Lenze i950 Series Manual Download Page 154

Page: 154 / 500

Configure position control

This operating mode provides a fast position follower with speed, torque and feed force feed-

forward control.
Typical applications for positioning are, for instance, transport facilities, feed drives and dos-

ing systems.
Preconditions
A positioning control is parameterised in the servo control types to be set.

0x2C00

Configure one of these motor control types:

•

0x2C00

= 1:

Servo control for synchronous motor (SC-PSM)

237

•

0x2C00

= 2:

Servo control for asynchronous motor (SC-ASM)

238

Further conditions are:

•

The correct entry of the

Motor data

•

The parameter setting of the motor control in chapter

Configuring the motor control

236

Configure position control

154

Summary of Contents for i950 Series

Page 1: ...Inverters i950 servo inverters Commissioning EN ...

Page 2: ......

Page 3: ... 2 1 1 Generate a connection between inverter and EASY Starter 30 4 3 General information on parameter setting 31 4 3 1 Addressing of the parameters 31 4 3 2 Structure of the parameter descriptions 31 4 3 3 Parameter overview lists 31 4 3 4 Favourites 32 4 3 4 1 Configuring the Favourites 32 4 4 Commissioning 35 4 5 Saving the parameter settings 36 4 5 1 Save parameter settings with EASY Starter 3...

Page 4: ... Homing modes 61 6 2 10 2 Digital input for reference switch 70 6 2 10 3 Motor encoder behaviour after mains switching 70 6 2 11 Limitations 71 6 2 11 1 Torque limits 71 6 2 11 2 Maximum values for travel profiles 72 6 2 11 3 Hardware limit switches 73 6 2 11 4 Software limit switches 75 6 2 11 5 Safety limits 76 6 2 12 Status signals 78 6 3 Defining control sources 80 6 3 1 Source of quick stop 8...

Page 5: ...from master 120 7 6 Position synchronism 121 7 7 Position clutch 123 7 7 1 Path controlled clutch 124 7 7 2 Time controlled clutch 126 7 7 3 Travel profile based clutch 128 7 7 4 Asynchronous clutch 133 7 8 Master value correction register control 134 7 8 1 Mark window and mark register 137 7 8 2 Mark failure detection 139 7 8 3 Position correction 140 7 8 4 Gearbox factor correction 142 7 9 Tool ...

Page 6: ...oint diagnostics 170 10 Configure speed control 171 10 1 Basic setting 171 10 2 Operating mode CiA 402 Velocity mode vl 172 10 2 1 Default mapping 172 10 2 2 Signal flow servo control 173 10 2 3 Signal flow V f characteristic control 175 10 3 Operating mode CiA 402 Cyclic sync velocity mode csv 177 10 3 1 Default mapping 177 10 3 2 Signal flow servo control 178 10 3 3 Signal flow V f characteristi...

Page 7: ...2 2 1 General settings 213 12 2 2 Resolver settings 214 12 2 2 1 Resolver error compensation 215 12 2 3 Encoder settings 217 12 2 3 1 SinCos encoder 218 12 2 3 2 SinCos absolute value encoder with HIPERFACE protocol 218 12 2 3 3 SSI encoder 220 12 2 3 4 Evaluation of the signal quality 222 12 2 4 Detection of changed settings of the feedback system 223 12 2 5 Diagnostics 223 12 3 Encoder Evaluatio...

Page 8: ... 10 Flying restart circuit 249 13 5 Parameterisable motor functions 251 13 5 1 DC braking 251 13 5 2 Short circuit braking 252 13 5 3 Holding brake control 253 13 5 3 1 Basic setting 254 13 5 3 2 Brake holding load 255 13 5 3 3 Torque feedforward control 256 13 5 3 4 Manual brake control 256 13 6 Options for optimising the control loops 257 13 6 1 Automatic motor identification energized 257 13 6 ...

Page 9: ...t motor overload monitoring 295 13 9 2 Motor temperature monitoring 296 13 9 2 1 Individual characteristic for motor temperature sensor 297 13 9 3 Overcurrent monitoring 298 13 9 4 Motor phase failure detection 298 13 9 5 Motor speed monitoring 299 13 10 Frequency and speed limitations 300 13 11 Testing the motor control 301 13 11 1 General settings for test modes 301 13 11 2 Manual tension freque...

Page 10: ...ion enabled 330 16 1 6 6 Quick stop active 331 16 1 6 7 Fault reaction active 332 16 1 6 8 Trouble 333 16 2 EtherCAT 334 16 2 1 Commissioning 335 16 2 2 Basic setting and options 338 16 2 2 1 Synchronisation with distributed clocks DC 338 16 2 2 2 Parameterising additional functions 338 16 2 3 Process data transfer 341 16 2 3 1 Standard mapping 341 16 2 3 2 Dynamic free configuration 341 16 2 3 3 ...

Page 11: ... transfer 359 16 3 4 Parameter data transfer 360 16 3 5 Monitoring 361 16 3 6 Diagnostics 363 16 3 6 1 LED status display 363 16 3 6 2 Information on the network 363 16 3 7 PROFIsafe 365 16 3 8 PROFIenergy 365 16 3 8 1 Supported commands 365 16 3 8 2 Supported measured values 365 16 4 EtherCAT system bus 366 16 4 1 Commissioning 368 16 4 2 Basic setting and options 369 16 4 3 Process data transfer...

Page 12: ...17 11 Inverter control word 382 17 12 Access protection 382 17 12 1 Brand protection 382 17 13 Switching frequency changeover 382 17 14 Device overload monitoring i t 383 17 15 Heatsink temperature monitoring 384 17 16 Update device firmware 384 17 16 1 Manual firmware download with EASY Starter firmware loader 384 17 16 1 1 Download via Ethernet connection 384 18 Additional functions 385 18 1 Bra...

Page 13: ...428 19 16 Safe Cam SCA 432 19 17 Operation mode selector OMS 434 19 18 Enable Switch ES 437 19 19 Repair mode select RMS 438 19 20 Cascading CAS 440 19 21 Safe network interfaces 441 19 21 1 FSoE connection 441 19 22 Connection to the applications 442 19 22 1 Inputs 442 19 22 2 Outputs 443 19 22 3 Internal communication 443 19 22 4 Control signals 443 19 22 5 Status signals 445 19 23 Safe paramete...

Page 14: ...protection 456 20 1 3 EMC data 456 20 1 4 Motor connection 457 20 1 5 Environmental conditions 457 20 1 6 Electrical supply conditions 457 20 2 3 phase mains connection 400 V 458 20 2 1 Rated data 458 20 3 3 phase mains connection 480 V 460 20 3 1 Rated data 460 21 Appendix 462 21 1 Parameter attribute list 462 21 2 Glossary 496 Contents 14 ...

Page 15: ...formation on project planning and ordering the product Commissioning document Fundamental information for the installation and commissioning of the product For certain tasks information is available in other forms Form Contents topics Engineering Tools For commissioning AKB articles Application Knowledge Base with additional technical information for users CAD data Exports in different formats EPL...

Page 16: ...er documentation with additional information Example EDKxxx see documentation EDKxxx Layout of the safety instructions DANGER Indicates an extremely hazardous situation Failure to comply with this instruction will result in severe irreparable injury and even death WARNING Indicates an extremely hazardous situation Failure to comply with this instruction may result in severe irreparable injury and ...

Page 17: ...sals described 2 2 Application as directed The product must only be operated under the operating conditions prescribed in this doc umentation The product meets the protection requirements of 2014 35 EU Low Voltage Directive Commissioning or starting the operation as directed of a machine with the product is not permitted until it has been ensured that the machine meets the regulations of the EC Di...

Page 18: ...tection of the machine system Drives can reach dangerous overspeeds E g by setting high output frequencies in connection with motors and machines not suita ble for this purpose The inverters do not provide protection against such operating conditions For this pur pose use additional components Switch contactors in the motor cable only if the controller is inhibited Switching while the inverter is ...

Page 19: ...5 0 75 kW 175 2 2 KW 222 4 0 kW 240 7 5 kW 275 11 kW 311 15 kW 315 22 kW 322 30 kW 330 45 kW 345 55 kW 355 75 kW 375 90 kW 390 110 kW 411 Mains voltage and connection type 3 PE AC 400 V 3 PE 480 V AC F Motor connections Single axis 1 Integrated functional safety Basic Safety STO A Extended Safety C Enclosure IP20 0 IP20 coated V Interference suppression Without 0 Integrated RFI filter 1 Design typ...

Page 20: ...te inverter Component options Nameplate at front top Technical data type and serial number of the inverter Type and serial number of the component Nameplate at the side Technical data of the inverter Product information Identification of the products Nameplates 20 ...

Page 21: ... X3 Basic Safety STO X1 System bus EtherCAT OUT X237 System bus EtherCAT IN X236 Network status LEDs Control electronics 24 V supply X5 IT screw X100 Mains connection Option Shielding of motor connection PE connection B A Load encoder or master encoder Option Option Motor encoder Option SD card Inverter status LEDs Network Option X2x7 Network Option X2x6 Option Shielding of control connections Ext...

Page 22: ...erCAT IN System bus EtherCAT OUT Basic Safety STO Control terminal Commissioning diagnostics Engineering port IT screw X16 X3 X1 X237 X236 Network status LEDs X5 Option Shielding of motor connection Load encoder or master encoder Option Option Motor encoder Option DC bus X100 Mains connection X101 PE connection PE connection B A Option SD card Option Shielding of control connections Extended Safet...

Page 23: ... X237 X236 Network status LEDs X5 Load encoder or master encoder Option Option Motor encoder X100 Mains connection DC bus PE connection B A Option SD card Option Shielding of control connections Extended Safety Option X82 X83 IT screw Shielding of motor connection Brake resistor Motor connection X105 PTC input X109 Motor holding brake 24 V supply X107 Motor holding brake X106 PE connection Product...

Page 24: ...3 X1 X237 X236 Network status LEDs X5 Load encoder or master encoder Option Option Motor encoder X100 Mains connection PE connection B A Option SD card Shielding of control connections Extended Safety Option X82 X83 PE connection IT screw Shielding of motor connection Brake resistor Motor connection X105 PTC input X109 Motor holding brake 24 V supply X107 Motor holding brake X106 PE connection Pro...

Page 25: ...X16 X3 X1 X237 X236 Network status LEDs X5 Load encoder or master encoder Option Option Motor encoder Mains connection DC bus X100 PE connection B A Option SD card Option Shielding of control connections IT screw Extended Safety Option X82 X83 IT screw Brake resistor Motor connection PTC input X109 Motor holding brake 24 V supply X107 Motor holding brake X106 Shielding of motor connection X105 PE ...

Page 26: ... X16 X3 X1 X237 X236 Network status LEDs X5 Load encoder or master encoder Option Option Motor encoder Mains connection DC bus X100 PE connection B A Option SD card Option Shielding of control connections IT screw Extended Safety Option X82 X83 IT screw Brake resistor Motor connection PTC input X109 Motor holding brake 24 V supply X107 Motor holding brake X106 Shielding of motor connection X105 PE...

Page 27: ...st be complete and correct Wiring must be free of short circuits and earth faults The motor circuit configuration star delta must be adapted to the inverter output voltage The motor must be connected in phase direction of rotation The emergency off function of the overall system must operate correctly DANGER Incorrect settings during commissioning may cause unexpected and dangerous motor and sys t...

Page 28: ...for customising the drive task Simple access to the device parameters is provided by the Lenze Engineering Tool EASY Starter Connection X16 is used as an interface for an engineering PC in this case If the inverter is equipped with the PROFINET network option the terminals X2x6 or X2x7 can also be used Commissioning Operating interfaces 28 ...

Page 29: ...ommunication Settings for communication via the system bus EtherCAT another fieldbus and the engineering port X16 PC inter face Kinematics Basic settings of the technology application serve to adapt the motor and load side gearbox ratio mounting direc tion moment of inertia etc Motion Basic settings of the technology application for adapting the motion control Technology application Settings to ad...

Page 30: ...ut any errors or faults The inverter is ready for operation mains voltage is switched on Required accessories Engineering PC with installed EASY Starter Standard network cable 1 Plug the network cable into the engineering port X16 of the inverter 2 Use the network cable to connect the inverter to the PC on which the EASY Starter is installed 3 Start the EASY Starter The Add devices dialog is shown...

Page 31: ...dress Name setting range default setting Info Index Subindex Parameter designation Minimum value default setting maximum value Optional information with regard to the parameter Explanations notes with regard to the parameter Example parameters with a selection list Address Name setting range default setting Info Index Subindex Parameter designation Optional information with regard to the parameter...

Page 32: ...wing parameters Parameter Address Name setting range default setting Info 0x261C 001 Favorites settings Parameter 1 0 4294967295 Definition of the Favorites parameters Format 0xiiiiss00 iiii hexadecimal index ss hexadecimal subindex The lowest byte is always 0x00 The keypad can be used to select the desired parameter from a list 0x261C 002 Favorites settings Parameter 2 0 4294967295 0x261C 003 Fav...

Page 33: ...settings Parameter 23 0 4294967295 0x261C 024 Favorites settings Parameter 24 0 4294967295 0x261C 025 Favorites settings Parameter 25 0 4294967295 0x261C 026 Favorites settings Parameter 26 0 4294967295 0x261C 027 Favorites settings Parameter 27 0 4294967295 0x261C 028 Favorites settings Parameter 28 0 4294967295 0x261C 029 Favorites settings Parameter 29 0 4294967295 0x261C 030 Favorites settings...

Page 34: ...967295 0x261C 044 Favorites settings Parameter 44 0 4294967295 0x261C 045 Favorites settings Parameter 45 0 4294967295 0x261C 046 Favorites settings Parameter 46 0 4294967295 0x261C 047 Favorites settings Parameter 47 0 4294967295 0x261C 048 Favorites settings Parameter 48 0 4294967295 0x261C 049 Favorites settings Parameter 49 0 4294967295 0x261C 050 Favorites settings Parameter 50 0 4294967295 C...

Page 35: ...ab Clicking on a link displays a corresponding interface containing the most important parameters that need to be set 4General information on parameter setting 31 Commissioning step Description of the settings Basic settings The basic settings are sufficient for drive rotation Check every preset parameter value to determine whether it can be retained for the application If a value has to be change...

Page 36: ...5 1 Save parameter settings with EASY Starter If a parameter setting has been changed with the EASY Starter but not yet saved in the memory medium with mains failure protection the status line of the EASY Starter displays the note The parameter set was changed There are 3 options to save the parameter settings in the user memory of the storage medium Click the button in the toolbar of the EASY Sta...

Page 37: ...only x V Display of the fixed error threshold for monitoring DC bus undervoltage If the DC bus voltage falls below the threshold displayed the Error response is triggered 0x2540 004 Mains settings Undervoltage reset threshold Read only x V Display of the fixed reset threshold for monitoring DC bus undervoltage 0x2540 005 Mains settings Overvoltage warning threshold 0 795 800 V Setting of the warni...

Page 38: ... into equivalent star values Possible settings If a Lenze motor is connected to the inverter you can select the motor in the engineering tool from the motor catalogue For details see chapter Select motor from motor catalogue 39 Otherwise the motor data must be set manually for details see chapter Manual setting of the motor data 41 Parameter Address Name setting range default setting Info 0x2C08 M...

Page 39: ...vides for the functionality of a Motor catalogue 2 Click the Select motor button In case of the EASY Starter you find the Select motor button on the settings tab 3 Select the used motor in the Select motor dialog By entering filter criteria you can restrict the selection Name e g MCS rated power and C86 value can be found on the motor nameplate 4 Press the Please select button to select the therma...

Page 40: ...ata Notes The data involved in this parameterisation are provided be the motor catalogue alone Fur ther user data is not required The inverter characteristic is not changed by this optimisation Parameter Address Name setting range default setting Info 0x2C01 010 Motor parameters Motor name MCS06C41 The name e g 1 can be freely selected by the user If the motor in the engineering tool has been sele...

Page 41: ...nding 40x2D4C 002 Thermal time constant laminated core 40x2D4C 003 Influence of winding 40x2D4C 004 Starting value 40x6067 Rated motor torque Additionally for ASM 40x2C02 001 Rotor resistance 40x2C02 002 Mutual inductance 40x2C02 003 Magnetising current Additionally for PSM 40x2C03 001 EMF constant 40x2C03 002 Resolver pole position 40x2C03 003 Temperature coefficient magnets kTN 40x2C03 004 Encod...

Page 42: ...temperature 120 C 3 B cut off temperature 130 C 4 F cut off temperature 155 C 5 H cut off temperature 180 C 6 G cut off temperature 180 C 0x2C02 001 Motor parameter ASM Rotor resistance 0 0000 0 0000 214748 3647 Ω Equivalent circuit data required for the motor model of the asynchro nous machine 0x2C02 002 Motor parameter ASM Mutual inductance 0 0 0 0 214748364 7 mH 0x2C02 003 Motor parameter ASM M...

Page 43: ...x6075 Motor rated current 0 001 1 300 500 000 A Setting can only be changed if the inverter is inhibi ted The rated motor current that needs to be set here serves as a reference value for different parameters that involve a setting for display of a cur rent value in percent Example Motor rated current 1 7 A Max current 0x6073 200 Motor rated current 3 4 A 0x6076 Motor rated torque 0 001 0 600 1000...

Page 44: ... control type is used for the sensorless control of a synchronous motor Control mode is possible up to a rated power of 22 kW 4Sensorless control for synchronous motor SL PSM 238 4 Sensorless vector control SLVC This control type is used for sensorless vector control of an asynchro nous motor 5 Reserved 6 V f characteristic control VFC open loop This control mode is used for the speed control of a...

Page 45: ...escribes the basic functions of the technology application Here you will find information on the following topics 4Kinematic settings 46 4Motion settings 53 4Defining control sources 80 4System bus communication 82 Technology application TA basic settings 45 ...

Page 46: ...s has an automatic function for the torque feed forward control The torque feedforward control is calculated from the current setpoint acceleration and the resulting moment of inertia 6 1 3 Motor encoder mounting direction Depending on the mounting direction the direction of motor rotation or the encoder direc tion of rotation can be inverted Parameter Address Name setting range default setting In...

Page 47: ...ator The gearbox ratio for the motor is influenced by 4 parameters Gearbox factor numerator 40x500A 033 Gearbox factor denominator 40x500A 034 Additional gearbox factor numerator 40x500A 025 Additional gearbox factor denominator 40x500A 026 The gearbox ratio for the second encoder is influenced by 2 parameters Gearbox factor numerator 40x500B 033 Gearbox factor denominator 40x500B 034 Example Afte...

Page 48: ...ominator 1 1 4294967295 Setting can only be changed if the inverter is inhibi ted 0x500B 033 Gearbox factor nominator 1 1 4294967295 Setting can only be changed if the inverter is inhibi ted 0x500B 034 Gearbox factor denominator 1 1 4294967295 Setting can only be changed if the inverter is inhibi ted Example of how to calculate the ratio Example calculation 0x500A 033 z2 z4 88 72 6336 i 58 667 0x5...

Page 49: ...tes the distance travelled by the slide in one revolution in the following exam ple 5 023 mm M h 5 023 mm Fig 2 Feed constant of a spindle drive h Leadscrew pitch from the technical data of the linear axis The kinematic parameters for the second encoder can be used to define how an imported encoder position or encoder speed should be converted into machine units Parameter Address Name setting rang...

Page 50: ...ion in the machine measuring system 3 Position in the motor measuring sys tem Unlimited travel range Modulo The measuring system is repeated When the set cycle length is exceeded a defined overflow takes place The cycle length corresponds to one revolution or tool distance of a turntable end posi tion starting position Software limit switches are not active Absolute targets can be approached by ex...

Page 51: ...360 0000 214748 3647 Setting can only be changed if the inverter is inhibi ted The cycle length for an unlimited traversing range defines the position where the measuring system is repeated position return to 0 0x500B 030 Travel range Setting can only be changed if the inverter is inhibi ted Selection of the traversing range with regard to the encoder position 0 Modulo Unlimited traversing range t...

Page 52: ...t have any influence in the virtual mode Only the parameters travel range and cycle length are used for the machine measuring system Machine measuring system parameters Travel range 40x500A 030 Cycle length 40x500B 031 For diagnostic purposes an active virtual mode is displayed in the Status word parameter 40x500A 005 Bit 0 Parameter Address Name setting range default setting Info 0x500A 029 Virtu...

Page 53: ...etpoint generation for the quick stop function starts at the current actual speed The quick stop function starts with the acceleration 0 Exception If the axis is already in the deceleration phase the start is performed with the active setpoint acceleration to avoid prolonging the existing braking process During the deceleration a change to speed controlled operation takes place A transition to pos...

Page 54: ...ined position at the relevant point in time In such cases it is appropriate to trigger an error response The error response is adjustable 40x500A 059 For diagnostic purposes the current and maximum following error are displayed in the diag nostic parameter 40x500A 058 Behaviour when the following error monitoring is active 0x500A 054 activated Two following error limits can be parameterised Exceed...

Page 55: ... standstill detection The standstill detection identifies whether the axis is at standstill The information is provided in the status word parameter of the technology application Axis status word 40x500A 005 bit 22 Parameter Address Name setting range default setting Info 0x500A 132 Standstill window size motor encoder 0 0000 0 0000 214748 3647 0x500B 132 Standstill window size load encoder 0 0000...

Page 56: ...rs must not exceed the drift of the actual position at drive standstill plus an addi tional safety margin If higher values are set the position controller makes a jerky compensation after the inverter is enabled This is due to the existing system deviation Limit values 40x500A 136 40x500A 137 Behaviour in case of an inverter disable during a movement If the drive is disabled during a movement for ...

Page 57: ...g range default setting Info 0x500A 090 Default control mode Setting can only be changed if the inverter is inhibi ted 0 Position control via motor encoder 1 Position control via load encoder 10 Speed control via motor encoder 0x500A 091 Actual control mode Read only 0 Position control via motor encoder 1 Position control via load encoder 10 Speed control via motor encoder 20 Torque control 0x500A...

Page 58: ...een stopped manually before this by resetting the con trol inputs a positioning to the corresponding software limit switch is aborted The drive brakes with the set deceleration to the position of the corresponding hardware limit switch If the reference is not known or the software limit switches are not activated the axis only stops at the hardware limit switch Parameter Address Name setting range...

Page 59: ... and exact approach of the limit switch and positioning to the target position If speed 2 is set 0 initial value there is no changeover to the profile data set 2 The reference search is carried out with the profile parameters of profile data set 1 Parameter Address Name setting range default setting Info 0x500A 070 Homing mode 2 CwTorqueLimit 1 CcwTorqueLimit 0 SetPositionDirect 1 CcwLimitSwitchCw...

Page 60: ...4 TP1 zero pulse 11 TP2 positive edge 12 TP2 negative edge 13 TP2 any edge 14 TP2 zero pulse 21 TP3 positive edge 22 TP3 negative edge 23 TP3 any edge 24 TP3 zero pulse 31 TP4 positive edge 32 TP4 negative edge 33 TP4 any edge 34 TP4 zero pulse 0x500A 084 Home position 214748 3648 0 0000 214748 3647 Technology application TA basic settings Motion settings Homing 60 ...

Page 61: ...t Homing mode 1 CcwLimitSwitchCwTP 0 1 Fig 7 Negative direction with reversing limit switch to touch probe A Touch probe zero pulse B Negative travel range limit switch Sequence of case 1 The machine part moves in negative direction with profile data set 1 2 The machine part reverses to the negative travel range limit switch B and changes to profile data set 2 3 The negative edge of the travel ran...

Page 62: ...s to positive travel range switch B and changes to profile data set 2 3 The negative edge of the travel range limit switch B activates the touch probe detection 4 The following positive edge of the encoder zero pulse touch probe sensor A sets the ref erence 5 Further actions can be selected Drive stops default setting Relative positioning by a set target position Absolute positioning to a set targ...

Page 63: ...der zero pulse touch probe sensor A sets the ref erence 5 Further actions can be selected Drive stops default setting Relative positioning around a set target position Absolute positioning to a set target position Sequence for case The axis has already activated the reference switch 1 The machine part moves in negative direction with profile data set 2 2 The negative edge of the reference switch B...

Page 64: ...e encoder zero pulse touch probe sensor A sets the ref erence 5 Further actions can be selected Drive stops default setting Relative positioning by a set target position Absolute positioning to a set target position Sequence of case The axis has already activated the reference switch 1 The machine part moves in positive direction with profile data set 2 2 The negative edge of the reference switch ...

Page 65: ...a set target position Absolute positioning to a set target position Homing mode 18 CwLimitSwitch 0 Fig 12 Positive direction to limit switch A Positive travel range limit switch Sequence of case 1 The machine part moves in positive direction with profile data set 1 2 The machine part reverses to positive travel range limit switch A and changes to profile data set 2 3 The following negative edge of...

Page 66: ... the reference 4 Further actions can be selected Drive stops default setting Relative positioning by a set target position Absolute positioning to a set target position Sequence of case The axis has already activated the reference switch 1 The machine part moves in negative direction with profile data set 2 2 The negative edge of the reference switch A sets the reference 3 Further actions can be s...

Page 67: ... switch 1 The machine part moves in positive direction with profile data set 2 2 The negative edge of the reference switch A sets the reference 3 Further actions can be selected Drive stops default setting Relative positioning by a set target position Absolute positioning to a set target position Homing mode 33 CcwTP 0 Fig 15 Negative direction to touch probe A Touch probe zero pulse Sequence of c...

Page 68: ...n Homing mode 1 CcwTorqueLimit Fig 17 Negative direction to torque limit Sequence of case 1 The machine part moves in negative direction with reduced torque and profile data set 1 2 The reference is set if the following two conditions for the set blocking time are fulfilled at the same time The current speed is lower than the threshold set for standstill detection The current torque is higher than...

Page 69: ...lute positioning to a set target position Parameter Address Name setting range default setting Info 0x500A 070 Homing mode 2 CwTorqueLimit 1 CcwTorqueLimit 0 SetPositionDirect 1 CcwLimitSwitchCwTP 2 CwLimitSwitchCcwTP 3 CwRpCcwRnTP 5 CcwRpCwRnTP 17 CcwLimitSwitch 18 CwLimitSwitch 19 CwRpCcwRn 21 CcwRpCwRn 33 CcwTP 34 CwTP 99 Reset home position 0x500A 072 Homing Set position 214748 3648 0 0000 214...

Page 70: ... of maximum pre sentable range of encoder shaft 40x500A 082 No check takes place when The angle is parameterised for 0 Parameter Address Name setting range default setting Info 0x500A 081 Keep home position after mains switching false Inactive true Active 0x500A 082 Max angle of rotation after mains switching 2147483648 0000000000 0 0000000000 2147483647 0000000000 Setting of the maximum angle of ...

Page 71: ...tives torque limit from application 0x60E0 Positive torque limit 0x500A 129 Parameter Address Name setting range default setting Info 0x500A 013 Actual torque Read only x xx Nm 0x500A 128 Positive torque limit 3276 8 200 0 3276 7 0x500A 129 Negative torque limit 3276 8 200 0 3276 7 Negative torque limit 0x6076 Motor rated torque 0 001 0 600 1000 000 Nm Setting can only be changed if the inverter i...

Page 72: ...nt the profile parameters are automatically limited to the set maximum values A non synchronised movement is e g a positioning or the manual jog function A warning indicates that the profile data have been limited Parameter Address Name setting range default setting Info 0x500A 045 Max velocity 0 0000 0 0000 214748 3647 0x500A 046 Max acceleration 0 00 0 00 21474836 47 0x500A 047 Max jerk 0 00 0 0...

Page 73: ... Fig 20 Analog input 1 as speed source Connection of the hardware limit switches The hardware limit switches are assigned to the digital inputs via the Source for positive hard ware limit switch and Source for negative hardware limit switch parameters Limit switch source Source for positive hardware limit switch 40x5020 004 Source for negative hardware limit switch 40x5020 005 The limit switch eva...

Page 74: ...the digital inputs for the positive hardware limit switch 0 FALSE Specification of the digital inputs for the positive hardware limit switch 1 TRUE 2 Digital input 1 3 Digital input 2 4 Digital input 3 5 Digital input 4 0x5020 005 Source of negative hardware limit switch Selection of the digital inputs for the negative hardware limit switch 0 FALSE Specification of the digital inputs for the negat...

Page 75: ...ware limit switch does not result in an error If the software limit switches are exceeded the set error response is triggered 40x500A 105 The software limit switches can be retracted in the direction of the permitted traversing range Parameter Address Name setting range default setting Info 0x500A 050 Enable software limit switches false Inactive true Active 0x500A 051 Software limit switch positi...

Page 76: ...lay 0x500A 163 bit 1 Status display 0x500A 163 bit 2 Quick stop application deceleration 0x500A 048 Quick stop application deceleration 0x500A 048 Quick stop application jerk 0x500A 049 Quick stop application jerk 0x500A 049 After the standstill is reached the drive is disabled The drive is braked to standstill with the parameters Quick stop applica tion deceleration und Quick stop application jer...

Page 77: ... 150 SLS1 0 0000 0 0000 214748 3647 0x500A 151 SLS1 deceleration time 0 000 0 000 2147483 647 s 0x500A 152 SLS2 0 0000 0 0000 214748 3647 0x500A 153 SLS2 deceleration time 0 000 0 000 2147483 647 s 0x500A 154 SLS3 0 0000 0 0000 214748 3647 0x500A 155 SLS3 deceleration time 0 000 0 000 2147483 647 s 0x500A 156 SLS4 0 0000 0 0000 214748 3647 0x500A 157 SLS4 deceleration time 0 000 0 000 2147483 647 ...

Page 78: ...h negative Bit 11 STO active Bit 12 Brake opened Bit 13 Application quick stop active Bit 14 Limitation active Bit 16 Following error warning active Bit 17 Following error error active Bit 18 Homing active Bit 19 Homing switch for touch probe active Bit 20 Application torque limits Bit 21 Manual jog active Bit 22 Standstill active Bit 23 Position setpoint reached Bit 24 Switch off software limit s...

Page 79: ...sition detected Bit 22 Standstill active 0x500B 010 Actual position Read only The current position value is resolved with 4 decimal positions 0x500B 011 Actual velocity Read only The current speed value is resolved with 4 decimal positions 0x500B 012 Actual acceleration Read only Technology application TA basic settings Motion settings Status signals 79 ...

Page 80: ...ick stop source Selection of the signal source for activating the quick stop 0 FALSE 1 TRUE 2 Digital input 1 3 Digital input 2 4 Digital input 3 5 Digital input 4 6 3 2 Source of error reset An error can be reset via the fieldbus the system bus or via a digital input Use the Source for error reset parameter to select which input is used 40x5020 008 0x5020 008 Source reset error FALSE TRUE DigIn1 ...

Page 81: ...e 3 Profile done 4 Brake opened 5 Network signal 6 3 4 Source of monitoring signal A monitoring signal can be selected for control word 6 and another one for control word 7 The source for the monitoring signal to be output is selected via the Source for monitoring signal parameter The number of decimal positions transmitted depends on the value selec ted Selection for control word 6 Selection for ...

Page 82: ...4 System bus diagnostics Torque input value Read only x xx Nm Torque of the master axis 0x5021 155 System bus diagnostics Time stamp input value Read only x ns Time stamp of the master axis 0x5021 156 System bus diagnostics Input data word 6 Read only This system bus input word is currently not used but can be connected in the technology application by the user 0x5021 157 System bus diagnostics In...

Page 83: ... technol ogy applications The values are transferred independently of the role of the node in the sys tem bus master or slave The values are configured via the Master value output of system bus parameter Every bus node sends the values Cycle length 0x5021 160 Position 0x5021 161 Velocity 0x5021 162 Acceleration 0x5021 163 Torque 0x5021 164 System bus outputs Master values output system bus 0x5020 ...

Page 84: ...igital input 2 any edge 21 Digital input 3 positive edge 22 Digital input 3 negative edge 23 Digital input 3 any edge 31 Digital input 4 positive edge 32 Digital input 4 negative edge 33 Digital input 4 any edge 0x5020 012 TP2 source 0 External source 1 Digital input 1 positive edge 2 Digital input 1 negative edge 3 Digital input 1 any edge 11 Digital input 2 positive edge 12 Digital input 2 negat...

Page 85: ...tion needs to be performed for the slaves M VM S1 S2 S15 Sn Fig 26 Distribution of master values via the master Application examples 4Example System bus master is master value master 86 4Example System bus slave is master value master 87 4Example Using time stamp of another axis 88 Technology application TA basic settings System bus communication Distribution of the master values by the master 85 ...

Page 86: ...aster 0x5021 010 01 Master 01 Positionsleitwert 0x5021 151 02 Geschwindigkeitsleit wert 0x5021 152 03 Beschleunigungsleit wert 0x5021 153 04 Drehmoment der Lei tachse 0x5021 154 0x5021 020 01 Master 0x5021 021 01 Master 0x5021 022 01 Master 0x5021 035 01 Master 05 Zeitstempel der Lei tachse 0x5021 155 0x5021 040 01 Master 0x5021 041 01 Master 0x5021 042 01 Master 0x5021 055 01 Master 06 Free input...

Page 87: ...ter Slave 1 Slave 2 Slave 15 00 Taktlänge der Lei tachse 0x5021 150 0x5021 010 03 Slave 2 0x5021 010 03 Slave 2 01 Positionsleitwert 0x5021 151 02 Geschwindigkeitsleit wert 0x5021 152 03 Beschleunigungsleit wert 0x5021 153 04 Drehmoment der Lei tachse 0x5021 154 0x5021 020 01 Master 0x5021 021 01 Master 0x5021 022 01 Master 0x5021 035 01 Master 05 Zeitstempel der Lei tachse 0x5021 155 0x5021 040 0...

Page 88: ...x5021 010 01 Master 01 Positionsleitwert 0x5021 151 02 Geschwindigkeitsleit wert 0x5021 152 03 Beschleunigungsleit wert 0x5021 153 04 Drehmoment der Lei tachse 0x5021 154 0x5021 020 01 Master 0x5021 021 01 Master 0x5021 022 01 Master 0x5021 035 01 Master 05 Zeitstempel der Lei tachse 0x5021 155 0x5021 040 01 Master 0x5021 041 01 Master 0x5021 042 02 Slave 1 0x5021 055 01 Master 06 Free input word ...

Page 89: ...ng functions 4Virtual master 104 4Position trimming and position offset 116 4Position offset from master 120 4Position synchronism 121 4Position clutch 123 4Master value correction register control 134 4Tool correction 143 The technology application can also be used for status display and error messages or to reset an error The technology application Sync and Correction only supports modulo axes T...

Page 90: ...ion 50 Winder Dancer technology application 51 Winder Tension technology application 10000 User technology application 7 1 Control settings General variables such as starting values reference variables and signal sources must be defined before the control system of the technology application is configured Settings in EASY Starter Settings tab Technology application parameter dialogue for Applicati...

Page 91: ...h 0x4001 000 Control word 00 Control word 01 Control word 02 Control word 03 Control word 04 Control word 05 Control word 06 Control word 07 Control word 00 Control word 01 Control word 02 Control word 03 Control word 04 Control word 05 Control word 06 Control word 07 System bus Fieldbus Status word 00 Status word 01 Status word 02 Status word 03 Status word 04 Status word 05 Status word 06 Status...

Page 92: ...nisation of the drive axis with the master value axis Relative clutching Velocity synchronisation of the drive axis with the master value axis Master axis at standstill the slave axis engages to the cur rent position Master axis in motion the slave axis engages over the clutching distance Bit 17 Disengage clutch immediately Disengage clutch with relative position clutch velocity sta ble and accura...

Page 93: ...unction status can be assigned to this bit Bit 10 Set position reached Target velocity reached Bit 11 Status signal bit 11 A function status can be assigned to this bit Bit 12 Standstill Drive is standing Bit 13 Direction of rotation inverted Direction of rotation inverted Bit 14 Brake opened Holding brake released Bit 15 STO active Safe Torque Off active Bit 16 Clutch closed Position clutch close...

Page 94: ...e Safe limited increment SLI function is active NOTE This function is not supported in the technology application Bit 11 SSE active The Safe stop emergency SSE function is active Bit 12 Button S82 active The Enable switch ES function for the motion function in special operation is active Note This function is not supported in the technology application Bit 13 Operation modes selector OMS active Th...

Page 95: ...ord 04 Status word 05 Status word 06 Status word 07 Status signals Status signals limiter Actual velocity Actual position Error code Actual torque Monitoring signal 1 Monitoring signal 2 Synchronism and Correction Free control word 07 0x5040 027 Control word 07 Control word 06 Control word 05 Control word 04 Control word 03 Control word 01 Control word 00 External Base Velocity 0x5040 016 Free con...

Page 96: ...e simulation of control word 3 TRUE Simulation of control word 3 is activated FALSE The control word is transmitted via the active network interface Bit 4 Activate simulation of control word 4 TRUE Simulation of control word 4 is activated FALSE The control word is transmitted via the active network interface Bit 5 Activate simulation of control word 5 TRUE Simulation of control word 5 is activate...

Page 97: ...027 0x5045 010 0x5045 011 Sync and Correction Bit 7 Bits 25 31 Bits 0 24 Virtual Master Fig 33 Distribution of the control signals 0x5045 111 0x5045 112 0x5045 113 0x5045 114 0x5045 115 Statusword 00 Statusword 01 Statusword 02 Statusword 03 Statusword 04 Statusword 05 Statusword 06 Statusword 07 Field bus System bus 0x5040 010 0x5040 111 0x5040 112 0x5040 113 0x5040 114 0x5040 115 0x5040 116 0x50...

Page 98: ...ith the master value axis Relative clutching Velocity synchronisation of the drive axis with the master value axis Master axis at standstill the slave axis engages to the cur rent position Master axis in motion the slave axis engages over the clutching distance Bit 17 Disengage clutch immediately Disengage clutch with relative position clutch velocity sta ble and accurate Master axis at standstill...

Page 99: ...0x5040 114 Error code 0 0 4294967295 0x5040 115 Actual torque 0 00 Nm 21474836 48 21474836 47 Nm 0x5040 116 Display value 1 0 0 4294967295 0x5040 117 Display value 2 0 0 4294967295 0x5045 010 Virtual master control signals 0x00000000 0x00000000 0xFFFFFFFF 0x5045 011 Set velocity 0 0000 214748 3648 214748 3647 0x5045 110 Virtual master status signals 0x00000000 0x00000000 0xFFFFFFFF 0x5045 111 Actu...

Page 100: ...ource Master Values 0x5020 014 Virtual Master AnalogIn 1 OR OR Status Signals Virtual Master 0x5045 110 Bit 31 External Master Values Inactive System bus in Velocity Application feedback B Set Velocity Virtual Master Analoginput 1 Reference Velocity Analoginput 1 Selected Set Velocity VM VM Startposition VM Zielposition VM Dec VM Jerk VM Acc VM Sync Velocity VM Sync Slave Direction Selected Master...

Page 101: ... Error code 0x603F 000 0x7304 Feedback fault slot B Source Master Values 0x5020 014 Virtual Master AnalogIn 1 OR OR Status Signals Virtual Master 0x5045 110 Bit 31 External Master Values Inactive System bus in Velocity Application feedback B Set Velocity Virtual Master Analoginput 1 Reference Velocity Analoginput 1 Selected Set Velocity VM VM Startposition VM Zielposition VM Dec VM Jerk VM Acc VM ...

Page 102: ...014 Application feedback B Virtual Master Master Values Set Velocity Virtual Master Profile Generator Source Master Values 0x5020 014 Virtual Master AnalogIn 1 OR OR Status Signals Virtual Master 0x5045 110 Bit 31 External Master Values Inactive OR Error code 0x603F 000 0x7304 Feedback fault slot B System bus in Velocity Application feedback B Set Velocity Virtual Master Analoginput 1 Reference Ve...

Page 103: ... Setting Response Parameter index Load encoder master encoder error response 0 no response No response Load encoder master encoder error response 1 fault The drive changes to the error status ErrorStop Note If the technology application serves as the mas ter value for an integrated network Set Value 1 must be configured in the Master values output systembus parameter 0x5020 001 If Application feed...

Page 104: ...og acceleration 0x500C 182 Manual jog velocity Manual jog velocity 0x500C 181 Decelerate Manual jog deceleration 0x500C 183 Configure jerk Manual jog jerk 0x500C 184 p v t vmax 0x5020 009 0x2DA4 005 0x5021 152 0x500B 011 0x5045 011 0x5047 001 0x5042 017 0x5046 001 0x5046 002 0x5046 004 0x5046 005 0x5046 003 0x5046 030 0x5046 020 Master Value Source Source Master Values 0x5020 014 Source Master Val...

Page 105: ...647 The reference speed for the percentage value of the analog input 0x5020 014 Master value source Setting can only be changed if the inverter is inhibi ted 0 System bus The system bus provides the external master velocity value 1 Load encoder The signal from the load encoder interface is taken as the master veloc ity value 2 Virtual master The virtual master whose setpoint velocity comes from th...

Page 106: ...vir tual master stop TRUE This function cannot be executed during the position synchronisation Bit 28 Manual jog positive Virtual master moves in the positive direction manual jog Bit 29 Manual jog negative Virtual master moves in the negative direction manual jog Bit 30 Halt The active movement of the virtual master is aborted and the axis is brought to a standstill with the deceleration defined ...

Page 107: ...oint position is specified in unit The setpoint position is resolved with 4 decimal places 0x5045 112 Actual velocity 214748 3648 0 0000 214748 3647 The setpoint velocity is specified in units s The setpoint velocity is resolved with 4 decimal places 0x5045 113 Actual acceleration 21474836 48 0 00 21474836 47 The current position is specified in unit The current position is resolved with 4 decimal...

Page 108: ...hed Bit 6 Software limit switches enabled Bit 7 Positive software limit switch reached Bit 8 Negative software limit switch reached Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Quick stop active Bit 14 Limitation active Bit 16 Bit 17 Bit 18 Homing active Bit 19 Homing switch for touch probe reached Bit 20 Bit 21 Manual jog active Bit 22 Standstill active Bit 23 Target position reached Bit 24 Software limit s...

Page 109: ...0 00 21474836 47 0x500C 050 Enable software limit switches false Inactive true Active 0x500C 051 Software limit switch positive 214748 3648 0 0000 214748 3647 0x500C 052 Software limit switch negative 214748 3648 0 0000 214748 3647 0x500C 053 Action after software limit switch reached 0 Stop after software limit switch 1 Stop at software limit switch 0x500C 105 Action after software limit switch r...

Page 110: ...4 SLS1 active Bit 5 SLS2 active Bit 6 SLS3 active Bit 7 SLS4 active Bit 8 SDIpos active Bit 9 SDIneg active 0x500C 181 Manual jog velocity 0 0000 360 0000 214748 3647 0x500C 182 Manual jog acceleration 0 00 720 00 21474836 47 0x500C 183 Manual jog deceleration 0 00 1440 00 21474836 47 0x500C 184 Manual jog jerk 0 00 0 00 21474836 47 0x500C 186 Deceleration of Halt 0 00 1800 00 21474836 47 0x500C 1...

Page 111: ...x00 0xFF Bit 0 Enable control signal simulation TRUE Simulation of control word is activated FALSE The control word is transmitted via the active network interface Bit 1 Activate simulation of control word 1 TRUE Simulation of control word 1 is activated FALSE The control word is transmitted via the active network interface Bit 2 Activate simulation of control word 2 TRUE Simulation of control wor...

Page 112: ...alue Source Source Master Values 0x5020 014 Source Master Values 0x5020 014 Systembus Source Master Values 0x5020 014 Systembus Virtual Master Master Values Set Velocity Virtual Master Profile Generator OR Error code 0x603F 000 0x7304 Feedback fault slot B Source Master Values 0x5020 014 Virtual Master AnalogIn 1 OR OR Status Signals Virtual Master 0x5045 110 Bit 31 External Master Values Inactive...

Page 113: ...set to TRUE the external master value sources are deselected The virtual master takes over the motion control and synchroni ses itself via the selected master value source Profile calculation parameters Virtual master acceleration 40x5046 003 Virtual master deceleration 40x5046 004 Virtual master jerk 40x5046 005 Clutch in direction virtual master 0x5046 030 Configuring the Sync and Correction TA ...

Page 114: ...er Value Source Source Master Values 0x5020 014 Source Master Values 0x5020 014 Systembus Source Master Values 0x5020 014 Systembus Virtual Master Master Values Set Velocity Virtual Master Profile Generator OR Error code 0x603F 000 0x7304 Feedback fault slot B Source Master Values 0x5020 014 Virtual Master AnalogIn 1 OR OR Status Signals Virtual Master 0x5045 110 Bit 31 External Master Values Inac...

Page 115: ...ion 100000 00 0 00 21474836 47 0x5046 005 Virtual master jerk 1000000 00 0 00 21474836 47 0x5046 020 Virtual master clutch velocity 100 0000 0 0000 214748 3647 0x5047 001 Virtual Master Set velocity Read only Configuring the Sync and Correction TA Master value sources Virtual master 115 ...

Page 116: ...041 024 0x5041 025 0x5041 026 0x5041 027 0x5041 028 Trimming position difference Trimming velocity Trimming acceleration Trimming deceleration Trimming jerk Trimming Fig 47 Trim partial signal flow Position trimming is only possible when the clutch is engaged Control word bit 20 TRUE activates a positive direction of rotation 0x5040 010 Control word bit 21 TRUE activates a negative direction of ro...

Page 117: ...r axis velocity aL Master axis acceleration Trimming velocity 0x5041 025 Trimming acceleration 0x5041 026 The Compensation permissible direction parameter defines the direction of rotation of the drive Parameter name Parameter index Bit Function Offset direction allowed 0x5041 022 0 Both directions of rotation possible Offset direction allowed 0x5041 022 1 Direction of rotation in master value dir...

Page 118: ...ly in master direction of rotation eOffsetDirection 1 The illustration shows the response when the axis is permitted to rotate in the positive and negative directions and the parameter Offset direction allowed 0 both 40x5041 022 Configuring the Sync and Correction TA Position trimming and position offset 118 ...

Page 119: ...Direction of rotation in positive and negative direction eOffsetDirection 0 Every 3 seconds the position compensation in the Offset direction allowed parameter switches between 40 and 80 units 40x5041 022 Configuring the Sync and Correction TA Position trimming and position offset 119 ...

Page 120: ...ion offset Read only 0x5042 026 Velocity offset Read only 0x5042 027 Trimming position offset Read only 0x5042 028 Trimming velocity offset Read only 0x5042 029 Total position offset Read only 0x5042 030 Total velocity offset Read only 7 5 Position offset from master Relevant parameters of other functions Address Designation Default setting Setting range 0x5040 023 External position offset 0 0000 ...

Page 121: ...e lengths based on the master axis The setpoint position is calculated from this engagement Synchronism with equal cycle lengths 360 360 Synchronism with unequal cycle lengths 360 450 0 100 200 300 Position u 400 100 200 300 Position u 400 0 100 200 300 Position u 400 Configuring the Sync and Correction TA Position synchronism 121 ...

Page 122: ...le length 0 0001 360 0000 214748 3647 Setting can only be changed if the inverter is inhibi ted The cycle length for an unlimited traversing range defines the position where the measuring system is repeated position return to 0 0x500B 031 Cycle length 0 0001 360 0000 214748 3647 Setting can only be changed if the inverter is inhibi ted 0x500C 031 Cycle length 0 0001 360 0000 214748 3647 Setting ca...

Page 123: ... it possible to reduce the offset to 0 0x5040 010 Parameter Address Name setting range default setting Info 0x5041 020 Stretch factor numerator 2147483648 1 2147483647 0x5041 021 Stretch factor denominator 2147483648 1 2147483647 0x5041 029 Clutch in mode false Synchronous true Asynchronous 0x5041 031 Clutch mode 5 Path based 0x5041 033 Declutch position 0 0000 0 0000 214748 3647 0x5041 034 Decele...

Page 124: ...1 036 The initial parameter values are such that the clutch process is complete after 90 path units of the drive axis After the clutch is disengaged the drive is in the Declutch position 40x5041 033 xSyncPos xAccDecSync xSynchronised Master Position u Slave Position u IrSlaveSyncInDist IrMasterSyncInDist 2 IrSlaveSyncInDist eSyncMode Ramp_Dist Fig 51 Engage clutch with clutching mode 5 Configuring...

Page 125: ... Relevant parameters of other functions Address Designation Default setting Setting range 0x5041 033 Declutch position 0 0000 0 0000 214748 3647 0x5041 034 Deceleration of direct declutching 10000 0000 0 0000 214748 3647 0x5041 035 Clutch in distance 90 0000 0 0000 214748 3647 0x5041 036 Declutch distance 90 0000 0 0000 214748 3647 Configuring the Sync and Correction TA Position clutch Path contro...

Page 126: ...e clutch The drive axis engages from its current position to the master position within a time defined via the Clutch time parameter 0x5041 037 eSyncMode Ramp_Time IrSyncInTime IrSyncInTime xSyncPos xAccDecSync xSynchronised Master Position u Slave Position u Fig 53 Clutch engages with eSyncMode 3 Ramp_Time Configuring the Sync and Correction TA Position clutch Time controlled clutch 126 ...

Page 127: ...Time eSyncMode Ramp_Time xSyncPos xAccDecSync xSynchronised Master Position u Slave Position u IrSlaveSyncOutPos Fig 54 Coupling disengages with eSyncMode 3 Ramp_Time Relevant parameters of other functions Address Designation Default setting Setting range 0x5041 033 Declutch position 0 0000 0 0000 214748 3647 Configuring the Sync and Correction TA Position clutch Time controlled clutch 127 ...

Page 128: ...e and disengage clutch variant is independent from a master value movement This means that the drive axis is also synchronised if the master value is standing Configuring the Sync and Correction TA Position clutch Travel profile based clutch 128 ...

Page 129: ...the clutch engagement phase the velocity of the drive axis results from the sum of the velocity of the master axis and the Clutch velocity 0x5041 039 In the clutch engagement phase the velocity of the slave axis results from the sum of the velocity of the master value and the acceleration or deceleration of the clutch Clutch acceleration 0x5041 040 Clutch deceleration 0x5041 041 Configuring the Sy...

Page 130: ...ameters xSyncPos xAccDecSync xSynchronised Master Position u Slave Position u IrSyncVel IrSynAcc IrSyncDec IrSyncJerk Fig 55 Clutch engages with eSyncMode 4 Ramp_Time Configuring the Sync and Correction TA Position clutch Travel profile based clutch 130 ...

Page 131: ...ment of the clutch leads the drive axis from its current posi tion to standstill with the following parameters Clutch velocity 0x5041 039 Clutch acceleration 0x5041 040 Clutch deceleration 0x5041 041 Clutch jerk 40x5041 042 The Declutch position parameter defines the stopping position of the drive axis 40x5041 033 Configuring the Sync and Correction TA Position clutch Travel profile based clutch 1...

Page 132: ...yncJerk IrSlaveSyncOutPos Fig 56 Coupling disengages with eSyncMode 4 Ramp_Time Relevant parameters of other functions Address Designation Default setting Setting range 0x5041 033 Declutch position 0 0000 0 0000 214748 3647 0x5041 042 Clutch jerk 10000 0000 0 0000 214748 3647 Configuring the Sync and Correction TA Position clutch Travel profile based clutch 132 ...

Page 133: ...x5040 010 Bit 16 The asynchronous clutch disengagement takes place via the Declutch distance parameter 40x5041 036 The end of the clutch disengagement depends on the status of the master axis If the master value axis is at standstill the drive axis disengages directly abruptly from its current position If the master value axis is moving the drive axis clutch process begins immediately analo gously...

Page 134: ...orrected master position value which corresponds to the dis tance between the marks register cycle is specified in the Mark distance parameter 40x5041 002 The Sensor distance parameter specifies the distance between the mark sensor and the posi tion where the tool starts on the material 40x5041 001 The Sensor distance parameter defines the position of the sensor in the Set sensor position paramete...

Page 135: ...nce Lower correction position Mark window size Mark window offset Max negative correction master Corrected set velocity Selected Master Velocity Max gearfactor correction Activate mark window master Actual limited mark error Enable gearfactor correction Hold gearfactor correction Mark distance Correction window Fig 58 Master value correction partial signal flow Relevant parameters of other functio...

Page 136: ...d only 0x5042 002 Actual mark position Read only 0x5042 003 Actual mark error Read only 0x5042 004 Actual limited mark error Read only 0x5042 005 Actual gearbox factor Read only 0x5042 006 Corrected set position Read only 0x5042 007 Corrected set velocity Read only 0x5042 016 Set position of selected master value Read only 0x5042 017 Set velocity of selected master value Read only Configuring the ...

Page 137: ...must be learned This can happen in the engaged and disengaged state State Engaged Master value and drive axis move Disengaged Master value moves and drive axis is immobile Learn mark window in disengaged status If the mark window is learned in the disengaged state the corrected master value position is written to the Sensor set position parameter when the first mark is detected 40x5042 001 At the ...

Page 138: ...ion exactly one cycle in front of the tool Mount the mark sensor a maximum of 64 cycles in front of the tool V l Fig 60 Systematic representation of the mark register Mount the mark sensor as close as possible to the tool The further from the axis the mark sensor is mounted the more imprecise the cuts will be Parameter Address Name setting range default setting Info 0x5041 001 Sensor distance 0 00...

Page 139: ...f failed marks set in the Maximum number of failed marks parameter a corresponding error is displayed in the status of the technology application 40x5041 010 Parameter Address Name setting range default setting Info 0x5041 010 Max number of missed marks 0 20 4294967295 Configuring the Sync and Correction TA Master value correction register control Mark failure detection 139 ...

Page 140: ...ster 0x5041 005 Current tool position 2 Correction window relates to the position of the corrected mas ter axis Sensor Master Slave Slave IrSensorToolDistance Correction movement Correction window Master Master Master The determined position error can be limited to a maximum value This keeps accelerations low during the corrective movement for instance In order to limit the maximum value there is ...

Page 141: ... Actual tool position 0x5041 006 Upper correction position 0 0000 350 0000 214748 3647 0x5041 007 Lower correction position 0 0000 200 0000 214748 3647 0x5042 002 Actual mark position Read only 0x5042 003 Actual mark error Read only 0x5042 004 Actual limited mark error Read only 0x5042 006 Corrected set position Read only 0x5042 007 Corrected set velocity Read only Configuring the Sync and Correct...

Page 142: ...orrection gain 0x5041 011 Affects the velocity at which the gearbox factor correction adjusts the static error Actual gearbox factor 0x5042 005 Outputs the value of the gearbox factor Max gearbox factor correction 0x5041 012 Specifies the maximum value of the gearbox factor correction When the corrected gearbox factor has been detected corrective movements occur in the positive and negative direct...

Page 143: ...tting range 0x5020 012 TP2 source Digital input 2 positive edge 11 Selection list 0x5041 015 Mark window teaching Master value correction 0 Selection list 0x5041 120 Activate tool correction 0 0x5041 121 Tool sensor distance 360 0000 0 0000 214748 3647 0x5041 122 Max positive tool correction 45 0000 0 0000 214748 3647 0x5041 123 Max negative tool correction 45 0000 0 0000 214748 3647 0x5041 124 To...

Page 144: ...9 TRUE Mark window active FALSE Mark window deactivated Mark window teaching 0x5041 015 1 Mark window of the tool correction is learned 0 Mark window of the master value correc tion is learned The figure shows the use of a mark stack The distance from the mark sensor to the tool is greater than the set mark distance Mark stack Sensor Virtual sensor UpperCorrPos LowerCorrPos SensorToolDistance Fig ...

Page 145: ... true TRUE 0x5041 121 Tool sensor distance 0 0000 360 0000 214748 3647 0x5041 126 Tool mark window size 0 0000 40 0000 214748 3647 0x5041 127 Tool mark window offset 0 0000 0 0000 214748 3647 0x5041 129 Activate tool mark window false Deactivated true Activated 0x5042 140 Tool sensor set position Read only 7 9 2 Mark failure detection If the output is set via bit 23 in the Status signals parameter...

Page 146: ...21 Sensor Slave LowerCorrPos UpperCorrPos Correction range Reference position Fig 62 Homing on the fly without mark stack Parameter Address Name setting range default setting Info 0x5041 121 Tool sensor distance 0 0000 360 0000 214748 3647 0x5041 122 Max positive tool correction 0 0000 45 0000 214748 3647 0x5041 123 Max negative tool correction 0 0000 45 0000 214748 3647 0x5041 124 Tool upper corr...

Page 147: ...0 1 Master value selection and master value correction The main signal flow of the converted function is shown below Configuring the Sync and Correction TA Signal flow Master value selection and master value correction 147 ...

Page 148: ...d Ref Velocity Analog Input 1 DI 1 DI 2 DI 3 DI 4 Mark window Master Value Correction Actual mark error Sensor Setposition Mark distance master Actual gearfactor Corrected set position Activate Master value correction Upper correction position Mark Actposition Max positive correction master Selected Master position Gain gearfactor correction Source TP 1 Max window marks Correction Window reference...

Page 149: ...rbox out 0x5042 020 Set velocity gearbox out 0x5042 021 Set velocity plus offset 0x5042 019 Set position plus offset 0x5042 018 ManualJog t n t n t n Set slave velocity 0x5042 040 Set slave position 0x5042 39 Set velocity 0x500A 015 Set position 0x500A 014 Offset Trim deceleration 0x5041 027 Offset Trim jerk 0x5041 028 Offset allowed direction 0x5041 022 Trim position difference 0x5041 024 Offset ...

Page 150: ... 214748 3647 0x5041 004 Max negative correction 45 0000 0 0000 214748 3647 0x5041 005 Reference measuring system of correction window Corrected master position 1 Selection list 0x5041 006 Upper correction position 350 0000 0 0000 214748 3647 0x5041 007 Lower correction position 200 0000 0 0000 214748 3647 0x5041 008 Mark window size 40 0000 0 0000 214748 3647 0x5041 009 Mark window offset 0 0000 0...

Page 151: ... 90 0000 0 0000 214748 3647 0x5041 036 Declutch distance 90 0000 0 0000 214748 3647 0x5041 043 Clutch base velocity Read only 0x5041 053 Internal position offset 0 0000 214748 3648 214748 3647 0x5042 006 Corrected set position Read only 0x5042 016 Set position of selected master value Read only 0x5042 018 Set position with offset Read only 0x5042 019 Set velocity with offset Read only 0x5042 020 S...

Page 152: ... Max number of missed marks tool 20 0 4294967295 0x5042 140 Tool sensor set position Read only 0x5042 141 Actual position tool correction mark Read only 0x5042 142 Actual tool error Read only Configuring the Sync and Correction TA Signal flow Tool correction 152 ...

Page 153: ...commands with digital signal sources Digital signal sources can be digital inputs network and keypad The I O configuration is made via the parameters 0x2631 xx P400 xx 1 Keypad This selection enables the motor to be started exclusively via the start key of the keypad Other signal sources for starting the motor are ignored Start motor Stop motor Note The functions Enable inverter and Run must be se...

Page 154: ...tems Preconditions A positioning control is parameterised in the servo control types to be set 40x2C00 Configure one of these motor control types 0x2C00 1 Servo control for synchronous motor SC PSM 237 0x2C00 2 Servo control for asynchronous motor SC ASM 238 Further conditions are The correct entry of the 4Motor data 38 The parameter setting of the motor control in chapter Configuring the motor co...

Page 155: ...nc position mode 8 Detailed description in 4Operating mode CiA 402 Cyclic sync position mode csp 158 2 Set the maximum motor speed 0x6080 3 Set the rated motor torque 0x6076 4 Set the positive torque limit 0x60E0 5 Set the negative torque limit 0x60E1 The position control is now active and the inverter responds to the defined position setpoint Configure position control Basic setting 155 ...

Page 156: ... Position window time UNSIGNED_16 Output data Parameter Designation Data type 0x6063 Position actual internal value INTEGER_32 0x6064 Position actual value INTEGER_32 0x60F4 Following error actual value INTEGER_32 0x60FA Control effort INTEGER_32 0x6041 CiA Statusword UNSIGNED_16 Parameter Address Name setting range default setting Info 0x6065 Following error window 0 1000 4294967295 pos unit Sett...

Page 157: ...ect an operating mode with cyclic setpoint selection all setpoints are first led via interpolators which divides down setpoint step changes of the bus cycle to the cycle time of the control loops All interpolators together are parameterised via 0x60C2 001 Interpolation time period value Parameter Address Name setting range default setting Info 0x60C0 Interpolation sub mode select Setting of the in...

Page 158: ...rol word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode selection INTEGER_8 0x60B2 Torque offset INTEGER_16 0x607A Position setpoint position INTEGER_32 0x60B1 Velocity offset INTEGER_32 0x2902 Speed controller load I component INTEGER_16 0x60E0 Torque positive limit value UNSIGNED_16 0x60E1 Torque negative limit value UNSIGNED_16 Data sent to the Controller TPDO Parameter...

Page 159: ...I component Position actual value Positive torque limit value Negative torque limit value Speed limitation Speed controller Torque limitation Encoder evaluation Field orientated control Torque actual value Velocity actual value Configure position control Operating mode CiA 402 Cyclic sync position mode csp Signal flow 159 ...

Page 160: ...rt value 0x2984 Mode for setting the actual position 0x2986 Resulting gain adaption Speed limitation 0x6080 Max motor speed Speed controller 0x2900 001 Gain 0x2900 002 Reset time 0x2900 003 Rate time 0x2901 Speed controller gain adaption 0x2902 I component load value Torque limitation 0x60E0 Positive torque limit 0x60E1 Negative torque limit 0x6076 Motor rated torque 0x6072 Max torque Field orient...

Page 161: ...Bit 5 0 reserved bit must be set to 0 Bit 6 0 reserved bit must be set to 0 Bit 8 0 1 Stop The following status information is output via the CiA402 status word 0x6041 Status word State Meaning Bit 12 0 Operating mode is inactive 1 The drive follows the setpoint selection Configure position control Operating mode CiA 402 Cyclic sync position mode csp Control commands and status information 161 ...

Page 162: ...t 0 Hz Bit 9 Operation mode specific Operating mode dependent Bit 14 Release holding brake 1 releasing holding brake manually CAUTION The manually triggered Release holding brake command has a direct impact on the Release holding brake 115 trigger Thus the holding brake can be manually released if the power section is switched off The responsibility for a manual release of the holding brake has th...

Page 163: ...sword Read only Mappable CiA 402 status word with bit assignment according to device profile CiA 402 Bit 0 Ready to switch on 1 drive ready to start Bit 1 Switched on 1 drive switched on Bit 2 Operation enabled 1 operation enabled Bit 3 Fault 1 fault or trouble active Bit 4 Voltage enabled 1 DC bus ready for operation Bit 5 Quick stop 0 quick stop active Bit 6 Switch on disabled 1 operation inhibi...

Page 164: ...d ctrl Load I component Position actual value Positive torque limit value Negative torque limit value Speed limitation Speed controller Torque limitation Encoder evaluation Field orientated control Torque actual value Velocity actual value The error response set in 0x2D51 006 is executed if 1 the following error tolerance set in 0x2D51 004 is exceeded and 2 the exceedance lasts at least as long as...

Page 165: ... evaluated any time as nor mal digital inputs via 9 6 1 Default mapping The default mapping for a touch probe detection is defined in the following parameters Parameter Designation Data type 0x1604 RPDO axis touch probe TP RECORD 0x1A04 Axis TPDO touch probe TP RECORD Data received from the Controller RPDO Parameter Designation Data type 0x60B8 Touch probe control word UNSIGNED_16 Data sent to the...

Page 166: ...ted for up to 250 µs to avoid bouncing Thus the maximum frequency for touch probe triggering is 4 kHz If in contrast to the uniform movement given in the figure an accelerated movement is taken as a basis the 250 µs grid also allows for a very good linear position reconstruction because the speed change at the motor shaft only has a marginal impact in 250 µs 9 6 3 Filtering of the touch probe sign...

Page 167: ...l detection Real physical event Electrical detection of the event in the servo inverter Delay times of the digital input and the required minimum signal duration The following table lists the typical delay times and the required minimum signal durations for the digital inputs of the servo inverter Digital signal Typical delay time Minimum signal duration Rising edge HIGH pulse 4 µs 4 µs Falling ed...

Page 168: ... zero pulse Source for touch probe channel 2 0 digital input 2 1 zero pulse position encoder Bit 12 TP2 Activate pos edge 0 deactivate scanning 1 activate scanning Bit 13 TP2 Activate neg edge 9 6 6 Touch probe status word Status word of the touch probe functionality Parameter Address Name setting range default setting Info 0x60B9 Touch probe status Read only Status of the touch probe functionalit...

Page 169: ...stempel Bit 8 Touch Probe 4 ist aktiviert Bit 9 Touch Probe 4 Position erfasst fallende Flanke Bit 10 Touch Probe 4 Position erfasst steigende Flanke Bit 14 Touch Probe 4 Pegel bei Zeitstempel 0x2D03 001 Touch probe position Touch probe 3 position rising edge Read only x pos unit 0x2D03 002 Touch probe position Touch probe 3 position falling edge Read only x pos unit 0x2D03 003 Touch probe positio...

Page 170: ...ge for touch probe 4 0x60BA Touch probe pos1 pos value Read only x pos unit Touch probe position 1 detected with rising edge 0x60BB Touch probe pos1 neg value Read only x pos unit Touch probe position 1 detected with falling edge 0x60BC Touch probe pos2 pos value Read only x pos unit Touch probe position 2 detected with rising edge 0x60BD Touch probe pos2 neg value Read only x pos unit Touch probe...

Page 171: ...he steps required for configuring the speed control 1 0x6060Set the manufacturer spanning operating mode CiA Velocity mode 2 or Cyclic sync velocity mode 9 A detailed description of the CiA Velocity mode operating mode can be found in the section Operating mode CiA 402 Velocity mode vl 172 A detailed description of the Cyclic sync velocity mode operating mode can be found in the section Operating ...

Page 172: ... received from the Controller RPDO Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode selection INTEGER_8 0x6042 Velocity setpoint velocity vl INTEGER_8 Data sent to the Controller TPDO Parameter Designation Data type 0x6041 CiA402 control word UNSIGNED_16 0x2831 Lenze control word UNSIGNED_16 0x6061 Operating mode dis...

Page 173: ...n vl velocity actual value Torque actual value vl velocity demand Speed limitation Speed controller Ramp function Positive torque limit value Negative torque limit value Torque limitation Field orientated control Configure speed control Operating mode CiA 402 Velocity mode vl Signal flow servo control 173 ...

Page 174: ...ntroller gain 0x2900 002 Speed controller reset time 0x2900 003 Speed controller rate time 0x2901 Speed controller gain adjustment 0x2902 Speed controller load I component Torque limiter 0x60E0 Torque positive limit value 0x60E1 Torque negative limit value 0x6076 Motor rated torque 0x6072 Torque max torque Field oriented control Iq Id 0x6073 Device max current 0x6075 Motor rated current 0x2941 Cur...

Page 175: ...peed limitation Ramp function V f characteristic Load adjustment Slip compensation vl velocity actual value Oscillation damping Current demand value is limited vl velocity demand Current actual value Voltage actual value Output frequency actual value Configure speed control Operating mode CiA 402 Velocity mode vl Signal flow V f characteristic control 175 ...

Page 176: ...073 Max current Oscillation damping 0x2B0A 001 VFC oscillation damping gain 0x2B0A 002 VFC oscillation damping filter time 0x2B0A 003 VFC oscillation damping limitation 0x2B0A 004 VFC oscillation damping ramp end frequency Load adjustment 0x2B07 001 VFC load adjustment direction of rotation 0x2B07 002 VFC load adjustment value V f characteristic 0x2B01 001 VFC V f characteristic voltage in the ref...

Page 177: ... sync velocity mode csv RECORD Data received from the Controller RPDO Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode selection INTEGER_8 0x60B2 Torque offset INTEGER_16 0x60FF Velocity setpoint velocity INTEGER_32 0x60E0 Torque positive limit value UNSIGNED_16 0x60E1 Torque negative limit value UNSIGNED_16 Data sen...

Page 178: ...ue offset Speed limitation Speed controller Torque limitation Encoder evaluation Field orientated control Torque actual value Velocity actual value Positive torque Negative torque Limit value Configure speed control Operating mode CiA 402 Cyclic sync velocity mode csv Signal flow servo control 178 ...

Page 179: ...2900 003 Speed controller rate time 0x2901 Speed controller gain adjustment 0x2902 Speed controller load I component Torque limitation 0x60E0 Positive limit value 0x60E1 Negative limit value 0x6076 Motor rated torque 0x6072 Torque max torque Field oriented control Iq Id 0x6073 Device max current 0x6075 Motor rated current 0x2941 Current controller feedforward control 0x2942 001 Current controller ...

Page 180: ...tion Speed limitation V f characteristic Load adjustment Slip compensation Velocity actual value Oscillation damping Current demand value is limited Current actual value Voltage actual value Output frequency actual value Configure speed control Operating mode CiA 402 Cyclic sync velocity mode csv Signal flow V f characteristic control 180 ...

Page 181: ...er time 0x2B0A 003 VFC Oscillation damping limitation 0x2B0A 004 VFC Oscillation damping ramp end frequency Load adjustment 0x2B07 001 VFC Load adjustment direction of rotation 0x2B07 002 VFC Load adjustment value V f characteristic 0x2B01 001 VFC V f characteristic voltage in the reference point 0x2B01 002 VFC V f characteristic frequency in the refer ence point 0x2B06 VFC voltage boost 0x2B04 VF...

Page 182: ...t 5 0 reserved bit must be set to 0 Bit 6 0 reserved bit must be set to 0 Bit 8 0 1 Stop The following status information are output via the CiA402 status word 0x6041 in the cyclic sync velocity mode Status word State Meaning Bit 12 0 Cyclic sync velocity mode is inactive 1 Cyclic sync velocity mode is active Configure speed control Operating mode CiA 402 Cyclic sync velocity mode csv Control comm...

Page 183: ...ion 1 enable operation Bit 4 Operation mode specific Bit 5 Operation mode specific Bit 6 Operation mode specific Bit 7 Fault reset 0 1 edge reset error Bit 8 Halt 1 stop motor ramping down to frequency setpoint 0 Hz Bit 9 Operation mode specific Operating mode dependent Bit 14 Release holding brake 1 releasing holding brake manually CAUTION The manually triggered Release holding brake command has ...

Page 184: ...ating mode CiA 402 Cyclic sync position mode csp 158 9 Cyclic sync velocity mode 4Operating mode CiA 402 Cyclic sync velocity mode csv 177 10 Cyclic sync torque mode 4Operating mode CiA 402 Cyclic sync torque mode cst 191 0x60B1 Velocity offset 480000 00 0 00 480000 00 rpm Additive value for setpoint velocity or velocity feedforward control 0x60FF Target velocity 480000 00 0 00 480000 00 rpm Setti...

Page 185: ...sword Read only Mappable CiA 402 status word with bit assignment according to device profile CiA 402 Bit 0 Ready to switch on 1 drive ready to start Bit 1 Switched on 1 drive switched on Bit 2 Operation enabled 1 operation enabled Bit 3 Fault 1 fault or trouble active Bit 4 Voltage enabled 1 DC bus ready for operation Bit 5 Quick stop 0 quick stop active Bit 6 Switch on disabled 1 operation inhibi...

Page 186: ...que negative limit value Torque positive limit value Ramp function Speed controller Speed limitation Torque offset Setpoint velocity The error response set in 0x2D51 003 is executed if 1 the set tolerance of the speed deviation is 0x2D51 001 exceeded and 2 the exceedance lasts at least as long as set in 0x2D51 002 Parameter Address Name setting range default setting Info 0x2D51 001 Position error ...

Page 187: ...data and the parameter setting of the motor control Configuring the motor control A torque control can only be implemented in the motor control types to be set with 0x2C00 Servoregelung SC PSM 1 Servo control SC ASM 2 Thus first one of these motor control types must be configured For details see the following chapter 4Servo control for synchronous motor SC PSM 237 4Servo control for asynchronous m...

Page 188: ...e positive and negative limit of the maximum torque is described in the Torque limits section 189 4 Parameterise speed limit 0x2946 The maximum speed is preset 40x6080 The change of the upper and lower speed limit is described in the Speed limitation section 190 5 Define a torque setpoint for the torque control instead of a speed setpoint The value is given in percent and based on the rated motor ...

Page 189: ...the maximum torque does not exceed the value configured in 40x6072 The setting is made in percent with reference to the rated motor torque set in 0x6076 Parameter Address Name setting range default setting Info 0x294A 001 Torque limits offset Torque offset 3276 7 0 0 3276 7 0x294A 002 Torque limits offset Resulting positive torque limit Read only x x 0x294A 003 Torque limits offset Resulting negat...

Page 190: ...ng range default setting Info 0x2946 001 Speed limitation Upper speed limit 479999 999776482 0 479999 999776482 rpm Upper limit for the speed limitation Setting is only effective with the selection Upper speed limit 5 in Entry via keypad and Lenze Tools is in rpm Via RPDO the unit is vel unit and the scaling must be taken into account 480000 rpm 2 31 n unit 0x2946 002 Speed limitation Lower speed ...

Page 191: ...e cst RECORD 0x1A01 Axis TPDO cyclic sync torque mode cst RECORD Data received from the Controller RPDO Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode selection INTEGER_8 0x60B2 Torque offset INTEGER_16 0x6071 Torque setpoint torque INTEGER_16 0x2946 1 Speed limitation upper speed limit INTEGER_32 0x2946 2 Speed li...

Page 192: ...d limit Interpolation Speed limitation Velocity actual value Position actual value Positive torque limit value Negative torque limit value Torque limitation Encoder evaluation Field orientated control Torque actual value Configuring the torque control Operating mode CiA 402 Cyclic sync torque mode cst Signal flow 192 ...

Page 193: ...t 0x2946 002 Speed limitation lower speed limit Torque limitation 0x60E0 Torque positive limit value 0x60E1 Torque negative limit value 0x6076 Motor rated torque 0x6072 Torque max torque Field oriented control Iq Id 0x6073 Device max current 0x6075 Motor rated current 0x2941 Current controller feedforward control 0x2942 001 Current controller gain 0x2942 002 Current controller reset time 0x29E2 DC...

Page 194: ...set to 0 Bit 5 0 reserved bit must be set to 0 Bit 6 0 reserved bit must be set to 0 Bit 8 0 1 Stop The following status information are output via the CiA402 status word 0x6041 in the cyclic sync torque mode Status word State Meaning Bit 12 0 Cyclic sync torque mode is inactive 1 Cyclic sync torque mode is active Configuring the torque control Operating mode CiA 402 Cyclic sync torque mode cst Co...

Page 195: ... keypad and Lenze Tools is in rpm Via RPDO the unit is vel unit and the scaling must be taken into account 480000 rpm 2 31 n unit 0x6040 CiA Controlword 0x0000 0x0000 0xFFFF Mappable CiA 402 control word with bit assignment according to device profile CiA 402 Bit 0 Switch on 1 switch on Bit 1 Enable voltage 1 DC bus Establish readiness for operation Bit 2 Quick stop 0 activate quick stop Bit 3 Ena...

Page 196: ... both effective in the static and dynamic oper ating points It is used for instance as overload protection of the mechanical transmission path elements starting from the motor shaft If a value is entered here that is higher than in 0x60E0 Positive tor que limit and 0x60E1 Negative torque limit the torque is limited to the lowest value 0x60B2 Torque offset 3276 8 0 0 3276 7 Additive value for setpo...

Page 197: ...atusword Read only Mappable CiA 402 status word with bit assignment according to device profile CiA 402 Bit 0 Ready to switch on 1 drive ready to start Bit 1 Switched on 1 drive switched on Bit 2 Operation enabled 1 operation enabled Bit 3 Fault 1 fault or trouble active Bit 4 Voltage enabled 1 DC bus ready for operation Bit 5 Quick stop 0 quick stop active Bit 6 Switch on disabled 1 operation inh...

Page 198: ...Read only x x Display of the current torque 100 Rated Motor Torque 40x6076 11 5 Setpoint diagnostics The following parameters provide information on the setpoints set for torque control Parameter Address Name setting range default setting Info 0x2DD5 Torque setpoint Read only x xx Nm Display of the current torque setpoint Configuring the torque control Setpoint diagnostics 198 ...

Page 199: ...er connection on its front side Is an optional equipment feature of the inverter Anschluss Lastgeber oder Leitgeber Anschluss Motorgeber A B At the time of commissioning the feedback system is already specified by the hardware of the respective device version Please note that one of two sets of parameters will be effective depending on which feedback system option has been selected either the para...

Page 200: ...r via the following path Settings tab Basic setting Motor feedback A Here you have the choice of using the following feedback systems Resolver Encoder You can select the feedback system that you wish to use by pressing the correspondingly named button Configuring the feedback system Configure feedback system for motor control 200 ...

Page 201: ...In the event of interference injections EMC interference Encoder Wire breakage in the encoder cable Sensitivity of wire breakage monitoring The sensitivity of wire breakage monitoring can be set as a percentage using the 0x2C47 parameter Reducing the monitoring sensitivity is advantageous in environments that are severely affec ted by EMC problems If the sensitivity is not reduced 100 the software...

Page 202: ...can only be changed if the inverter is inhibi ted Setting of the encoder increments per second 0x6090 002 Velocity encoder resolution Motor revolutions per second 0 125 2147483647 Setting can only be changed if the inverter is inhibi ted Setting of the motor revolutions per second 12 1 2 Resolver settings Resolvers with a number of pole pairs 1 are not absolute value encoders Bit 4 in Lenze status...

Page 203: ...0x2C43 Motor encoder resolver number of pole pairs 1 1 10 Setting can only be changed if the inverter is inhibi ted Setting of the number of pole pairs Configuring the feedback system Configure feedback system for motor control Resolver settings 203 ...

Page 204: ...EASY Starter engineering tool Number of resolver pole pairs 0x2C43 Speed controlled or position controlled motor in servo control 4 The inverter must be connected online to the engineering tool Possible responses during the execution The identification method can cause an uneven motor running during the identification The direction of rotation can change This does not have a negative impact on the...

Page 205: ... Abort of the identification run The measurement is aborted if the controller inhibit persists or after the time out time has elapsed A time out error is output for the identification run see error messages in the log book 4 If the measurement was successful the motor can be stopped 5 At the end of the procedure save the changed parameters 0x2C44 001 0x2C44 003 in the inverter EASY Starter can be ...

Page 206: ...Identification has been completed successfully FALSE if The identification is not completed yet after default settings were loa ded Bit 4 Identification failed TRUE if A timeout error has occurred FALSE if Identification has been completed successfully 12 1 3 Encoder settings In general an encoder is a measuring system which serves to detect the velocity speed and the position of a kinematics or m...

Page 207: ...0 512 2 Use of non supported encoder types If the type code of the encoder used is not listed in the table of supported encoder types this encoder can be introduced to the inverter via the 0x2C41 002 and 0x2C41 003 parameters In this context please also observe the information provided in the parameter description 0x2C41 008 Parameter Address Name setting range default setting Info 0x2822 026 Axis...

Page 208: ...of periods detected Read only Display of the encoder increment according to encoder nameplate or type code 0x2C41 008 Motor encoder settings Hiperface Type code verifi cation Read only If an encoder is connected that is not supported by the firmware it will be displayed here In this case the same response takes place as in case of a communica tion error The error can be removed by manually setting...

Page 209: ...ge default setting Info 0x2C4A 001 Protokoll Parameter Motorgeber SSI Übertragungs rate 150 300 1000 kbps Setting can only be changed if the inverter is inhibi ted To enable a stable transmission rate the length of the encoder cable used and any electromagnetic interference levels must be taken into account when setting the value 0x2C4A 002 Protokoll Parameter Motorgeber SSI Telegramm länge 1 25 3...

Page 210: ... only be changed if the inverter is inhibi ted Coding of data packet 1 0 Binär 1 Gray 0x2C4A 014 Protokoll Parameter Motorgeber SSI Codierung Datenpaket 2 Setting can only be changed if the inverter is inhibi ted Coding of data packet 2 0 Binär 1 Gray 0x2C4A 015 Protokoll Parameter Motorgeber SSI Codierung Datenpaket 3 Setting can only be changed if the inverter is inhibi ted Coding of data packet...

Page 211: ...y read out of the encoder When the first encoder read out operation is performed after power up or elimination of wire breakage the encoder position is used to initialise the internal device counter unit and to set an internal device position All other read out processes from the encoder are used to generate a dif ference between the internal device position and the encoder position Assuming that ...

Page 212: ...tings Hiperface No of periods manual input 1 1 65535 0x2C41 005 Motor encoder settings Hiperface Serial number Read only 0x2C42 001 Encoder settings Increments revolution 1024 1 131072 0x608F 001 Position encoder resolution Encoder increments 16 bit 65536 Selection list 0x608F 002 Position encoder resolution Motor revolutions 1 1 1 12 1 5 Diagnostics Parameter Address Name setting range default se...

Page 213: ...er master encoder Read only Is set by the firmware according to the available version 0 no absolute value encoder sin cos encoder or resolver with num ber of pole pairs 1 1 Hiperface encoder SingleTurn or resolver with number of pole pairs 1 1 Hiperface encoder Multi Turn 0x2C57 Open circuit detection sensitivity of load encoder master encoder 1 100 100 The sensitivity can be reduced by percentage...

Page 214: ... encoder characteristic resolver Definition of the resolver characteristic for application feedback 0 Off ready Only status feedback 1 On start Execute device command 2 In progress Only status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 0x2C53 Load encoder master encoder resolver number of pole pairs 1 1 1 Setting can only be changed if the inverter is inhibi ted Setting ...

Page 215: ...Starter engineering tool Number of resolver pole pairs 0x2C43 Speed controlled or position controlled motor in servo control 4 The inverter must be connected online to the engineering tool Possible responses during the execution The identification method can cause an uneven motor running during the identification The direction of rotation can change This does not have a negative impact on the qual...

Page 216: ...n run The measurement is aborted if the controller inhibit persists or after the time out time has elapsed A time out error is output for the identification run see error messages in the log book 4 If the measurement was successful the motor can be stopped 5 At the end of the procedure save the changed parameters 0x2C44 001 0x2C44 003 in the inverter EASY Starter can be used to save the inverter p...

Page 217: ... FALSE if Identification has been completed successfully 12 2 3 Encoder settings In general an encoder is a measuring system which serves to detect the velocity speed and possibly the position of a kinematics or motor Details If a resolver variant is to be plugged into the respective slot of the inverter as a feedback system the parameters in this section have no function Generally an encoder can ...

Page 218: ...16 66 AS512 8V H SCS70 512 2 Use of non supported encoder types If the type code of the encoder used is not listed in the table of supported encoder types this encoder can be introduced to the inverter via two parameters 40x2C51 002 40x2C51 003 In this context please also observe the information provided in the parameter description 0x2C41 008 Parameter Address Name setting range default setting I...

Page 219: ...ate or type code 0x2C51 008 Hiperface load encoder master encoder settings Type code verification Read only If an encoder is connected that is not supported by the firmware it will be displayed here In this case the same response takes place as in case of a communica tion error The error can be removed by manually setting the type code in 0x2C51 002 This serves to signalise to the firmware that th...

Page 220: ...001 Protokoll Parameter Lastgeber Leitgeber SSI Über tragungsrate 150 300 1000 kbps Setting can only be changed if the inverter is inhibi ted To enable a stable transmission rate the length of the encoder cable used and any electromagnetic interference levels must be taken into account when setting the value 0x2C5A 002 Protokoll Parameter Lastgeber Leitgeber SSI Tele grammlänge 1 25 31 Setting can...

Page 221: ...ly be changed if the inverter is inhibi ted Coding of data packet 1 0 Binär 1 Gray 0x2C5A 014 Protokoll Parameter Lastgeber Leitgeber SSI Codier ung Datenpaket 2 Setting can only be changed if the inverter is inhibi ted Coding of data packet 2 0 Binär 1 Gray 0x2C5A 015 Protokoll Parameter Lastgeber Leitgeber SSI Codier ung Datenpaket 3 Setting can only be changed if the inverter is inhibi ted Codi...

Page 222: ...stead the position is regularly read out of the encoder When the first encoder read out operation is performed after power up or elimination of wire breakage the encoder position is used to initialise the internal device counter unit and to set an internal device position All other read out processes from the encoder are used to generate a dif ference between the internal device position and the e...

Page 223: ... 5 Diagnostics Parameter Address Name setting range default setting Info 0x2C56 Number of the absolute ascertainable revolutions of load encoder master encoder Read only Is set by the firmware according to the available version 0 no absolute value encoder sin cos encoder or resolver with num ber of pole pairs 1 1 Hiperface encoder SingleTurn or resolver with number of pole pairs 1 1 Hiperface enco...

Page 224: ...ncoder 0x287A 006 Load encoder Load encoder position 2147483648 0 2147483647 0x287A 007 Load encoder Status of load encoder position 0 Invalid 1 Valid 0x287B 001 Velocity monitoring Tolerance window n 0 Read only x rpm 0x287B 002 Velocity monitoring Velocity comparison tolerance Read only x rpm 0x287B 003 Velocity monitoring Actual velocity n_safe Read only x rpm 0x287B 004 Velocity monitoring Int...

Page 225: ...es and a trapezoidal field pattern the results may differ from each other 4Pole position identification PPI 360 227 The motor must not be braked blocked or mechanically driven during the pole position identification This function must not be used for hanging loads Especially in case of idling drives or drives with a low load inertia friction this function delivers the most accurate results 4Pole p...

Page 226: ...t The error response can be parameterised If an error occurs during the pole position identification the procedure is stopped without the settings being changed the response set in 0x2C60 is effected Parameter Address Name setting range default setting Info 0x2C60 PPI monitoring Reaction Selection of the response triggered by the occurrence of an error during the pole position identification PLI A...

Page 227: ... be permanently damaged Before executing the pole position identification check that the following monitoring sys tems are parameterised correctly Motor overload monitoring i t Overcurrent monitoring NOTICE Please observe the following Synchronous motor Pole position identification PPI Functional description 0 α 22 5 45 45 67 5 90 112 5 135 157 5 180 202 5 247 5 270 292 5 337 5 β 0 d α q β d q 225...

Page 228: ...k if parameter is available Preconditions for the performance The motor must not be braked or blocked during the pole position identification The servo inverter is error free and in Switched on device state Response of the motor during performance The rotor aligns during the pole position identification The motor shaft moves by max one electrical revolution which causes a corresponding movement of...

Page 229: ...on has to be achieved Here actual positions with very low overshoots are visible NOTICE Thermal overload of the motor The motor may be permanently damaged If no temperature monitoring is available in the motor and or the I xt motor monitoring and the maximum current monitoring are not parameterised correctly the motor can be permanently damaged if the current amplitude is set too high Motor overlo...

Page 230: ...nt amplitude is set to 100 the device utilisation Ixt monitoring and or one of the motor monitoring functions may respond and cause the abort of the pole position identification 0x2C61 002 Pole position identification 360 settings Ramp time 1 40 600 s Setting can only be changed if the inverter is inhibi ted Percentage adaptation of the ramp time For large machines and high mass inertia values the...

Page 231: ...s reached its final value a plausibility check is executed after a short interval in order to detect a non permissible blocking of the motor a positive and a negative test angle 20 relative to the current position are defined after the identification The motor must align itself to these two test angles within a tolerance of 25 Conditions for the execution The motor must not be braked or blocked du...

Page 232: ...vice utilisation Ixt monitoring and or one of the motor monitoring functions may respond and cause the abort of the pole position identification 0x2C62 002 Pole position identification min movement settings Ramp time 1 10 600 s Setting can only be changed if the inverter is inhibi ted Percentage adaptation of the rate of current rise 0x2C62 003 Pole position identification min movement settings Ga...

Page 233: ...tion identification min movement settings Absolute current amplitude Read only x xx A Display of the absolute current amplitude Configuring the feedback system Synchronous motor Pole position identification PPI Pole position identification PPI with minimum movement 233 ...

Page 234: ...identification the device status does not change Only after the pole position iden tification the Operation enabled device status changes to the Operation enabled device status If pole position identification is started via parameter 0x2825 the inverter is automatically disabled at the end of the pole position identification process Preconditions The wiring of the three motor phases and the motor ...

Page 235: ... serves to save the parameter settings of the servo inverter as parame ter file gdc Saving the parameter settings The inverter disable set automatically by the procedure can be deactivated again via the CiA402 control word 0x6040 Enable operation Optional settings starting performance Optionally a pole position identification without motion can be activated after switching on the servo inverter Pa...

Page 236: ...s Parameterisable functions Current control speed control position control V f voltage boost skip frequencies optimisation of the stalling behaviour Possible settings a Identifying data automatically by inverter b Loading preset inverter characteristics Possible settings Entering data manually Possible settings Entering data manually Possible settings a Identifying data automatically by inverter b...

Page 237: ...figuring the feedback system 199 6 Only required for motors of other manufacturers Set and optimise current controller Current controller 267 Correction of the stator leakage inductance Lss 275 Synchronous motor Pole position identification PPI 225 7 Only required for an automatic calculation of the speed controller parameters Define total moment of inertia Tuning of the motor and the speed contro...

Page 238: ...M field weakening controller 270 10 Optional Correction of the stator leakage inductance Lss 275 11 Optional Asynchronous motor ASM Identify Lh saturation characteristic 281 12 Optional Estimate optimum magnetising current 283 13 Optional Jerk limitation 284 14 Optional Notch filter band stop filter 285 15 Optional DC braking 251 13 3 Sensorless control for synchronous motor SL PSM 13 3 1 Required...

Page 239: ...t modes 4Testing the motor control 301 2 Activate motor control type 0x2C00 V f characteristic control VFC open loop 6 3 Set limiting factors for the V f characteristic 1 0x2540 001 Rated mains voltage 2 0x2B01 001 Base voltage 3 0x2B01 002 Base frequency 4 Set and optimise current controller 4Current controller 267 Setting and optimising the current controller is only required if at least one of ...

Page 240: ...ame setting range default setting Info 0x2B01 001 V f shape data Base voltage 0 225 5000 V Base voltage and base frequency define the V f ratio and thus the gradi ent of the V f characteristic The V f base voltage is usually set to the rated motor voltage 0x2C01 007 The V f base frequency is usually set to the rated motor frequency 0x2C01 005 0x2B01 002 V f shape data Base frequency 0 270 5000 Hz ...

Page 241: ... Please always check whether the corresponding drive is suitable for operation with a square law V f characteristic If your pump drive or fan drive is not suitable for operation with a square law V f characteristic use the linear V f characteristic instead 4Square law V f characteristic 241 2 Multipoint User definable characteristic for being adapted to special load profiles 3 Eco Linear character...

Page 242: ...Freely parameterisable V f characteristic values for X axis 0x2B02 002 Frequency grid points x user V f characteristic x2 f02 5000 40 5000 Hz 0x2B02 003 Frequency grid points x user V f characteristic x3 f03 5000 30 5000 Hz 0x2B02 004 Frequency grid points x user V f characteristic x4 f04 5000 20 5000 Hz 0x2B02 005 Frequency grid points x user V f characteristic x5 f05 5000 10 5000 Hz 0x2B02 006 F...

Page 243: ...ctor control Imin controller The voltage vector control is used if a comparatively high starting torque must be provided This function ensures that the required motor current is maintained in the lower speed range NOTICE The boost function described here adds to the 4Set voltage boost function 245 Only set one of the two boost functions Recommendation torque increase in the lower speed range Take ...

Page 244: ...ing of the gain for the voltage vector control 0x2B05 002 V f boost controller settings Reset time 0 01 3 77 2000 00 ms Setting of the reset time for the voltage vector control Configuring the motor control V f characteristic control for asynchronous motor VFC open loop Activate voltage vector control Imin controller 244 ...

Page 245: ...or consider a sufficient time from the controller enable to the start of the speed ramp function generator The bigger the motor the lon ger the time required for magnetisation A motor with a power of 90 kW requires up to 2 seconds Depending on the required starting torque the voltage boost must be set so that the required motor current will be available after controller enable The voltage boost ca...

Page 246: ...for most applications 13 4 7 Set slip compensation The speed of an asynchronous motor depends on the load This load dependent speed drop is called slip The slip compensation serves to counteract the load dependent speed loss Observe correct parameterisation of the rated motor frequency 0x2C01 005 and the rated motor speed 0x2C01 004 Both parameters serve to calculate the rated motor slip Parameter...

Page 247: ...he oscillation damping is switched off gain 0 The oscilloscope function of the PLC Designer enables to record the following currents Q current Total current A passive load and continuous operation with constant speed steady state operation result in a constant current If the drive oscillates the motor current oscillates as well This makes it possible to detect the frequency and amplitude of the os...

Page 248: ...ity factor in the lower speed range can be reduced The ramp end frequency refers to the rated motor frequency in per centage terms 13 4 9 Optimising the stalling behaviour The stalling protection function or the maximum permissible motor current in the field weak ening range can be adapted If the motor stalls in the field weakening range the override point can be shifted by reduc ing the set value...

Page 249: ...rd 3 The Controller reports to the inverter via bit 0 in the Lenze control word 0x2830 that the detected speed has been accepted As long as this is not the case no further flying restart process is possible 0x2BA6 0x2831 0x2831 0x2830 Bit 0 Flying restart acknowledge Search OperationEnabled Bit 8 Flying restart running Bit 9 Flying restart ready Found velocity Parameter setting The flying restart ...

Page 250: ...dapted for medium power machines A guide value for the integration time can be calculated as a function of the motor power with the following equation Ti 1 1 µ W Rated power 0x2C01 006 9 4 ms For accelerating the search process this guide value can be reduced If the flying restart frequency oscillates too much increase the inte gration time again A longer integration time extends the time for a fl...

Page 251: ...rovided with a brake resistor required for absorbing the braking energy This method requires that a sufficient braking torque can be achieved with DC braking the power of the brake chopper to be transformed is limited and thus must be exclu sively used for the main drives of the DC network The quality of the deceleration ramp via DC braking is sufficient for auxiliary drives and unburdens the brak...

Page 252: ...d 0x2830 The oscilloscope function of the engineering tool e g EASY Starter serves to record the following important parameters Actual velocity 0x606C Phase current U V W Details The short circuit current adjusts itself freely in accordance with the motor volt age kE speed and the internal resistance of the system Thus it is absolutely necessary that the ampacity of the servo inverter is based on ...

Page 253: ...ow wear control of the motor holding brake connected to the inverter with a supply voltage of 24 V The motor holding brake is connected to X106 It is supplied with 24 V via X107 Configuring the motor control Parameterisable motor functions Holding brake control 253 ...

Page 254: ...Das control word depends on the technology applica tion Technology application CiA 402 0x6040 Bit 14 Speed Control technology application 0x5030 010 Bit 14 0 Close holding brake 1 Release holding brake Control via device state machine automatic operation The holding brake is controlled as a function of the device state A torque feedforward control is possible The torque is precontrolled for one se...

Page 255: ... logic of the holding brake can be inverted 0 Normal 1 Inverted 0x2820 006 Holding brake control Brake error response Selection of the response for holding brake monitoring In the triggered state the holding brake is monitored cyclically for the presence of brake current After the brake is connected the establishment of the brake current is subject to a time delay in accordance with the inductance...

Page 256: ...ent of an error Details The following settings are possible Open the holding brake The holding brake remains open until it closed again manually Close the holding brake Release the holding brake for a fixed time by a start signal and then apply it automatically Time for Brake released 0x2820 019 Start signal 0x2820 020 bit 0 1 After the time has elapsed bit 0 0 Parameter Address Name setting range...

Page 257: ...oller settings 13 6 1 Automatic motor identification energized Parameter Address Name setting range default setting Info 0x2832 Motor identification status Read only Display of the status for the automatic identification of the motor parameters Parameters for interaction with engineering tools Bit 0 Identification enabled Parameters for interaction with engineering tools Bit 1 Identification activ...

Page 258: ...d set in the inverter either by selecting the motor from the motor catalogue or manually 4Select motor from motor catalogue 39 4Manual setting of the motor data 41 Required steps Adapt the following parameters to your drive system using the engineering tool Since this only changes load dependent data the other parameter groups do not need to be calculated again In the engineering tool the speed co...

Page 259: ...executed successfully 0x2910 003 Inertia settings Coupling Selection of the type of coupling between the moment of inertia of the motor and that of the load 0 Stiff 0x2910 004 Inertia settings Mechanical natural frequency 0 0 0 0 250 0 Hz Setting of the mechanical natural frequency 0x2910 005 Inertia settings Load moment of inertia elastic cou pled 0 00 0 00 20000000 00 kg cm Setting of the load m...

Page 260: ...ristic The settings made can be seen if required but should not be changed A wrong setting may influence the control negatively Configuring the motor control Options for optimising the control loops Inverter characteristic 260 ...

Page 261: ...ting Info 0x2947 001 Inverter characteristic Value y1 0 00 0 00 20 00 V The inverter characteristic consisting of 17 values is calculated and set in the course of the automatic inverter characteristic identification Note Changing these values is not recommended by the manufacturer 0x2947 002 Inverter characteristic Value y2 0 00 0 00 20 00 V 0x2947 003 Inverter characteristic Value y3 0 00 0 00 20...

Page 262: ...isch 1 Manuell 0x2942 0x2DE0 003 Resolver position detection dynamics 20 100 100 Setting of the dynamics for the resolver evaluation 100 max dynamics 100 reduced dynamics 0x2DE0 004 Resolver 8 kHz safety signal Usually the Der 8 kHz carrier frequency is only activated for the safety version This parameter can also be used to switch it on and off 0 Automatisch durch Gerätetyp 1 Ein 2 Aus 0x2DE0 007...

Page 263: ...tor star or delta connection Only enter the data applying to the connection type selected 0x2C01 003 Motor parameters Stator leakage inductance 0 000 51 000 500 000 mH 0x2C01 009 Motor parameters Insulation class Insulation class of the motor see motor nameplate 0 Y cut off temperature 90 C 1 A cut off temperature 105 C 2 E cut off temperature 120 C 3 B cut off temperature 130 C 4 F cut off temper...

Page 264: ...rve engine noise 40x2900 002 b Increase parameter until the drive runs stable again 40x2900 002 c Increase parameter to approx double the value 40x2900 002 3 Setting of the rate time Set the rate time Td in parameter 0x2900 003 a Increase parameter during operation until an optimal control mode is achieved 40x2900 003 Automatically calculated settings for the speed controller We recommend a manual...

Page 265: ...ne pole distance is selected a motor with the number of pole pairs zp 1 is created The effective moment of inertia for a linear motor can be calculated according to the following equations With this J value the equations shown above can be used to calculate the speed controller gain and reset time Equation for calculating the effective moment of inertia t æ ö ç ç p è ø 2 Polpaar zp 2 J m 2 tPolpaa...

Page 266: ...of the load value 0x2903 Speed setpoint filter time 0 0 0 0 50 0 ms Time constant for the speed setpoint filter 0x2904 Actual speed filter time 0 0 0 3 50 0 ms Time constant for the actual speed value filter Configuring the motor control Options for optimising the control loops Motor control settings 266 ...

Page 267: ...ctivating the current controller feed forward control via object 0x2941 For the automatic calculation of the two controller parameters gain and reset time the Calc current contr param function is provided via object 0x2822 013 The calculating func tion is based on the stator resistance 0x2C01 002 and the stator leakage inductance 0x2C01 003 Thus these motor parameters must be parameterised before ...

Page 268: ...feedforward control Since the actuation of the current controller is known they can be pre controlled to increase the actuations of the current controller Note For a feedforward control the Motor equivalent circuit diagram data must be known If only estimated values are available we recommend you not to activate the feedforward control 0 Disable 1 Enable 0x2942 001 Current controller parameters Ga...

Page 269: ...V 4 R T Calculation of the reset time r n r r L T T R Parameter Symbol Description Dimension unit 0x29C0 001 Vp Field controller gain A Vs 0x29C0 002 Tn Field controller reset time s 0x2C02 002 Lh Mutual motor inductance ASM H 0x2C02 001 Rr Motor rotor resistance ASM Ω Tcurrent controller Equivalent time constant of the cur rent control loop 0 0005 s Tr Motor rotor time constant KPath Gain of the ...

Page 270: ...ameter Address Name setting range default setting Info 0x29E0 001 Field weakening controller settings Gain ASM 0 000 0 000 2147483 647 Vs V Gain factor Vp of the field weakening controller 0x29E0 002 Field weakening controller settings Reset time ASM 1 0 2000 0 240000 0 ms Reset time Tn of the field weakening controller 0x29E1 Field weakening controller Field limitation 5 00 100 00 100 00 Field li...

Page 271: ...rror the DC bus is loaded in accordance with the current speed see equation At high speed and outside the voltage range the terminal voltage can be higher than the mains voltage In order to prevent the DC bus from being loaded impermissibly high connect a brake chopper to the DC bus The terminal voltage corresponds to the following equation K U n N M U n VK Terminal voltage n Speed Vrated Rated ma...

Page 272: ...ade via the parameter 0x2822 019 1 The parameters of the Imax controller must be adapted if a power control is implemented with great moments of inertia Recommendation Step 1 increase reset time in 40x2B08 002 Step 2 reduce gain in 40x2B08 001 vibrations occur with V f characteristic control during the operation of the Imax controller Recommendation Step 1 increase reset time in 40x2B08 002 Step 2...

Page 273: ...controller until the position control loop gets slightly unstable again 3 Repeat these steps until the following error is reduced to acceptable values Parameter Address Name setting range default setting Info 0x2980 Position controller gain 0 00 28 40 1000 00 Hz Setting of the position controller gain 0x2981 Position controller gain adaption 0 00 100 00 200 00 Setting of the percentage adaptation ...

Page 274: ...h regard to the torque linearity have to be met During the commissioning process of Lenze motors typical values for the relevant parameters are provided For motors of other manufacturers these values are to be requested from the motor manufacturer or they have to be estimated Configuring the motor control Fine adjustment of the motor model 274 ...

Page 275: ...tic of motors of one type size It does not depend on the maximum process current of the motor in the prevailing application Thus the defined values should be based on the key data of the motors These are rated motor current peak motor current for a limited time and the ultimate motor current NOTICE Impact of the saturation characteristic on the current controller feedforward control The saturation...

Page 276: ...s at least the ultimate motor current The current controller step response is then recorded actively only until the grid point with peak motor current In order to prevent the motor winding from being overloaded use the manual test mode current pulse for recording 4Manual current pulse test mode 305 The grid points with current setpoints above the peak motor current are determined through interpola...

Page 277: ...3 75 50 56 25 62 5 68 75 75 81 25 87 5 93 75 100 0 A Imax Vp V A Tn ms x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17 x1 See table Specifications for adjustment measured values after this listing 4 Create a characteristic based on the detected values for Vp but do not enter any values in yet Determine the values of the grid points that have not been adjusted by interpolation between two v...

Page 278: ...urrent level Now that the current controller gain is actively corrected the step responses may slightly differ from the previous measurements In this case the current controller parameters must be post optimised for the last time 9 For permanent storage save the characteristic determined The EASY Starter serves to save the parameter settings of the inverter as parameter file gdc Saving the paramet...

Page 279: ... Lss saturation characteris tic y10 L10 x 56 25 0 50 400 0x2C04 011 Inductance grid points y Lss saturation characteris tic y11 L11 x 62 50 0 46 400 0x2C04 012 Inductance grid points y Lss saturation characteris tic y12 L12 x 68 75 0 43 400 0x2C04 013 Inductance grid points y Lss saturation characteris tic y13 L13 x 75 00 0 42 400 0x2C04 014 Inductance grid points y Lss saturation characteris tic ...

Page 280: ... object non linear characteristic Parameter Address Name setting range default setting Info 0x2C06 001 Grid points for magnet characteristic current x1 i01 iN 0 0 1000 Characteristic for the dependency of the magnetic flux on the active motor current 0x2C06 002 Grid points for magnet characteristic current y1 kT01 kTN 0 100 1000 0x2C06 003 Grid points for magnet characteristic current x2 i02 iN 0 ...

Page 281: ...if required Already determined characteristic values are rejected in this case After successful completion the inverter will be disabled automatically and the points of the determined Lh saturation characteristic are set in the parameters 0x2C07 001 0x2C07 017 Save the changed settings The EASY Starter serves to save the parameter settings of the servo inverter as parame ter file gdc 4Saving the p...

Page 282: ...n characteristic y6 L06 x 31 25 0 114 400 0x2C07 007 Inductance grid points y Lh saturation characteristic y7 L07 x 37 50 0 111 400 0x2C07 008 Inductance grid points y Lh saturation characteristic y8 L08 x 43 75 0 107 400 0x2C07 009 Inductance grid points y Lh saturation characteristic y9 L09 x 50 00 0 100 400 0x2C07 010 Inductance grid points y Lh saturation characteristic y10 L10 x 56 25 0 93 40...

Page 283: ...e motor during standstill performance How to estimate the optimal magnetising current 1 Start Axis commands estimate optimum magnetising current parameter with 1 40x2822 023 2 After the process has been completed save the changed inverter parameters Lh saturation characteristic 0x2C07 001 0x2C07 017 Magnetising current0x2C02 003 The EASY Starter serves to save the parameter settings of the inverte...

Page 284: ...ue can be limited for jerk limitation Hence sudden torque step changes can be avoided The entire speed characteristic is smoothed Parameter Address Name setting range default setting Info 0x2945 Torque setpoint jerk limitation 0 1 400 0 400 0 Setting of the maximum acceleration change Configuring the motor control Parameterise filter elements in the setpoint path Jerk limitation 284 ...

Page 285: ...ations extreme case complete instability of the drive In the case of impairment the drive that is still running must either be coasted down by activating the inverter disable or immediately be brought to a standstill via a brake the speed controller must be optimised again afterwards the test procedure must be repeated Output frequency Use of notch filters 0 1 2 flimit_speed_controller No 1 2 flim...

Page 286: ...rts to be unstable again If the oscillation frequency has changed now readjust the filter frequency by trimming The use of a second filter is ineffective here If the oscillation frequency remains the same readjust the filter depth and or the filter width by trimming the first reduces the amplitude the second lets the phase rotate faster Repeat step 8 until the desired behaviour or the limit of a s...

Page 287: ...ch filter 2 0 0 40 0 500 0 Hz Setting of the bandwidth for notch filter 2 0x2944 006 Torque setpoint notch filter Damping notch filter 2 0 0 100 dB Setting of the damping for notch filter 2 Configuring the motor control Parameterise filter elements in the setpoint path Notch filter band stop filter 287 ...

Page 288: ... Motor overload monitoring is important for motors without thermal sensor Details During the calculation of the parameters 0x2D4D 001 0x2D4D 008 the speed dependence of the permissible motor load and thus of the permissible current difference between the standstill current and rated current is taken into consideration In case of permanent overload and excess of the warning threshold set in paramet...

Page 289: ...fault setting Info 0x2D50 002 Motor utilisation i xt monitoring Error threshold 0 105 250 Setting of the error threshold for motor overload monitoring Configuring the motor control Motor protection Motor overload monitoring i t 289 ...

Page 290: ...and the influence of the winding on motors of other manufacturers When the influence of the winding is activated the i2 xt monitoring becomes more sensible as if only the influence of the laminated core would be used for monitoring purposes The necessity to activate the influence of the winding rises with the increasing utilisation of the motor overload capacity It also rises with applications whe...

Page 291: ...s Setting of the time constant for the laminated core 0x2D4C 003 Thermisches Modell Motorauslastung i xt Winding influence 0 27 100 Part of the thermal motor model distribution factor of the copper wind ing influence 0x2D4C 004 Thermisches Modell Motorauslastung i xt Starting value 0 0 250 Value for initialising the filters for the thermal motor overload monitor ing setting in of the permissible f...

Page 292: ... other manufacturers the operat ing points have to be parameterised based on the data sheet information By selecting a characteristic the permissible motor current is evaluated depending on speed for calculating the thermal motor utilisation For this purpose up to four operating points on the S1 characteristic of a motor can be used The S1 characteristic can be found in the technical data sheet ca...

Page 293: ...00 n n n 100 n Parameter Characteristic points Info 0x2D4D 001 n1 nn 100 Speed 0 standstill 0x2D4D 002 I1 In 100 Permissible motor current at stand still 0x2D4D 003 n2 nn 100 Speed from which the current must be reduced for self ventilated motors Below this speed the cooling air flow of the integral fan is not suf ficient anymore 0x2D4D 004 I2 In 100 Permissible motor current at speed n2 torque re...

Page 294: ...2 n02 nN n02 limit reduced cooling 0 0 600 0x2D4D 004 Motor utilisation i xt specific characteristic y2 i02 iN x2 0 100 600 0x2D4D 005 Motor utilisation i xt specific characteristic x3 n03 nN n03 rated speed 0 100 600 0x2D4D 006 Motor utilisation i xt specific characteristic y3 i03 iN x3 0 100 600 0x2D4D 007 Motor utilisation i xt specific characteristic x4 n04 nN n04 limit field weakening 0 100 6...

Page 295: ...ncy is displayed in parameter 0x2DDD A motor load of 110 exists if the r m s value of the total motor current displayed in parameter 0x2DD1 005 corresponds to 110 of the rated motor current 0x6075 This condition can be fulfilled by setting the following parameters I xt x1 n01 nN n01 0 40x2D4D 001 I xt y1 i01 iN x n01 0 40x2D4D 002 I xt x2 n02 nN n02 reduced cooling limit 40x2D4D 003 I xt y2 i02 iN...

Page 296: ...r temperature sensor is connected to the terminals X109 T1 and X109 T2 and the response in 0x2D49 002 is set to Fault 3 the response of the motor overload monitoring may be set other than Fault 3 in 4Motor overload monitoring i t 288 Functional test Connect a fixed resistor to the PTC input R 4 kΩ the monitoring function must be activated R 1 kΩ the monitoring function must not be activated Parame...

Page 297: ...ific characteristic 0x2D49 011 Motor temperature monitoring Motor temperature Motor encoder Read only x x C Display of the current motor temperature measured by motor feedback 0x2D49 012 Motor temperature monitoring Motor temperature load encoder Read only x x C Display of the current motor temperature measured by load feedback 13 9 2 1 Individual characteristic for motor temperature sensor The se...

Page 298: ...tor from the motor catalog of the engineering tool 0x2D46 002 Overcurrent monitoring Response Selection of the response to the triggering of motor current monitoring Associated error code 9092 0x2384 RANLI_CIMES_0500_03891 0 No response 1 Fault CiA402 2 Warning 13 9 4 Motor phase failure detection The motor phase failure detection function can be activated for both synchronous and asyn chronous mo...

Page 299: ...phase 2 Selection of the response following the detection of a motor phase fail ure directly after controller enable Associated error codes 65289 0xFF09 Motor phase missing 65290 0xFF0A Motor phase failure phase U 65291 0xFF0B Motor phase failure phase V 65292 0xFF0C RANLI_CIMES_1000_20883 0 No response 1 Fault CiA402 2 Warning 13 9 5 Motor speed monitoring This function monitors the motor speed d...

Page 300: ...se regulation EC 428 2009 values higher than 599 Hz to 1000 Hz or 599 Hz to 1000 Hz do not increase the output frequency Please observe the deadband occurring in this case Speed setpoint If servo control is used the speed setpoint is limited depending on the number of motor pole pairs lim lim f n zp nlim Speed limit value flim Maximum output frequency0x2939 zp Number of motor pole pairs If the spe...

Page 301: ...the motor is connected in correct phase relation and the rotating field fre quency is positive the motor shaft rotates clockwise 2 An existing speed feedback in the rotor position generates a numerical value with posi tive counting direction If required take corrective measures see the table at the end of the list 3 After the controller inhibit 0x6040 has been activated the following manual test m...

Page 302: ...ing angle for the test mode Note After the inverter has been enabled the synchronous motor makes a jerky compensating movement if its pole position does not correspond to the starting angle 0x2E00 042 Voltage offset compensation 0 Off 1 On Configuring the motor control Testing the motor control General settings for test modes 302 ...

Page 303: ...V 0x2B01 002 frated Base frequency Hz The manual voltage frequency test mode also serves to check the wiring of the feedback system If the feedback system of a synchronous motor is set correctly an actual speed should be displayed that can be calculated with the following equation if the feedback system of an asynchronous motor is set correctly the actual speed is a bit lower due to the slip Equat...

Page 304: ... phase W INTEGER_32 Advantages compared to the manual voltage frequency test mode The current cannot be set freely but is adjusted to a defined value If a synchronous motor is connected it is possible to predict the torque Response of the motor during performance The motor moves as a function of the set output frequency After the inverter has been enabled the synchronous motor makes a jerky com pe...

Page 305: ...cks the current controller gain After the inverter has been enabled the synchronous motor makes a jerky com pensating movement if its pole position does not correspond to the starting angle The motor phase U is energized with a DC current the level of which is determined via the following equation _ test 2 I 100 rated phase U I I In motor phases V and W half of this DC current flows negative from ...

Page 306: ...y Change to the current pulse test mode 40x2825 3 Set the setpoint current for the manual test mode 40x2835 001 Enable the inverter for a short while to start the test mode Measure the step response of the motor current in the motor phase U by means of an oscilloscope and a clamp on ammeter Evaluate the step response Adjust the gain and the reset time of the inverter Repeat steps 1 6 until the opt...

Page 307: ...is set for all digital inputs Via EASY Starter or network the debounce time for can be increased individually for each digital input to maximally 50 ms Inversion Each digital input can be configured in such a way that the status pending at the terminal is internally inverted logically This way a closed contact for instance serves to deactivate an assigned function instead of activating it Thus the...

Page 308: ...digital input 2 0x2633 003 Digital input debounce time Digital input 3 0 0 50 ms Debounce time of digital input 3 0x2633 004 Digital input debounce time Digital input 4 0 0 50 ms Debounce time of digital input 4 0x263B 001 Digital inputs internal control Activation 0 Aus 1 Ein 0x263B 002 Digital inputs internal control DI1 internal control 0 Aus 1 Ein 0x263B 003 Digital inputs internal control DI2...

Page 309: ...t Internally the signal is always converted to a value in percent Definition of the setting range The setting range results from the set min and max value for the respective mode Manual I O control The analog input can be overridden manually After the function is activated the actual values are frozen Afterwards each analog input can be overwritten manually Setting Activation 0x263D 001 Entering t...

Page 310: ...m value for scaling 200 0 0 0 200 0 Minimum value in percent for scaling the value at the analog input Value in percent 0x2636 014 Analog input 1 Maximum value for scaling 200 0 100 0 200 0 Maximum value in percent for scaling the value at the analog input Value in percent 0x2DA4 005 Diagnostics of analog input 1 Scaled percent value Read only x xx Current value of the analog input is resolved wit...

Page 311: ...control The digital output can be overridden manually After the function is activated the actual val ues are frozen Afterwards each digital output can be overwritten manually Setting Activation 0x263C 001 Entering the manual value 0x263C 002 Parameter Address Name setting range default setting Info 0x2635 002 Inversion of digital outputs Digital output 1 Inversion of digital output 1 0 Not inverte...

Page 312: ...15 Configure engineering port The given path leads you to the engineering port Configure engineering port 312 ...

Page 313: ... IP address This file must be stored on the SD card in the root directory The network settings are evaluated and accepted when the inverter is started The file is then renamed as ip_old txt The structure of the text file can look as follows 192 168 101 221 255 255 255 0 192 168 101 1 If the static IP address is to be reset to DHCP only the content of the ip txt file must be set to DHCP This serves...

Page 314: ...urrent values 10 In progress 11 Action cancelled 12 Fault 0x245A 002 NTP server addresses NTP server address 1 0 0 0 0 0 0 0 0 255 255 255 255 0x245A 003 NTP server addresses NTP server address 2 0 0 0 0 0 0 0 0 255 255 255 255 0x245A 004 NTP server addresses NTP server address 3 0 0 0 0 0 0 0 0 255 255 255 255 0x245A 005 NTP server addresses NTP server address 4 0 0 0 0 0 0 0 0 255 255 255 255 15...

Page 315: ...iguring the network The inverter supports the Device profile CiA 402 316 The following network options are available for the inverter 4PROFINET 354 4EtherCAT system bus on board 366 Configuring the network 315 ...

Page 316: ...ating mode can be activated via 0x6060 Parameter Address Name setting range default setting Info 0x6060 Modes of operation Selection of the operating mode 0 No mode change no mode assigned No operating mode standstill 2 CiA Velocity mode CiA 402 velocity mode 4Operating mode CiA 402 Velocity mode vl 172 8 Cyclic sync position mode 4Operating mode CiA 402 Cyclic sync position mode csp 158 9 Cyclic ...

Page 317: ...2 Quick stop The motor is brought to a standstill with the quick stop function In the operating mode 0x6060 MS Velocity mode 2 the decel eration time set in is effective In the operating mode 0x6060 CiA Velocity mode 2 the speed change set in 0x6085 is effective 0x607E Polarity 0 0 0 Setting can only be changed if the inverter is inhibi ted Setting of the polarity of the position setpoint 0 the po...

Page 318: ...ord 0x0000 0x0000 0xFFFF Mappable CiA 402 control word with bit assignment according to device profile CiA 402 Bit 0 Switch on 1 switch on Bit 1 Enable voltage 1 DC bus Establish readiness for operation Bit 2 Quick stop 0 activate quick stop Bit 3 Enable operation 1 enable operation Bit 4 Operation mode specific Bit 5 Operation mode specific Bit 6 Operation mode specific Bit 7 Fault reset 0 1 edge...

Page 319: ...Power section inhibited pulse inhibit C Power section enabled Bit pattern in the CiA 402 control word 0x6040 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Reset fault Operating mode dependent Operation enabled Activating quick stop Establish read iness for oper ation Switch on X 0 X X X 0 1 1 1 X state is not relevant Configuring the network Device profile CiA 402 Comm...

Page 320: ...ower section inhibited pulse inhibit C Power section enabled Bit pattern in the CiA 402 control word 0x6040 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Reset fault Operating mode dependent Operation enabled Activating quick stop Establish read iness for oper ation Switch on X 0 X X X 1 1 1 1 X state is not relevant Configuring the network Device profile CiA 402 Comma...

Page 321: ...it 3 Bit 2 Bit 1 Bit 0 Reserved specific Reset fault Operating mode dependent Operation enabled Activating quick stop Establish read iness for oper ation Switch on X 0 X X X X 1 1 X X state is not relevant During quick stop the inverter executes the setpoint generation and no longer follows the setpoint defined by the network master If several inverters execute a chained synchronous motion the qui...

Page 322: ...motors without a holding brake may cause uncontrolled movements Without a load the motor will coast A From all states B Power section inhibited pulse inhibit C Power section enabled Bit pattern in the CiA 402 control word 0x6040 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Reset fault Operating mode dependent Operation enabled Activating quick stop Establish read ines...

Page 323: ...s active A From all states B Power section inhibited pulse inhibit C Power section enabled Bit pattern in the CiA 402 control word 0x6040 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Reset fault Operating mode dependent Operation enabled Activating quick stop Establish read iness for oper ation Switch on X 0 1 X X X X X X X X state is not relevant Configuring the netw...

Page 324: ...le 333 X 1 X X 1 0 0 0 X state is not relevant Status bit 7 Warning active Status bit 7 indicates a warning A warning does not cause a state change Warnings do not need to be reset More Lenze specific status bits bit 8 15 Device status Bit pattern in the CiA 402 status word 0x6041 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Not active Brake released Following error is active Drive fol lo...

Page 325: ...ctivated 1 cyclic PDOs have been deactivated Bit 9 Remote 1 inverter can receive commands via network Bit is not set in the operating mode 0x6060 MS Velocity mode 2 Bit 10 Target reached 1 the actual position is in the window Bit 11 Internal limit active 1 internal limitation of a setpoint active Bit 12 Operation mode active 1 operation enabled and no test mode activated no internal setpoint gener...

Page 326: ...ive Switch on inhibited Fault Fault reaction active Operation enabled Switched on Not ready to switch on Ready to switch on 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus ready for ope...

Page 327: ... parameterised If the internal holding brake control 0x2820 001 is active in the inverter the motor brake is closed Operation is inhibited 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bu...

Page 328: ...eterised If the internal holding brake control 0x2820 001 is active in the inverter the motor brake is closed Operation is inhibited 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus read...

Page 329: ...s active in the inverter the motor brake is closed Operation is inhibited 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus ready for operation Fault active Operation enabled Switched on ...

Page 330: ...rake control is activated 0x2820 001 0 The drive control is active 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus ready for operation Fault active Operation enabled Switched on Ready t...

Page 331: ...ve 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus ready for operation Fault active Operation enabled Switched on Ready to switch on X X 0 0 X 0 1 1 1 X state is not relevant The Enable...

Page 332: ...n be changed that do not require an inverter disa ble If the internal holding brake control 0x2820 001 is active in the inverter the motor brake is closed The drive control is active 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active...

Page 333: ...an be parameterised 1 From all states 2 Power section inhibited pulse inhibit 3 Power section enabled Bit pattern in the CiA 402 status word 0x6041 Bit 15 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved specific Warning active Operation inhibited Quick stop active DC bus ready for operation Fault active Operation enabled Switched on Ready to switch on X X 0 X X 1 0 0 0 X state is not re...

Page 334: ...gy Group ETG http www ethercat org Information about the dimensioning of an EtherCAT network can be found in the configu ration document for the inverter Preconditions The inverter is equipped with the EtherCAT option For commissioning the PLC Designer and current device description files for EtherCAT are available Download PLC Designer Download XML ESI files for Lenze devices Preconditions The in...

Page 335: ...gies under 4EtherCAT 334 The entire wiring has already been checked for completeness short circuit and earth fault All EtherCAT devices are supplied with voltage and are switched on An Engineering PC with installed PLC Designer is connected to the master Download PLC Designer A PLC Designer project with current device description files for EtherCAT is available Download XML ESI files for Lenze dev...

Page 336: ... project The physical network structure is reproduced in the PLC Designer project A proper operation requires that the network topology generated in the project corresponds to the physical order of the EtherCAT nodes in the network Other wise an error message displays which slave product code is to be expected at which position 3 Integrate L_MC1P_BasicActuatingSpeed functional module 1 Open the PL...

Page 337: ... parameter values of the inverter 1 Adapt parameter values under the Settings and Parameter list tabs 2 Set the PDO Mapping under the Process data tab 3 Assign variable names under the EtherCAT I O image by double clicking the variable fields 6 Load the network configuration into the master 1 Log off Menu command Online à Log off or Ctrl F8 2 Compiling Menu command Build à Build or F11 3 Log in Me...

Page 338: ...a tion from outside for the for first time after its switch on In the No real time information received yet the value 0 is displayed 0x2580 003 Distributed Clocks Newest setting time Read only x ns Display of the time when the inverter has most recently received a real time information from outside 0x2580 004 Distributed Clocks Current time Read only x ns Display of the time information currently ...

Page 339: ...Quick stop 0 quick stop active Bit 6 Switch on disabled 1 operation inhibited Bit 7 Warning 1 warning active Bit 8 RPDOs deactivated 1 cyclic PDOs have been deactivated Bit 9 Remote 1 inverter can receive commands via network Bit is not set in the operating mode 0x6060 MS Velocity mode 2 Bit 10 Target reached 1 the actual position is in the window Bit 11 Internal limit active 1 internal limitation...

Page 340: ...72 8 Cyclic sync position mode 4Operating mode CiA 402 Cyclic sync position mode csp 158 9 Cyclic sync velocity mode 4Operating mode CiA 402 Cyclic sync velocity mode csv 177 10 Cyclic sync torque mode 4Operating mode CiA 402 Cyclic sync torque mode cst 191 0x6061 Modes of operation display Read only Display of the current operating mode 11 Identification 10 Test mode 0 No mode change no mode assi...

Page 341: ... is currently being processed Standard mapping of the RPDOs in the CiA 402 operating mode CiA Velocity mode Master à slave RPDO mapping entry 1 CiA Velocity mode CiA Controlword 0x6040 RPDO mapping entry 2 CiA Velocity mode CiA 402 parameter Target velocity 0x6042 RPDO mapping Entry 1 freely configurable Not assigned Standard mapping of the TPDOs in the CiA 402 operating mode CiA Velocity mode Sla...

Page 342: ...e access has failed due to errors in the hardware 0x06070010 The data type or the parameter length do not match 0x06070012 Wrong data type The parameter length is too big 0x06070013 Wrong data type The parameter length is too small 0x06090011 A subindex is not available 0x06090030 The value range for parameters is too big only in case of write access 0x06090031 The parameter value is too high 0x06...

Page 343: ...ent of this section is currently being processed The following parameters show information on the network Parameter Address Name setting range default setting Info 0x2020 001 EoE information Virtual MAC address Read only Display of the virtual MAC address 0x2020 002 EoE information IP adress Read only Display of the IP address 0x2020 003 EoE information Subnet mask Read only Display of the subnet ...

Page 344: ...ad only Display whether an EtherCAT network error has occurred 0x5851 004 EtherCAT master diagnosis Bus scan match Read only Display whether a Bus Scan Match exists 0x5851 005 EtherCAT master diagnosis Configured cycle time Read only x us Display of the configured cycle time 0x5851 006 EtherCAT master diagnosis Connected slaves Read only Display of the number of slaves available in the network 0x5...

Page 345: ... only 0x5860 009 EtherCAT slaves station addresses Station address slave 9 Read only 0x5860 010 EtherCAT slaves station addresses Station address slave 10 Read only 0x5860 011 EtherCAT slaves station addresses Station address slave 11 Read only 0x5860 012 EtherCAT slaves station addresses Station address slave 12 Read only 0x5860 013 EtherCAT slaves station addresses Station address slave 13 Read ...

Page 346: ... Read only 0x5861 016 EtherCAT slaves device names Device name slave 16 Read only 0x5862 001 EtherCAT slaves device types Device type slave 1 Read only Display of the slave type designation 0x5862 002 EtherCAT slaves device types Device type slave 2 Read only 0x5862 003 EtherCAT slaves device types Device type slave 3 Read only 0x5862 004 EtherCAT slaves device types Device type slave 4 Read only ...

Page 347: ...SE 1 TRUE 0x5863 006 Mandatory EtherCAT slaves Slave 6 is mandatory Read only 0 FALSE 1 TRUE 0x5863 007 Mandatory EtherCAT slaves Slave 7 is mandatory Read only 0 FALSE 1 TRUE 0x5863 008 Mandatory EtherCAT slaves Slave 8 is mandatory Read only 0 FALSE 1 TRUE 0x5863 009 Mandatory EtherCAT slaves Slave 9 is mandatory Read only 0 FALSE 1 TRUE 0x5863 010 Mandatory EtherCAT slaves Slave 10 is mandatory...

Page 348: ...nitialisation status Initalisation sta tus slave 2 Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864 003 EtherCAT slaves initialisation status Initalisation sta tus slave 3 Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864 004 EtherCAT slaves initialisation status I...

Page 349: ...iled 0x5864 009 EtherCAT slaves initialisation status Initalisation sta tus slave 9 Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864 010 EtherCAT slaves initialisation status Initalisation sta tus slave 10 Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864 011 Ether...

Page 350: ...rror 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864 016 EtherCAT slaves initialisation status Initalisation sta tus slave 16 Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5865 001 EtherCAT slaves device status Device status slave 1 Read only Display of the device status of the EtherCA...

Page 351: ...5 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 65519 Not Present 0x5865 006 EtherCAT slaves device status Device status slave 6 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 0x5865 007 EtherCAT slaves device status Device status slave 7 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operationa...

Page 352: ... slave 11 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 0x5865 012 EtherCAT slaves device status Device status slave 12 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 0x5865 013 EtherCAT slaves device status Device status slave 13 Read only 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Oper...

Page 353: ...entification in the network the inverter provides the EtherCAT objects listed in the following The objects can only be accessed via the EtherCAT network Parameter Address Name setting range default setting Info 0x1000 Device type Read only CANopen device profile according CANopen specification CiA 301 CiA 402 0x1008 Manufacturer device name Read only Display of the manufacturer device name 0x1009 ...

Page 354: ...mented as IO Device into a PROFINET RT network The PROFINET connections are carried out as standard RJ45 sockets Further information about the dimensioning of a PROFINET network can be found in the configuration document for the inverter Preconditions The inverter is equipped with the PROFINET network option The inverter has not been parametrised as a CiA 402 motion drive Technology application se...

Page 355: ...Starter The IO Controller is commissioned with a different engineering tool e g Sie mens TIA Portal For this purpose install the required GSDML device description file in the engineering tool for the IO Controller for configuring the inverter We always recommend the use of the current device description Download of GSDML files Please observe the necessary system requirements and the notes regardin...

Page 356: ...ens TIA Portal Here commissioning with the Siemens TIA Portal is described Please note that in the standard setting of the Siemens TIA Portal changes of network parameters carried out by a Lenze engineering tool e g EASY Starter may be overwritten 1 Go to the device configuration and open the net view to drag the inverter from the cata log to the net view of the PROFINET 2 Assign the inverter to t...

Page 357: ...OFINET telegram when the extended safety engineering is used simultaneously 16 3 1 5 Establishing a connection to the EASY Starter via PROFINET To establish a communication link to the inverter via PROFINET ports X2x6 X2x7 proceed as follows Requirements The network interface of the engineering PC provided for the connection is parameterised for the PROFINET IP subnetwork A valid IP configuration ...

Page 358: ... value will only be effective after the PROFINET communica tion is restarted 0x2380 1 0x2381 002 PROFINET settings Subnet 0 0 0 0 0 0 0 0 255 255 255 255 Set subnet mask A changed value will only be effective after the PROFINET communica tion is restarted 0x2380 1 0x2381 003 PROFINET settings Gateway 0 0 0 0 0 0 0 0 255 255 255 255 Set gateway address A changed value will only be effective after t...

Page 359: ...arm message is displayed for all error responses Bit 0 Information Bit 1 Warning Bit 2 Bit 3 Trouble Bit 4 Bit 5 Bit 6 Bit 7 Fault Bit 8 Fault CiA402 16 3 3 Process data transfer The process data is used to control the inverter The process data is transmitted cyclically between the IO Controller and the IO Devices participating in PROFINET The process data can be directly accessed by the IO contro...

Page 360: ...esponse Parameter request Parameter request Parameter processing Parameter response IO controller IO device 1 A Write req is used to transmit the data set DB47 as parameter request to the IO Device 2 Write res is used to confirm the input of the message for IO Controller 3 With Read req the IO Controller requests the response of the IO Device 4 The IO Device responds with a Read res if processing ...

Page 361: ...ponse 1 Fault CiA402 2 Warning 0x2859 002 PROFINET monitoring Data exchange exited Selection of the response to exiting the Data Exchange state Corresponding error code 33171 0x8191 PROFINET Exit Data Exchange Associated error code 33169 0x8191 RANLI_CIMES_1000_21217 0 No response 1 Fault CiA402 2 Warning 0x2859 003 PROFINET monitoring Invalid configuration Selection of the response triggered by t...

Page 362: ...s data Process data marked as invalid IOPS is BAD are received by the IO Controller Typically in case of a PLC in STOP state alarms acyclic demand data Corresponding error code 33171 0x8193 PROFINET Invalid cyclic process data Associated error code 33171 0x8193 RANLI_CIMES_1000_20918 0 No response 1 Fault CiA402 2 Warning Configuring the network PROFINET Monitoring 362 ...

Page 363: ...ack station name or IP parameters are invalid On red Fault Communication error e g Ethernet cable removed LED Link green Blinking pattern Status meaning off No connection to the network on A physical connection to the network is available LED Activity yellow Blinking pattern Status meaning off No data transfer on or flickers Data is exchanged via the network 16 3 6 2 Information on the network The...

Page 364: ... occur in combination with the error values from parameter 0x2389 002 0 No error 1 Reserved 2 Unit ID unknown 3 Max units exceeded 4 Invalid size 5 Unit type unknown 6 Runtime plug error 7 Invalid argument 8 Service pending 9 Stack not ready 10 Command unknown 11 Invalid address descriptor 0x2389 002 PROFINET error Error 2 Read only The parameter currently contains the error detected on the networ...

Page 365: ...energy commands are supported Command Description Start_PauseStart_Pause Starts the energy saving function End_Pause Stops the energy saving function Query_Mode Requests the list of all supported energy modes Get_Mode Requests the data of an energy mode PEM_Status Requests the current status PEM_Status_with_CTTO Requests the current status of dynamic values PE_Identify Requests basic information o...

Page 366: ...n 40x4000 The EASY Starter does not allow a configuration of the system bus cross communication The technology application set in the inverter is not identified Details The inverter can act as a system bus master or system bus slave The system bus is prepared i e a configuration is not required The master assigns an identical master value to all system bus nodes slaves The EASY Starter is sufficie...

Page 367: ...tem bus interface EtherCAT IN x247 System bus interface EtherCAT OUT X6 Ethernet NRT interface A EtherCAT system bus B Engineering PC M System bus master S1 15 System bus slaves 1 15 Configuring the network EtherCAT system bus 367 ...

Page 368: ...er The 0x2371 009 parameter does not need to be set for the slave devices The slave functionality is already preset with the value 0 Select and configure technology applications 1 Select a technology application unequal to CiA 402 Selection with 0x4000 2 Optionally set the IO configuration with 0x4001 3 Save parameter settings 4Saving the parameter settings 36 The technology applications of the in...

Page 369: ...twork has the address 1002 The second slave in the network has the address 1003 etc Master slave functionality The 0x2371 009 parameter is used to set the functionality of the system bus interface of the inverter EtherCAT master slave Parameter Address Name setting range default setting Info 0x2371 009 EtherCAT on board Interface mode Setting can only be changed if the inverter is inhibi ted Selec...

Page 370: ...o called DC master Parameter Address Name setting range default setting Info 0xA200 001 Systembus output data Systembus data output 1 Read only Generic system bus output data from the PLC to the inverter 0xA200 002 Systembus output data Systembus data output 2 Read only 0xA200 003 Systembus output data Systembus data output 3 Read only 0xA200 004 Systembus output data Systembus data output 4 Read ...

Page 371: ...0xA200 012 Systembus output data Systembus data output 12 Read only 0xA200 013 Systembus output data Systembus data output 13 Read only 0xA200 014 Systembus output data Systembus data output 14 Read only 0xA200 015 Systembus output data Systembus data output 15 Read only 0xA200 016 Systembus output data Systembus data output 16 Read only 16 4 3 3 Process input data Parameter Address Name setting r...

Page 372: ...he inverter at position 1 is not configured as system bus master Several inverters have been configured as system bus master Depending on the assignment of the system bus interfaces X246 EtherCAT IN and X247 EtherCAT OUT and the set interface role in 0x2371 009 master slave a warning is output Network cable plugged in X246 X247 0x2371 009 0 Slave 0x2371 009 1 Master Only X246 EtherCAT IN is assign...

Page 373: ...etwork The following parameters show information on the network Parameter Address Name setting range default setting Info 0x2378 Network status Read only Display of the active network status 1 Initialisation 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 0x2379 Network error Read only Display of the active network error 0x5851 001 EtherCAT master diagnosis EtherCAT master state Rea...

Page 374: ...ve device name 0x5862 001 EtherCAT slaves device types Device type slave 1 Read only Display of the slave type designation 0x5863 001 Mandatory EtherCAT slaves Slave 1 is mandatory Read only 0 FALSE 1 TRUE 0x5863 002 Mandatory EtherCAT slaves Slave 2 is mandatory Read only 0 FALSE 1 TRUE 0x5863 003 Mandatory EtherCAT slaves Slave 3 is mandatory Read only 0 FALSE 1 TRUE 0x5863 004 Mandatory EtherCA...

Page 375: ...Display of the device status of the EtherCAT slave 0 Unknown 1 Init 2 Pre Operational 3 Bootstrap 4 Safe Operational 8 Operational 65519 Not Present 16 4 5 3 Device identification For device identification in the system bus network the inverter provides the standard Ether CAT parameters 0x1018 001 0x1018 004 The EtherCAT product code in 0x1018 002 consists of device specific data and the currently...

Page 376: ...bject Serial number Read only Display of the serial number of the inverter 0x2372 009 Systembus EtherCAT Informationen Active interface mode Read only Display of the active EtherCAT master slave functionality for the system bus interface 0 Slave Slave functionality is active 1 Master Master functionality is active Configuring the network EtherCAT system bus Diagnostics 376 ...

Page 377: ...ction is active The blinking duration can be set in 0x2021 002 or selected in the EASY Starter in the drop down list field Parameter Address Name setting range default setting Info 0x2021 001 Optical tracking Start detection 1 start optical device identification After the start the two LEDs RDY and ERR on the front of the inverter are blinking with a blinking frequency of 20 Hz for the blink ing d...

Page 378: ...ccessfully the value 0 is shown Loading parameters has a direct effect on the cyclic communication The data exchange for control is interrupted and a communication error is generated 0 Off ready Only status feedback 1 On start Execute device command 2 In progress Only status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 0x2022 039 Device commands Load TA default settings 0 ...

Page 379: ... user memory of the memory module to the RAM memory of the inverter 0 Off ready Only status feedback 1 On start Execute device command 2 In progress Only status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 101 No SD card connected 102 SD card is write protected 103 SD card is full 0x2022 040 Device commands Parameter Backup Setting can only be changed if the inverter is in...

Page 380: ...nly status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 17 6 Restarting Extended Safety Parameter Address Name setting range default setting Info 0x2022 041 Device commands Restart extended safety 0 Off ready Only status feedback 1 On start Execute device command 2 In progress Only status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 17 7 Export log...

Page 381: ...meter Address Name setting range default setting Info 0x2022 038 Device commands Activate loaded application Start of the application that is provided downloaded by the Applica tion Loader 0 Off ready Only status feedback 1 On start Execute device command 2 In progress Only status feedback 3 Action cancelled 4 No access 5 No access Inverter disabled 17 10 Uploading the application Parameter Addres...

Page 382: ...essful 0x2100 003 Brand protection Encryption 0 0 9 Encryption for brand protection 17 13 Switching frequency changeover The output voltage of the inverter is a DC voltage with sine coded pulse width modulation PWM This corresponds by approximation to a AC voltage with variable frequency The fre quency of the PWM pulses is adjustable and is called switching frequency Details The switching frequenc...

Page 383: ...ice utilisation exceeds the permanent error threshold 100 the inverter is disa bled immediately and generates an error message The device overload can be obtained from the configuration document Parameter Address Name setting range default setting Info 0x2D40 001 Device utilisation ixt Power unit actual utilisation Read only x Display of the power module utilisation 0x2D40 002 Device utilisation i...

Page 384: ...ng If the heatsink temperature exceeds the threshold set here the inver ter outputs a warning The warning is reset with a hysteresis of approx 5 C If the heatsink temperature increases further and exceeds the non adjustable error threshold 100 C the inverter changes to the Fault device status The inverter is disabled and thus any further opera tion is stopped 17 16 Update device firmware 17 16 1 M...

Page 385: ... inverter brake transis tor can be used NOTICE Incorrect dimensioning of the brake resistor may result in the destruction of the integrated brake chopper brake transistor Only connect a brake resistor complying in terms of performance to terminals RB1 and RB2 of the inverter Avoiding thermal overload of the brake resistor Parameter Address Name setting range default setting Info 0x2550 001 Brake r...

Page 386: ...e current 0 0 1000 ms Setting of the period of time during which the current setpoint value is achieved from zero onwards 0x2836 004 Manual control mode Ramp time frequency 0 500 10000 ms Setting of the period of time during which the frequency is achieved from zero onwards The frequency ramp only starts up when the current ramp has reached the value configured in 0x2836 001 Current setpoint 0x283...

Page 387: ...ated if it is ena bled 0x2D66 001 1 100 nominal DC bus voltage Recommended setting In general 5 10 above the error threshold for undervoltage dis play in 0x2540 003 230 V devices 72 400 480 V devices 82 0x2D66 011 Mains failure control Filter time 0 00 0 00 60 00 s 0x2D66 012 Mains failure control Ramp max torque 0 0 30 0 3276 7 0x2D66 013 Mains failure control Ramp time 0 10 1 00 5 00 s 0x2D66 01...

Page 388: ... set the trigger condition and the sample rate via the oscil loscope user interface when an online connection to the inverter has been established and select the parameters to be recorded The configuration is transferred into the inverter and checked each time it changes Should the check identify invalid settings the oscilloscope triggers an error message After the measurement is completed and whe...

Page 389: ...hnical data Number of channels 1 8 Data memory depth Maximally 2048 measured values for each channel Data width of a channel Maximally 64 bits according to the data type of the parameter to be recorded Sample rate 62 5 µs or a multiple thereof Minimum recording time 128 ms 62 5 µs 2048 measured values Maximum time base 20 47 s Maximum recording time 20 47 s Trigger level According to the value ran...

Page 390: ...vertical position of the zero point of the Y axis of a curve How to select a parameter for recording 1 Double click the Name column in the Channel list field to open the Selection of signal sources dialog box 2 Select the parameters to be recorded in the dialog box 3 Press the Ok button This closes the dialog box and the selection is accepted 4 Repeat the steps 1 3 to select up to seven further pa...

Page 391: ...in Signal source that contains the corresponding parameter Setting Function Signal source Selection of the trigger source Channel Triggering takes place on a channel configured in the vertical channel settings list field immediate trigger No trigger condition recording takes place immediately after the start Value Value from which onwards triggering is caused Deceleration Time delay of recording w...

Page 392: ...he time axis You can use the scrollbar to move the visi ble section horizontally The time axis inscription and the position indicator are automatically corrected during scrolling After recording and subsequent transmission of the online oscillogram to the Engineering PC it is visualised in the oscilloscope If required you can now adjust the representation using the zoom function or the automatic s...

Page 393: ...tching On the vertical scale Hold down the left mouse button and move the mouse pointer to the bot tom to stretch the shown selection from the top Hold down the right mouse button and move the mouse pointer to the top to stretch the shown selection from the bottom Moving the mouse pointer in opposite direction continuously reduces the stretching Return to original represen tation Click the right m...

Page 394: ...ues displayed in the oscillogram can be compared to each other using a horizontal measuring line The measuring line is automatically cre ated based on the current cursor point and thus cannot be shifted Managing oscillograms If several data records are loaded in the oscilloscope at the same time the measured data to be displayed is selected via the respective tab above the displayed oscillogram Th...

Page 395: ...file to be imported within the desktop environment from the Open dialog box 4 If the oscillogram is to be used as configuration select the As configuration option 5 Click the Open button The dialog box is closed The selected oscillogram or configuration is imported Closing the oscillogram You can close an open OFFLINE oscillogram again any time After an oscillogram is closed it is no longer availa...

Page 396: ... the oscillogram to the clipboard 1 Click the symbol in the oscilloscope toolbar The Copy oscillogram dialog box is displayed 2 Select the desired option a Curve points the measured data is copied to the clipboard as a table b Screenshot the oscilloscope user interface is copied to the clipboard as a picture 3 Press the OK button The dialog box is closed and the selected option is copied to the cl...

Page 397: ...19 Safety functions Supported safety functions for Basic Safety STO 4Safe Torque Off STO 398 Safety functions 397 ...

Page 398: ...set See chapter Details Safe disconnection of the drive 1 A safety sensor requests the safety function 2 The pulse width modulation is safely switched off by the safety unit The inverter switches to the STO active device status 0x6041 Bit15 0 The power drivers do not generate a rotating field anymore The motor is safely switched to torqueless operation STO The functional principle depicted applies...

Page 399: ...s 441 In response to the error stop request In response to the emergency stop request Parameter Address Name setting range default setting Info 0x2890 STO Source SD In Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD In3 4 SD In4 0x2891 STO Source S Bus Read only 0 Deactivated 1 Activated 0x2892 001 STO STO Restart Read only 0 Acknowledged Restart 1 Automatic Restart 0x2893 STO active Output Read on...

Page 400: ...onnected to the emergency stop function Details The function is activated by the following a data telegram with a corresponding content is sent to the inverter via the safety bus OFF state at a safe input which has been assigned to the function by parameterisation Via a safe input if the corresponding parameter is assigned to the safe input Activation of the function A data telegram is sent to the...

Page 401: ...B 001 40x287B 001 Tolerance window n 0 3 0x2894 003 40x2894 003 SS1 SS2 Ramp smoothing time 4 0x2894 005 40x2894 005 SS1 SS2 start offset ramp Condition Safe speed evaluation via the parameterised encoder system Ramp monitoring is activated 40x2894 005 The parameterised monitoring ramp considers the parameters of the decelera tion ramp in the application 0 30 of the actual speed are added to the a...

Page 402: ...e terised speed ramp has been exceeded the parameterised stop function STO or SOS is activa ted Error behaviour An error message and an error stop are triggered if the current speed exceeds the stopping time of the speed ramp parameterised the current speed exceeds the parameterised speed ramp before the tolerance window is reached The power supply for generationg the rotating field is safely inte...

Page 403: ...r 0x2897 002 Curve a the motor comes to a standstill within the parameterised stopping time Curve a deceleration parameterised in 0x2897 0020x2897 002 decel eration STO after n 0 starts if the speed is lower than the tolerance win dow of the motor speed parameterised in 0x287B 0010x287B 001 toler ance window n 0 After the stopping time parameterised in 0x2894 0010x2894 001 stop ping time for SS1 a...

Page 404: ... deceleration ramp The power supply for generationg the rotating field is safely interrupted STO The motor can not generate torques and movements of the drive Parameter Address Name setting range default setting Info 0x2878 004 Motor encoder Encoder monitoring response time Read only ms 12 12 ms 50 50 ms 100 100 ms 0x287B 001 Velocity monitoring Tolerance window n 0 Read only x rpm 0x2894 001 SS1 ...

Page 405: ...activated 1 Activated 0x2897 001 SS1 SS1 Mode Read only 0 STO after stop time 1 STO at n 0 0x2897 002 SS1 SS1 Deceleration STO after n 0 Read only x ms 0x2898 SS1 active Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic Safety functions Safe Stop 1 SS1 405 ...

Page 406: ...tored for the stop func tion SS2 SS2 t 0x289B 001 0 SOS after stopping time SS2 t 0x289B 001 1 SOS at n 0 n t 0 STO SOS SS2 0x2894 001 0x287B 001 b a n t 0 STO SOS SS2 0x2894 001 0x287B 001 a b The safe operational stop Safe Operating Stop SOS is activated if the stopping time parameterised in 0x2894 0010x2894 001 stopping time for SS1 and SS2 has elapsed and the motor speed is lower than the valu...

Page 407: ...our of the function in the event of an error An error message and an error stop are triggered if standstill is not reached after the stopping time 0x2894 001 has elapsed the activated ramp monitoring exceeds the parameterised deceleration ramp The power supply for generationg the rotating field is safely interrupted STO The motor can not generate torques and movements of the drive Safety functions...

Page 408: ...2 Ramp Offset Mode Read only 0 Relative 1 Absolute 0x2894 005 SS1 SS2 SS1 SS2 Ramp Start Offset relative Read only x 0x2894 006 SS1 SS2 SS1 SS2 Ramp Start Offset absolute Read only x rpm 0x2894 007 SS1 SS2 SS1 SS2 Actual ramp speed Read only x rpm 0x2894 008 SS1 SS2 SS1 SS2 Minimal speed differerence Read only x rpm 0x2899 SS2 Source SD In Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD In3 4 SD In...

Page 409: ...on is outside the tolerance window safely monitored in 0x289F 0010x289F 001 an error message is generated and STO is activated When the SOS state is left the maximum relative positioning is displayed in 0x289F 0030x289F 003 The 0x289F 0020x289F 002 parameter defines the restart behaviour after SOS has been deac tivated If the SOS state is requested again the sum of the last position changes in 0x2...

Page 410: ...0 SOS monitored Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x289E SOS Source S Bus Read only 0 Deactivated 1 Activated 0x289F 001 SOS SOS Tolerance window Delta p 0 Read only 0x289F 002 SOS SOS Restart Read only 0 Acknowledged Restart 1 Automatic Restart 0x289F 003 SOS SOS Maximal Change of Position Read only Safety functions Safe Operating Stop SOS 410 ...

Page 411: ...ivated by a value 0 in 0x28B0 0010x28B0 001 Behaviour of the function in the event of an error An error message is triggered if The speed exceeds the maximum speed Nmax set in 0x28B0 0010x28B0 001 One of the error stops parameterised in 0x28B0 002 0x28B0 002 is initiated Safe Torque Off STO 398 Safe Stop 1 SS1 403 Safe Stop 2 SS2 406 Parameter Address Name setting range default setting Info 0x28B0...

Page 412: ...m STO SS1 SS2 Nlim t 0 SLS n Nlim SLS observed Nlim 0x28C3 001 0x28C3 004 0x28C5 001 0x28C5 004 Fig 74 SLS function If operation within the limit values is performed the SLS1 4 monitored SLS observed status is set in 0x2870 002 bits 0 3 1 The status can be assigned to the safe output as safe speed monitor be reported via the safety bus The permissible direction of movement is set via 0x28C4 0010x2...

Page 413: ...it 15 SCA4 within limits Bit 16 PDSS positive monitored Bit 17 PDSS negative monitored Bit 18 SOS monitored Bit 19 SBC active Bit 20 SHOM active Bit 21 SHOM available Bit 22 Sichere velocity OK Bit 23 Speed 0 Bit 24 Positive travel direction Bit 25 Slip 25 Bit 26 Slip 50 Bit 27 Slip 75 Bit 31 Fault active 0x28C0 001 SLS Source SD In SLS1 Source SD In Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD ...

Page 414: ...m3 Read only x rpm 0x28C2 004 SLS Limited Speed Nlim SLS4 Limited Speed Nlim4 Read only x rpm 0x28C3 001 SLS Braking time Nlim SLS1 Braking time Nlim1 Read only x ms 0x28C3 002 SLS Braking time Nlim SLS2 Braking time Nlim2 Read only x ms 0x28C3 003 SLS Braking time Nlim SLS3 Braking time Nlim3 Read only x ms 0x28C3 004 SLS Braking time Nlim SLS4 Braking time Nlim4 Read only x ms 0x28C4 001 SLS Per...

Page 415: ...S1 active Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28C6 002 SLS active Output SLS2 active Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28C6 003 SLS active Output SLS3 active Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28C6 004 SLS active Output SLS4 active Output Read only 0 Deact...

Page 416: ... 214748 3647 0x500A 155 SLS3 deceleration time 0 000 0 000 2147483 647 s 0x500A 156 SLS4 0 0000 0 0000 214748 3647 0x500A 157 SLS4 deceleration time 0 000 0 000 2147483 647 s 0x500A 159 Compensation velocity of SLS 0 0000 0 0000 214748 3647 0x500A 160 Follower Response to SLS false Inactive true Active 0x500A 161 Speed controller limitation SLS false Inactive true Active 0x500A 162 Deactivate safe...

Page 417: ...t parameterised Avoid continuous operation at the speed limit parameterised Functional description t 0 SSM n t 0 1 0x28B3 0x28B2 001 During operation within the limit values the SSM status is set on the safety bus within the limits 0x2870 0020x2870 002 The SSM status is assigned to the safe output as safe speed monitor amount 0x28B2 0010x28B2 001 If the amount of the safe speed adopts the value 0 ...

Page 418: ...riggering of the function B Monitoring active C Error status If the drive exceeds the increment parameterised in 0x28CA 001 normal operation or 0x28CA 003 special operation the stop function set in 0x28CA 002 is excecuted Activation of the function The function cannot be activated if the drive is in Safe Operating Stop SOS The function can be activated during operation The function is activated vi...

Page 419: ...s Name setting range default setting Info 0x28C8 SLI Source SD In Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD In3 4 SD In4 0x28C9 SLI Source S Bus Read only 0 Deactivated 1 Activated 0x28CA 001 SLI SLI Increment size normal operation Read only 0x28CA 002 SLI SLI Error reaction normal operation Read only 0 STO 1 SS1 2 SS2 0x28CA 003 SLI SLI Increment size exceptional operation Read only 0x28CA 0...

Page 420: ...rd The application leads the drive to the permissible direction of rotation Functional description t 0 SDIpos SDIpos observed STO SS1 SS2 n t 0 SDIneg SDIneg observed n n n 0x28BA 002 0x28BA 002 0x28BA 003 0x28BA 003 Fig 76 SDI configuration modes For operation within the limit values the SDIpos observed 0x28BB 0010x28BB 001 or SDIneg observed 0x28BB 0020x28BB 002 status is set The status can be a...

Page 421: ...BA 001 SDI SDI Monitoring normal operation Read only 0 Both directions enabled 1 Positive direction enabled 2 Negative direction enabled 0x28BA 002 SDI SDI Delay time Read only x ms 0x28BA 003 SDI SDI Tolerance threshold Read only 0x28BA 004 SDI SDI Error reaction Read only 0 STO 1 SS1 2 SS2 0x28BA 005 SDI SDI Maximal change of Position Read only 0x28BB 001 SDI monitored Output SDIpos monitored Ou...

Page 422: ...0x28B9 001 or 0x28BB 0020x28B9 002 This function can be executed during normal operation and special operation See 4Opera tion mode selector OMS 434 Up to four absolute position setpoint pairs can be parameterised and monitored at the same time In connection with this function please also observe the information with regard to safe homing in chapter Safe homing SHOM Via a safe input if the corresp...

Page 423: ...0 Deactivated 1 Activated 0x28D1 002 SLP Source S Bus SLP2 Source S Bus Read only 0 Deactivated 1 Activated 0x28D1 003 SLP Source S Bus SLP3 Source S Bus Read only 0 Deactivated 1 Activated 0x28D1 004 SLP Source S Bus SLP4 Source S Bus Read only 0 Deactivated 1 Activated 0x28D2 001 SLP Lower Postion limit SLP1 Lower Postion limit Read only 0x28D2 002 SLP Lower Postion limit SLP2 Lower Postion limi...

Page 424: ...004 SLP Error reaction SLP4 Error reaction Read only 0 STO 1 SS1 2 SS2 0x28D5 001 SLP monitored Output SLP1 monitored Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28D5 002 SLP monitored Output SLP2 monitored Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28D5 003 SLP monitored Output SLP3 monitored Output Read only 0 Deactiv...

Page 425: ...e key parameters For this function please also observe the description relating to the slip compensation in sec tion Safe creeping speed SCS v s 0x28DE 002 vmax Verbotene Zone v s vmax 0x28DE 002 0x28DE 004 Verbotene Zone It depends on the application whether the drive approaches the position limit 0x28DE 0020x28DE 002 with the limited speed vmax 0x28DE 0080x28DE 008 The limited speed is predefine...

Page 426: ...ly 0x28DE 003 PDSS parameters PDSS Upper position limit Read only 0x28DE 004 PDSS parameters PDSS Lower SCS limit Read only 0x28DE 005 PDSS parameters PDSS Upper SCS limit Read only 0x28DE 006 PDSS parameters PDSS SCS from lower limit Read only x rpm 0x28DE 007 PDSS parameters PDSS SCS from upper limit Read only x rpm 0x28DE 008 PDSS parameters PDSS Max speed Read only x rpm 0x28DE 009 PDSS parame...

Page 427: ... function and is monitored by the safety function Prerequisites The safely limited speed Nlim must have been parameterised 0x28C2 001 The distance of the mini reference run must the 4 fold value of the parameter to be configured 0x287C 001 Completion of the mini homing process After the mini homing the status bit is set 0x2882 006 After returning from the above mentioned states with a parameterise...

Page 428: ...or position must not be changed by external forces A change in the motor position causes injuries and may even result in death Ensure that the motor position does not change Preconditions In applications with only one position switch this switch must be connected in parallel to the inputs X82 IRS and X82 IRL Safety functions Safe homing SHOM 428 ...

Page 429: ... SHOM function The homing process is for example started via the IRS signal source can be set in 0x2880 001 The safely limited speed SLS is always activated 4Safely Limited Speed SLS 412 Within a time period defined in 0x2882 002 timeout the 0x2881 001 reference signal is expected via the input X82 IRL SHOM Load The reference signal defines the safe reference point 0x2882 001 home position in the ...

Page 430: ...001 SHOM_Start settings SHOM_Start Source Read only 0 Deactivated 13 S bus 14 IRS 0x2880 002 SHOM_Start settings SHOM_Start Edge trigger IRS Read only 0 Rising edge 1 Falling edge 0x2881 001 SHOM_Load settings SHOM_Load Source Read only 13 S bus 15 IRL 0x2881 002 SHOM_Load settings SHOM_Load Edge trigger IRL Read only 0 Rising edge 1 Falling edge 0x2882 001 Safe homing SHOM SHOM Home position Read...

Page 431: ...agnostic positions SHOM Error response diag positions Read only 0 STO 1 SS1 2 SS2 0x2884 006 SHOM diagnostic positions SHOM Current difference diagnostic position Read only 0x2885 001 SHOM Slip compensation SHOM Maximally com pensated slip Read only 0x2885 002 SHOM Slip compensation SHOM Slip compensation end area Read only 0 Deactivated 1 Activated 0x2886 SHOM SHOM active output Read only 0 Deact...

Page 432: ...g 80 SCA function When this function is executed the current absolute position is compared to the position lim its parameterised Upper position limit parameterised 0x28D9 0010x28D9 001 0x28D9 0040x28D9 004 Lower position limit parameterised 0x28D8 0010x28D8 001 0x28D8 0040x28D8 004 The status of the position comparison is specified in a binary fashion in 0x2870 0020x2870 002 bit12 bit15 The status...

Page 433: ...mit SCA3 Upper Postion limit Read only 0x28D9 004 SCA Upper Postion limit SCA4 Upper Postion limit Read only 0x28DA 001 SCA inbetween limits Output SCA1 inbetween limits Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28DA 002 SCA inbetween limits Output SCA2 inbetween limits Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x28DA ...

Page 434: ...normal operation automatic restart is not permissible Severe injuries and death Parameterise manual restart WARNING Operating mode changeover OMS is activated via the safety bus If safe communication fails the OMS function is deactivated Configure at least one stop function STO SS1 or SS2 WARNING The operation mode selector OMS is activated via a safe input Incalculable response Unintentional rest...

Page 435: ...ted Furthermore 0x28CA 0030x28CA 003 can be used to switch on the monitoring function Safely Limited Increment SLI for the motion function parameterised The setting 0 deactivates the SLI monitoring function Activation of special operation By means of the Operation mode selector function special operation is activated by an ON state on a safe input The function Enable Switch ES must have been assig...

Page 436: ...ction can be triggered in normal operation and in spe cial operation and has the highest priority Parameter Address Name setting range default setting Info 0x2875 012 S bus control bits OMS Read only 0x28A8 OMS Source Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD In3 4 SD In4 13 S Bus 0x28A9 001 OMS OMS Stop function Read only 0 STO 1 SS1 2 SS2 0x28A9 002 OMS OMS Movement function Read only 3 SLS...

Page 437: ...otion function parameterised during special operation OMS and the repair mode RMS The drive can be traversed The stop times assigned to the stop functions are directly deactivated or stopped Activation of the function The function is activated by the ON state of a safe input The function must have been assigned to the corresponding input by parameterisation If no safe input is utilised the functio...

Page 438: ...O and SS1 stop functions without ramp monitoring and the effective ness of the enable switch DANGER With this function all monitoring functions are deactivated The state of the facility is not monitored Only use this function for a vertical axis with a brake on the load side Functional description Aktivierung RMS Zustimmtaster ES aktiv Zustimmtaster ES inaktiv Normalbetrieb Bewegungsfunktion Repai...

Page 439: ...rol bits RMS Read only 0x28AB RMS Source Read only 0 Deactivated 1 SD In1 2 SD In2 3 SD In3 4 SD In4 13 S Bus 0x28AD RMS active Output Read only 0 Deactivated 1 SD Out1 positive logic 2 SD Out1 negative logic 0x2882 004 Safe homing SHOM SHOM Restart condition Read only 0 Homing required 1 load saved reference 0x2882 005 Safe homing SHOM SHOM Tolerance starting posi tion Read only 0x2882 006 Safe h...

Page 440: ...ection with special operation SS2 must be parameterised as stop function in the operation mode selector OMS The STO stop function will trigger the Cascading function Activation by means of the enable switch ES is not possible Description of the principle SD Out1 SD In4 i950 1 i950 2 SD In4 SD Out1 i950 n SD In4 SD Out1 Fig 83 CAS function With 0x2125 0010x2125 001 the time period is shown which el...

Page 441: ...0x2128 S bus Configuration Read only 0 No safety bus 4 PROFIsafe PROFINET 8 words 19 21 1 FSoE connection Parameter Address Name setting range default setting Info 0xE901 002 FSoE communication Parameters Safety address Read only Safety functions Safe network interfaces FSoE connection 441 ...

Page 442: ... x ms 0x2119 002 SD In Discrepancy time SD In2 Discrepancy time Read only x ms 0x2119 003 SD In Discrepancy time SD In3 Discrepancy time Read only x ms 0x2119 004 SD In Discrepancy time SD In4 Discrepancy time Read only x ms 0x211A 001 SD In Input delay SD In1 Input delay Read only x ms 0x211A 002 SD In Input delay SD In2 Input delay Read only x ms 0x211A 003 SD In Input delay SD In3 Input delay R...

Page 443: ...9 22 4 Control signals Parameter Address Name setting range default setting Info 0x2129 001 S bus Control bits SD Out1 Read only 0x2870 001 SafetyInterface SafetyInterface Control Read only Bit 0 STO active Bit 1 SS1 active Bit 2 SS2 active Bit 3 SOS active Bit 4 SLS1 active Bit 5 SLS2 active Bit 6 SLS3 active Bit 7 SLS4 active Bit 8 SDIpos active Bit 9 SDIneg active Bit 10 SLI active Bit 11 SSE a...

Page 444: ...bits SS1 Read only 0x2875 003 S bus control bits SS2 Read only 0x2875 004 S bus control bits SLS1 Read only 0x2875 005 S bus control bits SLS2 Read only 0x2875 006 S bus control bits SLS3 Read only 0x2875 007 S bus control bits SLS4 Read only 0x2875 008 S bus control bits SDIpos Read only 0x2875 009 S bus control bits SDIneg Read only 0x2875 011 S bus control bits SLI Read only 0x2875 013 S bus co...

Page 445: ...ault setting Info 0x211C 001 Status bits of inputs SD In1 Read only 0x211C 002 Status bits of inputs SD In2 Read only 0x211C 003 Status bits of inputs SD In3 Read only 0x211C 004 Status bits of inputs SD In4 Read only 0x211C 005 Status bits of inputs AIS Dig In Read only 0x211C 006 Status bits of inputs AIE Dig In Read only 0x211C 007 Status bits of inputs IRS Dig In Read only 0x211C 008 Status bi...

Page 446: ...it 9 SLP2 monitored Bit 10 SLP3 monitored Bit 11 SLP4 monitored Bit 12 SCA1 within limits Bit 13 SCA2 within limits Bit 14 SCA3 within limits Bit 15 SCA4 within limits Bit 16 PDSS positive monitored Bit 17 PDSS negative monitored Bit 18 SOS monitored Bit 19 SBC active Bit 20 SHOM active Bit 21 SHOM available Bit 22 Sichere velocity OK Bit 23 Speed 0 Bit 24 Positive travel direction Bit 25 Slip 25 ...

Page 447: ...bits SS1 active Read only 0x2871 003 SafetyInterface bits SS2 active Read only 0x2871 004 SafetyInterface bits SOS active Read only 0x2871 005 SafetyInterface bits SLS1 active Read only 0x2871 006 SafetyInterface bits SLS2 active Read only 0x2871 007 SafetyInterface bits SLS3 active Read only 0x2871 008 SafetyInterface bits SLS4 active Read only 0x2871 009 SafetyInterface bits SDIpos active Read o...

Page 448: ... SafetyInterface bits SCA2 within limits Read only 0x2871 047 SafetyInterface bits SCA3 within limits Read only 0x2871 048 SafetyInterface bits SCA4 within limits Read only 0x2871 049 SafetyInterface bits PDSSpos observed Read only 0x2871 050 SafetyInterface bits PDSSneg observed Read only 0x2871 051 SafetyInterface bits SOS observed Read only 0x2871 052 SafetyInterface bits SBC activated Read onl...

Page 449: ...1003 i950 Extended Safety V1 0 0x2114 002 Parameter set Identification Parameter set CRC 0 0 4294967295 0x2115 001 Parameter set information Parameter set status Read only 0 No parameter set 1 Valid parameter set 4 CRC error 5 Version error 7 Plausibility error 8 Assignment error 9 Local read error 10 Communication error with basic device 11 Faulty release 12 Different CRCs 13 Changed parameter se...

Page 450: ...t4 t3 t5 ti μC μC S SF t 0 Fig 84 Response times to the request of a safety function 1 Standard device 2 Integrated safety 3 Safety PLC 4 Safety bus μC Microcontroller S Safety sensors SF Safety function triggered Response times of inputs Response time when reacting to an event in the safety sensor technology ms t1 Response time of the safety sensor technology According to manufacturer information...

Page 451: ...ed safety system Main task cycle time Technology application 1 PLC project According to the setting Internal transmission time 108 Safety cycle time 4 Safety function begins after t4 tps t5 Tab 6 Response time when reacting to a request via the safety bus Information on how the processing time is calculated and on the safety bus transmission time can be found in the documentation of the safety PLC...

Page 452: ... within the space of 2 5 seconds The new parameter set or new safety address has been acknowledged The action is recorded in the inverter logbook If the parameter set is invalid an error is reported and the ERR LED starts blinking t t tmax tmax tmax RDY S82 0 0 I I Fig 85 Sequence of the acknowledgement procedure RDY RDY LED S82 S82 button t Time axis tmax Maximum permissible response time Respons...

Page 453: ...Safety communication interrupted Blinking red 1 Hz Error detection in the safety system One of the following errors has been detected Speed exceeded Discrepancy of the inputs Acknowledgable errors 19 25 1 1 LED status during parameter set transfer LED RDY yellow ERR LED red Meaning On Blinking 1Hz At start up a modified parameter set has been detected Acknowl edge with button S82 LED RDY yellow ER...

Page 454: ...story Fault history 7 Read only Bit 0 0x2130 009 Fault history Fault history 8 Read only Bit 0 0x2130 010 Fault history Fault history 9 Read only Bit 0 0x2130 011 Fault history Fault history 10 Read only Bit 0 0x2130 012 Fault history Fault history 11 Read only Bit 0 0x2130 013 Fault history Fault history 12 Read only Bit 0 0x2130 014 Fault history Fault history 13 Read only Bit 0 0x2130 015 Fault...

Page 455: ...ad only 0x2131 001 Safety Operating time Safety Operating time Read only x s 0x28E8 001 Diagnostic values configuration Diagnostic value 1 configuration 0 Not used 1 PDSS 2 SS1 SS2 10 Internal actual speed nSD 11 Internal actual speed nSD 0x28E8 002 Diagnostic values configuration Diagnostic value 2 configuration 0 Not used 1 PDSS 2 SS1 SS2 10 Internal actual speed nSD 11 Internal actual speed nBD...

Page 456: ...a m s l Control circuit isolation Safe mains isolation by double reinforced insula tion EN 61800 5 1 Protective measures against Short circuit Earth fault Earth fault strength depends on the operating status Motor overtemperature PTC or thermal contact I xt monitoring Overvoltage Motor stalling Leakage current 3 5 mA AC 10 mA DC EN 61800 5 1 Observe regulations and safety instructions Starting cur...

Page 457: ...y 2 5 C Operation at a switching frequency of 8 or 16 kHz above 40 C reduce rated output current by 2 5 C Site altitude 0 1000 m a m s l 1000 4000 m a m s l Reduce rated output current by 5 1000 m Pollution Degree of pollution 2 EN 61800 5 1 UL 61800 5 1 Vibration resistance Transport 2M2 sine shock EN 60721 3 2 in original packaging up to 45 kW Ensuring Amplitude 1 mm Germanischer Lloyd 5 13 2 Hz...

Page 458: ...8 2 4 5 6 9 5 16 5 23 5 32 4 kHz A 1 8 2 4 5 6 9 5 16 5 23 5 32 8 kHz A 1 8 2 4 5 6 7 1 16 5 23 5 23 5 16 kHz A 1 2 1 6 2 6 2 9 11 12 11 Power loss 2 kHz W 38 44 76 116 186 256 342 4 kHz W 39 46 80 122 197 272 363 8 kHz W 45 54 99 154 252 351 471 16 kHz W 45 54 99 154 252 351 471 at inverter disable W 20 20 20 20 20 20 20 Cyclic mains switching 3 times per minute Max motor cable length shielded Ca...

Page 459: ...7 61 89 110 150 162 191 16 kHz A 31 3 40 6 59 3 76 6 95 99 106 Power loss 2 kHz W 505 653 934 1151 1553 1855 2177 4 kHz W 536 694 994 1224 1654 1975 2319 8 kHz W 694 898 1292 1593 2157 2326 2731 16 kHz W 694 898 1292 1593 2157 2326 2731 at inverter disable W 32 39 39 44 44 44 44 Cyclic mains switching 3 times per minute 1 time per minute Max motor cable length shielded Category C2 2 kHz 4 kHz 8 kH...

Page 460: ...z A 1 6 2 1 4 8 8 2 14 21 27 4 kHz A 1 6 2 1 4 8 8 2 14 21 27 8 kHz A 1 6 2 1 4 8 6 2 14 21 19 8 16 kHz A 1 1 1 4 2 2 2 5 7 8 7 8 7 2 Power loss 2 kHz W 38 44 76 116 186 256 342 4 kHz W 39 46 80 122 197 272 363 8 kHz W 45 54 99 154 252 351 471 16 kHz W 45 54 99 154 252 351 471 at inverter disable W 20 20 20 20 20 20 20 Cyclic mains switching 3 times per minute Max motor cable length shielded Categ...

Page 461: ...A 40 4 52 77 96 124 140 162 16 kHz A 26 9 34 6 51 3 66 8 78 5 85 8 90 Power loss 2 kHz W 505 653 934 1151 1553 1855 2177 4 kHz W 536 694 994 1224 1654 1975 2319 8 kHz W 694 898 1292 1593 2157 2326 2731 16 kHz W 694 898 1292 1593 2157 2326 2731 at inverter disable W 32 39 39 44 44 44 44 Cyclic mains switching 3 times per minute 1 time per minute Max motor cable length shielded Category C2 2 kHz 4 k...

Page 462: ...via network depending on the number of decimal positions 1 No decimal positions 10 1 decimal position 100 2 decimal positions 1000 3 decimal positions 10000 4 decimal positions A Attributes combinations of several attributes also possible C Setting can only be changed if the inverter is inhibited E Value is displayed as IP address H Value is displayed in hexadecimal form I Parameter is not display...

Page 463: ...02 014 Device module Serial number encoder 1 Read only STRING 50 X 0x2002 015 Device module Hardware version encoder 1 Read only STRING 50 X 0x2002 016 Device module Type encoder 2 Read only STRING 50 X 0x2002 017 Device module Serial number encoder 2 Read only STRING 50 X 0x2002 018 Device module Hardware version encoder 2 Read only STRING 50 X 0x2010 001 Device event monitor EreignisortEvent loc...

Page 464: ...1 SD In Sensor type SD In1 Sensor type Read only U8 0x2118 002 SD In Sensor type SD In2 Sensor type Read only U8 0x2118 003 SD In Sensor type SD In3 Sensor type Read only U8 0x2118 004 SD In Sensor type SD In4 Sensor type Read only U8 0x2119 001 SD In Discrepancy time SD In1 Discrepancy time x ms Read only U16 1 0x2119 002 SD In Discrepancy time SD In2 Discrepancy time x ms Read only U16 1 0x2119 ...

Page 465: ...d only U16 HX 0x2131 001 Safety Operating time Safety Operating time x s Read only U32 1 X 0x2132 Safety module status Read only U16 1 X 0x231F 001 Module ID Active module ID Read only U8 X 0x231F 002 Module ID Module ID connected Read only U8 X 0x2371 009 EtherCAT on board Interface mode Slave 0 U8 C 0x2372 009 Systembus EtherCAT Informationen Active inter face mode Read only U8 0x2378 Network st...

Page 466: ...dervoltage reset threshold x V Read only U16 1 0x2540 005 Mains settings Overvoltage warning threshold 795 V U16 1 0x2540 006 Mains settings Overvoltage error threshold x V Read only U16 1 0x2540 007 Mains settings Overvoltage reset threshold x V Read only U16 1 0x2540 008 Mains settings DC link voltage critical Read only U8 1 X 0x2541 003 Brake energy management Reduced threshold 0 V U16 1 0x2550...

Page 467: ...037 Favorites settings Parameter 37 U32 1 0x261C 038 Favorites settings Parameter 38 U32 1 0x261C 039 Favorites settings Parameter 39 U32 1 0x261C 040 Favorites settings Parameter 40 U32 1 0x261C 041 Favorites settings Parameter 41 U32 1 0x261C 042 Favorites settings Parameter 42 U32 1 0x261C 043 Favorites settings Parameter 43 U32 1 0x261C 044 Favorites settings Parameter 44 U32 1 0x261C 045 Favo...

Page 468: ...Brake status Read only U8 X 0x2820 019 Holding brake control Brake opening time test sig nal 500 ms U16 1 X 0x2820 020 Holding brake control Brake control word 0x00 U8 HX 0x2820 021 Holding brake control Detected actual torque x x Read only I16 10 X 0x2820 022 Holding brake control Versorgungsspannung Halte bremse Absenkung auf 75 75 U8 0x2822 001 Axis commands Enable inverter Inverter enabled 1 U...

Page 469: ... active Read only BOOLEAN 1 X 0x2871 003 SafetyInterface bits SS2 active Read only BOOLEAN 1 X 0x2871 004 SafetyInterface bits SOS active Read only BOOLEAN 1 X 0x2871 005 SafetyInterface bits SLS1 active Read only BOOLEAN 1 X 0x2871 006 SafetyInterface bits SLS2 active Read only BOOLEAN 1 X 0x2871 007 SafetyInterface bits SLS3 active Read only BOOLEAN 1 X 0x2871 008 SafetyInterface bits SLS4 activ...

Page 470: ...ol bits SS1 Read only BOOLEAN 1 X 0x2875 003 S bus control bits SS2 Read only BOOLEAN 1 X 0x2875 004 S bus control bits SLS1 Read only BOOLEAN 1 X 0x2875 005 S bus control bits SLS2 Read only BOOLEAN 1 X 0x2875 006 S bus control bits SLS3 Read only BOOLEAN 1 X 0x2875 007 S bus control bits SLS4 Read only BOOLEAN 1 X 0x2875 008 S bus control bits SDIpos Read only BOOLEAN 1 X 0x2875 009 S bus contro...

Page 471: ...SHOM_Load Source Read only U8 0x2881 002 SHOM_Load settings SHOM_Load Edge trigger IRL Read only U8 0x2882 001 Safe homing SHOM SHOM Home position Read only I32 1 0x2882 002 Safe homing SHOM SHOM Timeout x ms Read only U16 1 0x2882 003 Safe homing SHOM SHOM SLS homing Read only U8 0x2882 004 Safe homing SHOM SHOM Restart condition Read only U8 0x2882 005 Safe homing SHOM SHOM Tolerance starting po...

Page 472: ...tput Read only U8 0x28A8 OMS Source Read only U8 0x28A9 001 OMS OMS Stop function Read only U8 0x28A9 002 OMS OMS Movement function Read only U8 0x28A9 003 OMS OMS Function at Low Level Read only U8 0x28AA OMS active Output Read only U8 0x28AB RMS Source Read only U8 0x28AC 001 RMS RMS Stop function Read only U8 0x28AD RMS active Output Read only U8 0x28AE ES Source Read only U8 0x28AF ES active O...

Page 473: ...LS3 active Output Read only U8 0x28C6 004 SLS active Output SLS4 active Output Read only U8 0x28C7 001 SLS Monitored Output SLS1 Monitored Output Read only U8 0x28C7 002 SLS Monitored Output SLS2 Monitored Output Read only U8 0x28C7 003 SLS Monitored Output SLS3 Monitored Output Read only U8 0x28C7 004 SLS Monitored Output SLS4 Monitored Output Read only U8 0x28C8 SLI Source SD In Read only U8 0x2...

Page 474: ...ad only U8 0x28DE 002 PDSS parameters PDSS Lower position limit Read only I32 1 0x28DE 003 PDSS parameters PDSS Upper position limit Read only I32 1 0x28DE 004 PDSS parameters PDSS Lower SCS limit Read only I32 1 0x28DE 005 PDSS parameters PDSS Upper SCS limit Read only I32 1 0x28DE 006 PDSS parameters PDSS SCS from lower limit x rpm Read only U16 1 0x28DE 007 PDSS parameters PDSS SCS from upper l...

Page 475: ... Value y3 0 00 V U16 100 0x2947 004 Inverter characteristic Value y4 0 00 V U16 100 0x2947 005 Inverter characteristic Value y5 0 00 V U16 100 0x2947 006 Inverter characteristic Value y6 0 00 V U16 100 0x2947 007 Inverter characteristic Value y7 0 00 V U16 100 0x2947 008 Inverter characteristic Value y8 0 00 V U16 100 0x2947 009 Inverter characteristic Value y9 0 00 V U16 100 0x2947 010 Inverter c...

Page 476: ...eristic x10 f10 40 Hz I16 1 0x2B02 011 Frequency grid points x user V f characteristic x11 f11 50 Hz I16 1 0x2B03 001 Voltage grid points y user V f characteristic y1 U01 x f01 400 00 V U32 100 0x2B03 002 Voltage grid points y user V f characteristic y2 U02 x f02 320 00 V U32 100 0x2B03 003 Voltage grid points y user V f characteristic y3 U03 x f03 240 00 V U32 100 0x2B03 004 Voltage grid points y...

Page 477: ...pm U16 1 0x2C01 005 Motor parameters Rated frequency 270 0 Hz U16 10 0x2C01 006 Motor parameters Rated power 0 25 kW U16 100 0x2C01 007 Motor parameters Rated voltage 225 V U16 1 0x2C01 008 Motor parameters Cosine phi 0 80 U16 100 0x2C01 009 Motor parameters Insulation class F cut off temperature 155 C 4 U8 0x2C01 010 Motor parameters Motor name MCS06C41 STRING 50 0x2C02 001 Motor parameter ASM Ro...

Page 478: ...01 iN 0 U16 1 0x2C06 002 Grid points for magnet characteristic current y1 kT01 kTN 100 U16 1 0x2C06 003 Grid points for magnet characteristic current x2 i02 iN 100 U16 1 0x2C06 004 Grid points for magnet characteristic current y2 kT02 kTN 100 U16 1 0x2C06 005 Grid points for magnet characteristic current x3 i03 iN 200 U16 1 0x2C06 006 Grid points for magnet characteristic current y3 kT03 kTN 100 U...

Page 479: ...der settings Hiperface Actual position raw data Read only U32 1 X 0x2C41 007 Motor encoder settings Hiperface No of periods detected Read only U16 1 X 0x2C41 008 Motor encoder settings Hiperface Type code veri fication Read only U8 X 0x2C41 009 Motor encoder settings Hiperface Encoder type Read only U8 X 0x2C41 010 Motor encoder settings Hiperface No of periods linear encoder x nm Read only U32 1 ...

Page 480: ...t 2 Read only U32 1 X 0x2C4A 019 Protokoll Parameter Motorgeber SSI Rohdaten Datenpaket 3 Read only U32 1 X 0x2C4F Parameter CRC of motor encoder Read only U32 1 X 0x2C50 Load encoder master encoder type SinCos encoder 1 U8 C 0x2C51 001 Hiperface load encoder master encoder settings Type code detected Read only U8 1 X 0x2C51 002 Hiperface load encoder master encoder settings Type code manual input...

Page 481: ...eter Lastgeber Leitgeber SSI Start bit Datenpaket 1 0 U8 1 C 0x2C5A 006 Protokoll Parameter Lastgeber Leitgeber SSI Start bit Datenpaket 2 0 U8 1 C 0x2C5A 007 Protokoll Parameter Lastgeber Leitgeber SSI Start bit Datenpaket 3 0 U8 1 C 0x2C5A 008 Protokoll Parameter Lastgeber Leitgeber SSI Länge Positionsdaten 25 U8 1 C 0x2C5A 009 Protokoll Parameter Lastgeber Leitgeber SSI Länge Datenpaket 1 0 U8 ...

Page 482: ...probe 4 delay time 0 000 ms U16 1000 0x2D01 001 Touch probe TP time stamp Touch probe 1 rising edge time stamp x ns Read only U32 1 X 0x2D01 002 Touch probe TP time stamp Touch probe 1 falling edge time stamp x ns Read only U32 1 X 0x2D01 003 Touch probe TP time stamp Touch probe 2 rising edge time stamp x ns Read only U32 1 X 0x2D01 004 Touch probe TP time stamp Touch probe 2 falling edge time st...

Page 483: ...rature monitoring Error threshold 155 0 C I16 10 0x2D49 005 Motor temperature monitoring Actual motor tem perature x x C Read only I16 10 X 0x2D49 006 Motor temperature monitoring Spec characteristic temperature grid point 1 25 0 C I16 10 0x2D49 007 Motor temperature monitoring Spec characteristic temperature grid point 2 150 0 C I16 10 0x2D49 008 Motor temperature monitoring Spec characteristic r...

Page 484: ...fe diagnosis Power on time x s Read only U32 1 X 0x2D81 004 Life diagnosis Main switching cycles Read only U32 1 X 0x2D81 006 Life diagnosis Short circuit counter Read only U32 1 X 0x2D81 007 Life diagnosis Earth fault counter Read only U32 1 X 0x2D81 009 Life diagnosis Fan operating time x s Read only U32 1 X 0x2D82 Motor actual voltage Veff x x V Read only U32 10 X 0x2D83 001 Motor Phasenströme ...

Page 485: ...se W x x V Read only I16 10 X 0x2DDC Actual slip value x x Hz Read only I16 10 X 0x2DDD Output frequency x x Hz Read only I16 10 X 0x2DDE Actual rotor angle position Read only I16 1 X 0x2DDF 001 Axis information Rated current x xx A Read only U16 100 X 0x2DDF 002 Axis information Maximum current x xx A Read only U16 100 X 0x2DDF 005 Axis information Motor encoder Read only U8 X 0x2DDF 006 Axis inf...

Page 486: ...I32 10000 0x500A 074 Homing Velocity 2 0 0000 I32 10000 0x500A 075 Homing Acceleration 1 720 00 I32 100 0x500A 076 Homing Acceleration 2 360 00 I32 100 0x500A 077 Homing Jerk 7200 00 I32 100 0x500A 078 Homing Torque limit 0 10 Nm I32 100 0x500A 079 Homing Blocking time 1 000 s I32 1000 0x500A 080 Homing Touch probe configuration TP1 positive edge 1 U32 0x500A 081 Keep home position after mains swi...

Page 487: ...ctual acceleration Read only I32 100 X 0x500B 030 Travel range Modulo 0 U16 C 0x500B 031 Cycle length 360 0000 I32 10000 C 0x500B 032 Feed constant 360 0000 I32 10000 C 0x500B 033 Gearbox factor nominator 1 U32 1 C 0x500B 034 Gearbox factor denominator 1 U32 1 C 0x500B 035 Load encoder mounting direction 0 BOOLEAN C 0x500B 065 Filter cycles of actual velocity 1 U16 1 0x500B 066 Filter cycles of ac...

Page 488: ...al input 1 positive edge 1 I16 0x5020 012 TP2 source Digital input 2 positive edge 11 I16 0x5020 014 Master value source System bus 0 U16 C 0x5020 030 Source of digital output 1 Ready to switch on 0 I16 0x5021 150 System bus diagnostics Cycle length input value Read only I32 10000 X 0x5021 151 System bus diagnostics Position input value Read only I32 10000 X 0x5021 152 System bus diagnostics Veloc...

Page 489: ... I32 10000 0x5041 013 Activate master value correction 0 BOOLEAN 0x5041 015 Mark window teaching Master value correction 0 U16 0x5041 020 Stretch factor numerator 1 I32 1 0x5041 021 Stretch factor denominator 1 I32 1 0x5041 022 Offset direction allowed Master value direction 1 U16 0x5041 024 Trimming position difference 1 0000 I32 10000 0x5041 025 Trimming velocity 50 0000 I32 10000 0x5041 026 Tri...

Page 490: ... I32 10000 X 0x5042 040 Slave set velocity Read only I32 10000 X 0x5042 140 Tool sensor set position Read only I32 10000 X 0x5042 141 Actual position tool correction mark Read only I32 10000 X 0x5042 142 Actual tool error Read only I32 10000 X 0x5045 001 Simulation of control signals virtual master 0x00 U8 HX 0x5045 010 Virtual master control signals 0x00000000 U32 HX 0x5045 011 Set velocity 0 000...

Page 491: ...station addresses Station address slave 14 Read only I16 1 X 0x5860 015 EtherCAT slaves station addresses Station address slave 15 Read only I16 1 X 0x5860 016 EtherCAT slaves station addresses Station address slave 16 Read only I16 1 X 0x5861 001 EtherCAT slaves device names Device name slave 1 Read only STRING 128 X 0x5861 002 EtherCAT slaves device names Device name slave 2 Read only STRING 128...

Page 492: ...6 is mandatory Read only U8 X 0x5863 007 Mandatory EtherCAT slaves Slave 7 is mandatory Read only U8 X 0x5863 008 Mandatory EtherCAT slaves Slave 8 is mandatory Read only U8 X 0x5863 009 Mandatory EtherCAT slaves Slave 9 is mandatory Read only U8 X 0x5863 010 Mandatory EtherCAT slaves Slave 10 is mandatory Read only U8 X 0x5863 011 Mandatory EtherCAT slaves Slave 11 is mandatory Read only U8 X 0x5...

Page 493: ...ave 14 Read only U16 X 0x5865 015 EtherCAT slaves device status Device status slave 15 Read only U16 X 0x5865 016 EtherCAT slaves device status Device status slave 16 Read only U16 X 0x603F Error code Read only U16 HX 0x6040 CiA Controlword 0x0000 U16 HX 0x6041 CiA Statusword Read only U16 HX 0x6042 Target velocity 0 rpm I16 1 X 0x6043 Velocity demand x rpm Read only I16 1 X 0x6044 Velocity actual...

Page 494: ...d value 1 U8 1 0x60C2 002 Interpolation time period Interpolation time index 3 I8 1 0x60E0 Positive torque limit 100 0 U16 10 0x60E1 Negative torque limit 100 0 U16 10 0x60E4 001 Additional position actual value Load encoder master encoder actual position x pos unit Read only I32 1 X 0x60E5 001 Additional velocity actual value Load encoder master encoder actual speed rpm Read only I32 480000 231 X...

Page 495: ...002 Systembus input data Systembus data input 2 0 U32 1 X 0xA680 003 Systembus input data Systembus data input 3 0 U32 1 X 0xA680 004 Systembus input data Systembus data input 4 0 U32 1 X 0xA680 005 Systembus input data Systembus data input 5 0 U32 1 X 0xA680 006 Systembus input data Systembus data input 6 0 U32 1 X 0xA680 007 Systembus input data Systembus data input 7 0 U32 1 X 0xA680 008 System...

Page 496: ...EtherCAT Safety over EtherCAT GSDML Device description file with PROFINET specific data for integrating the configuration software of a PROFINET controller HFT Hardware Failure Tolerance Cat Category in accordance with EN ISO 13849 1 OSSD Output Signal Switching Device tested signal output PELV Protective Extra Low Voltage PL Performance Level in accordance with ISO 13849 PM Plus Minus switched si...

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Page 500: ... Str 1 D 31855 Aerzen Germany HR Hannover B 205381 Ü 49 5154 82 0 Ø 49 5154 82 2800 Ù sales de lenze com Ú www lenze com Û Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany Ü 0080002446877 24 h Helpline Ø 49 5154 82 1112 Ù service de lenze com 12 2018 1 0 ...

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Lenze i950 Series, Manual

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