse holders only ƒ UL fus...

Page 467: ...odules A mains choke reduces the AC current load of the DC bus capacitors and thus increases their service life ƒ Low frequency radio interference voltages are reduced Please note ƒ With mains choke operation the maximally possible output voltage does not fully reach the value of the mains voltage ƒ For operation of drives for accelerating duty with high peak currents it is recommended to use main...

Page 468: ...terference level A The RFI filters are designed for the ECS power supply module assigned and up to 10 axes with a motor cable length of 25 m each Lenze system cable The interference level A is observed as long as the motor cable length per axis module is 25 m at a maximum Lenze sytem cables and the number of the ECS axis modules is maximally 10 RFI filter type ECS power supply module type ECSZZ020...

Page 469: ...erating mode Speed control 332 Address setting 170 Addressing individual 173 parameter data objects 460 process data objects 460 Adjusting current controller 149 Adjusting the current controller calculating the electrical motor values 149 Adjustment of field controller field weakening controller Adjustment 157 AIF automation interface management 247 AIF1In 248 AIF1Out 251 AIF2In 256 AIF2Out 258 AI...

Page 470: ...ting 176 communication 442 configuring 169 cycle time setting 176 cyclic process data objects synchronisation 452 data telegram 442 delay time setting 176 determining the master in the drive system 175 event controlled process data objects 453 function blocks CAN CAN management 267 CAN1In 273 CAN1Out 276 CAN2In 282 CAN2Out 285 CAN3In 288 CAN3Out 291 CANSync 270 identifier 442 460 display code 460 ...

Page 471: ...ommissioning steps overview 94 configuration of digital inputs outputs setting the polarity 121 configuring digital inputs outputs altering the terminal assignment 122 setting the direction of rotation 121 configuring the digital inputs outputs 121 controller enable 143 current controller adjustment metrological determination of electrical motor values 150 entry of machine parameters 141 Entry of ...

Page 472: ...drive system 175 making a reset node 178 setting the baud rate 169 setting the node address 169 speed control setpoint via AIF 130 setpoint via analog input 127 setpoint via MotionBus CAN 132 Sync phase displacement 179 sync phase displacement correction value 180 system bus CAN Individual addressing 173 setting the baud rate 169 setting the node address 169 Thermal motor monitoring 23 torque cont...

Page 473: ...n the drive system 175 Definition of notes used 30 Definitions of terms 13 Device control 294 Device protection 27 Device protection by current derating 38 Device status 299 device status 235 300 DFIN master frequency input 301 configuring the input signal 303 DFOUT master frequency output 304 configuring the output signal 306 Diagnostics 225 with Global Drive Control GDC 225 with Global Drive Osc...

Page 474: ...51 filters 50 shielding 51 cables 54 EMF2131IB digital frequency distributor wire 92 301 304 EMF2131IB digital frequency distributor wire 92 301 304 Enclosure 32 Encoder 88 Absolute value encoder Hiperface single turn multi turn as position and speed encoder 113 absolute value encoder Hiperface single turn multi turn 103 incremental encoder TTL encoder 89 SinCos absolute value encoder 90 SinCos en...

Page 475: ...AIn1 266 CAN CAN management 267 CAN1In 273 CAN1Out 276 CAN2In 282 CAN2Out 285 CAN3In 288 CAN3Out 291 CANSync 270 DCTRL 294 axis module status 299 controller inhibit CINH 297 operation inhibit DISABLE 297 quick stop QSP 297 TRIP RESET 298 TRIP SET 298 DFIN master frequency input 301 DFOUT master frequency output 304 DigIn freely assignable digital inputs 307 DigOut freely assignable digital outputs...

Page 476: ...0 earthing 51 filters 50 shielding 51 cables 54 Installation electrical 49 connection Safe torque off terminals 74 connection safe torque off 71 functional description 72 Important notes 73 connection of safe torque off function check 75 implementation 71 technical data 74 Connection of capacitor module ECSxK 64 control connections 65 assignment of the plug connectors 68 Digital inputs 69 Digital ...

Page 477: ...ialisation 220 Mechanical installation 39 cold plate technique ECSCx 46 important notes 39 push through technique ECSDx 42 with fixing rails ECSEx 41 Message 193 Monitoring absolute value encoder initialisation 220 CAN interface timeout with activated remote parameterisation 200 current load of the motor I2 x t monitoring 23 210 FAIL QSP 193 message 193 Monitoring times for process data input obje...

Page 478: ...protection 28 Motor temperature monitoring functions 202 Motor temperature monitoring OH3 OH7 202 Motor temperature sensor monitoring 219 Motor temperature sensor monitoring Sd6 219 Motor connection 61 Motors of other manufacturers 145 Mounting axis module ECSCx 46 axis module ECSDx 42 axis module ECSEx 41 cold plate design 46 standard installation with fixing rails 40 thermally separated push thr...

Page 479: ...power connections 53 Pollution 31 Position control feedback system 103 absolute value encoder Hiperface single turn multi turn 113 Absolute value encoder position encoder resolver speed encoder 117 resolver 104 sin cos encoder without serial communication 106 TTL incremental encoder 106 TTL SinCos encoder position encoder resolver speed encoder 109 Power connections 53 connection of external brake...

Page 480: ...tor control Operating mode speed control 332 Operating mode torque control 354 Setting of the feedback system 103 Setting the address via DIP switch 170 Setting the baud rate 169 Setting the direction of rotation 121 Setting the feedback system Absolute value encoder Hiperface single turn multi turn as position and speed encoder 113 absolute value encoder position encoder resolver speed encoder 11...

Page 481: ...itation 336 Speed control setpoint via AIF 130 setpoint via analog input 127 setpoint via CAN 132 setpoint via MotionBus CAN 132 Speed control function block setting the motor control 338 Speed control Speed 126 Speed control FB Speed 318 changing the direction of rotation 325 Holding brake control 340 motor control setting I component setting 156 335 357 speed controller adjustment 334 Setpoint p...

Page 482: ...m error messages Causes and remedies 238 T Technical data 31 current characteristics application example 37 device protection by current derating 38 rated output current 35 external brake resistor type ERBD 464 type ERBM 464 type ERBS 465 general electrical data 32 rated data 33 34 standards and operating conditions 31 Telegram counter CAN 188 Temperature 31 Temperature inside the controller monit...

Page 483: ...rent load of the motor I2 x t monitoring 23 210 voltage supply of control electronics 217 monitoring functions bus off 199 current load of controller I x t monitoring 207 DC bus voltage 214 earth fault 201 heatsink temperature 204 max system speed 223 monitoring times for process data input objects 198 motor phase failure 217 motor temperature 202 motor temperature sensor 219 Resolver cable 218 ro...

Page 484: ... Germany Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline Ê 49 0 51 54 82 28 00 Ê 49 0 51 54 82 11 12 Lenze Lenze de Service Lenze de ü www Lenze com EDBCSXS064 LKn EN 4 0 TD17 10 9 8 7 6 5 4 3 2 1 ...

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Lenze ECS series, Operating Instructions Manual

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