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Commissioning

Configuring the host system (master)

EDS82ZAFPC201 EN 4.0

6.3

Configuring the host system (master)

The host must be configured before communication with the communication module is
possible.

Master settings

For configuring the PROFIBUS, the device data base file (GSE file) of the communication
module has to be imported into the configuring software of the master.

Tip!

The GSE file can be downloaded from www.Lenze.com.

Device data base file

The device data base file

LENZ081B.GSE

contains the following configurations:

Module in LENZ081B.GSE

Parameter data

without/with

consistency

Process data

without/with

consistency

Assigned

I/O memory

Without

With

Without

With

Drivecom−PAR (cons)

+ PZD (n Words)

DRIVECOM

n words

4 + n words

Drivecom−PAR (cons)

+ PZD (n Words Cons.)

n words

4 + n words

PKW (cons)

+ PZD (n Words)

PKW

n words

4 + n words

PKW (cons)

+ PZD (n Words Cons.)

n words

4 + n words

PZD (n Words)

Without parameter data

channel

n words

PZD (n Words Cons.)

Without parameter data

channel

n words

n = 1 ... 10

Содержание E82ZAFPC201

Страница 1: ...EDS82ZAFPC201 IFG Ä IFGä Communication Manual PROFIBUS I O l E82ZAFPC201 Function module L force Communication ...

Страница 2: ... data 14 4 2 Operating conditions 14 4 3 Protective insulation 15 4 4 Connection terminals 15 4 5 Communication time 16 4 6 Dimensions 17 5 Installation 18 5 1 Mechanical installation 18 5 2 Electrical installation 19 5 2 1 Wiring according to EMC CE typical drive system 19 5 2 2 Wiring with a host master 20 5 2 3 Voltage supply 23 5 2 4 Terminal assignment 24 5 2 5 Cable cross sections and screw ...

Страница 3: ...ommands 48 7 2 5 Status bits 49 7 3 PROFIdrive control 50 7 3 1 PROFIdrive state machine 50 7 3 2 PROFIdrive control word 51 7 3 3 PROFIdrive status word 52 8 Parameter data transfer 53 8 1 DRIVECOM parameter data channel 54 8 1 1 Addressing of the parameter data 54 8 1 2 Addressing of the Lenze parameters 54 8 1 3 Telegram structure 54 8 1 4 Error codes DRIVECOM 58 8 1 5 Reading parameters 59 8 1...

Страница 4: ... Monitoring codes 95 10 4 Diagnostics codes 97 10 5 Important controller codes 105 11 Implemented PROFIdrive objects 107 12 Appendix 109 12 1 Particularities for use in conjunction with Lenze standard devices 109 12 2 Consistent parameter data 110 12 3 Parallel operation of AIF and FIF interfaces 112 13 Index 114 ...

Страница 5: ... standard devices to be used Notes on troubleshooting and fault elimination The theoretical concepts are only explained to the level of detail required to understand the function of the function module Depending on the software version of the controller and the version of the Engineer software installed the screenshots in this documentation may deviate from the Engineer representation This documen...

Страница 6: ...t http www Lenze com 1 1 Document history Material no Version Description 1 0 06 2004 TD06 First edition 2 0 03 2005 TD06 DP V1 protocol 13323934 3 0 12 2009 TD17 General revision IFG 4 0 03 2012 TD29 General revision Your opinion is important to us These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product If you have sug...

Страница 7: ...itional information For instance 16 see page 16 1 3 Terminology used Term Meaning PROFIBUS The term stands for the PROFIBUS DP variant according to IEC 61158 IEC 61784 A different PROFIBUS variant is not described in these Instructions Standard device Lenze controllers frequency inverters with which the communication module can be used 11 Controller Frequency inverter Master PROFIBUS station which...

Страница 8: ... dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Reference to a ...

Страница 9: ...egree of protection have live movable or rotating parts during or after operation Surfaces can be hot ƒ All specifications of the corresponding enclosed documentation must be observed This is vital for a safe and trouble free operation and for achieving the specified product features The procedural notes and circuit details provided in this document are proposals which the user must check for suit...

Страница 10: ...the given specifications 22 Documentation for the standard device control system system machine All other measures prescribed in this documentation must also be implemented Observe the safety instructions and application notes stated in the documentation 2 3 Residual hazards Protection of persons ƒ If the controllers are used on a phase earthed mains with a rated mains voltage 400 V protection aga...

Страница 11: ... designation From hardware version Frequency inverter 8200 vector Vx14 8200 motec Vx14 Motor starter starttec Vx1x ƒ is a device intended for use in industrial power systems Any other use shall be deemed inappropriate 3 2 Identification E82AF000P0B201XX APPLICATION 010 3A22 A22 A22 APPLICATION 010 3A22 L Type Id No Prod No Ser No E82ZAFX005 E82ZAF P C 201 1A 10 Product range PROFIBUS Version Varia...

Страница 12: ... of I M0 functionality for standard device identification ƒ Automatic detection of the baud rate 9 6 kbps 12 Mbps ƒ Control of Lenze 8200 vector and 8200 motec device series via digital control signals ƒ External 24V supply for maintaining the PROFIBUS network when the standard device fails ƒ Access to all Lenze parameters ƒ DIP switches for setting the bus device address setting compatibility wit...

Страница 13: ...yellow LED 85 1 Connection status to standard device green LED 2 DIP switches for setting l compatibility with the PROFIBUS function modules E82ZAFPC0xx l the bus device address 32 33 3 DIP switch for activating the bus terminating resistor 33 4 Terminal strip X3 1 connections for l digital inputs E1 and E2 l external voltage supply 15 5 Terminal strip X3 2 connections for l PROFIBUS l controller ...

Страница 14: ...ps 9 6 12000 automatic detection Process data words 1 10 words 16 bits word DP user data length 1 10 process data words 4 parameter data words Max number of bus devices l Standard 32 1 bus segment l With repeaters 125 Max cable length per bus segment 1200 m depending on the baud rate and cable type used External DC voltage supply 24 V DC 10 max 100 mA 4 2 Operating conditions Ambient conditions Cl...

Страница 15: ...1 7 X3 2 7 Functional insulation l External supply X3 1 59 X3 2 59 Functional insulation l Terminal X3 1 E1 X3 1 E2 Functional insulation l Terminal X3 1 20 X3 2 20 Functional insulation l Terminal X3 2 28 Functional insulation 4 4 Connection terminals Terminal X3 1 Designation Function level E1 Digital inputs Adapt the individual setting via C0007 or C0410 l Input resistance 3 3 kW l 0 LOW 0 3 V ...

Страница 16: ... 3 V DC reference GND2 20 DC voltage source for internal supply of controller inhibit CINH l 20 V DC reference GND1 l Imax 20 mA 59 External DC voltage supply for the function module l 24 V DC 10 reference GND1 l Current consumption on 24 V DC 80 mA The current for looping through the supply voltage to other nodes via terminal 59 must be max 3 A E g for repeater connection 4 5 Communication time T...

Страница 17: ...Technical data Dimensions 4 l 17 EDS82ZAFPC201 EN 4 0 4 6 Dimensions E82ZAFP020C a 51 mm b 64 mm c 15 mm ...

Страница 18: ...destroyed by electrostatic discharge Before working on the device the personnel must ensure that they are free of electrostatic charge by using appropriate measures 5 1 Mechanical installation Follow the notes given in the Mounting Instructions for the standard device for the mechanical installation of the function module The Mounting Instructions for the standard device ƒ are part of the scope of...

Страница 19: ...gnals ƒ Use an equalizing conductor with a cross section of at least 16 mm2 reference PE to avoid potential differences between the bus nodes ƒ Observe the other notes concerning EMC compliant wiring given in the documentation for the standard device Wiring procedure 1 Observe the bus topology do not use any stubs 2 Observe the notes and wiring instructions given in the documents for the control s...

Страница 20: ...vector 8200 motec E82ZAFPC201 3 3 3 1 2 2 2 0 m 1200 m E82ZAFP005 No Element Note 1 Host E g PC or PLC with PROFIBUS master interface module 2 Bus cable Connects the PROFIBUS master interface module to the function modules l The baud rate depends on the length of the bus cable 22 3 PROFIBUS slave Applicable standard device 11 with function module l Activate bus terminating resistors at the first a...

Страница 21: ...ave S Repeater R 1 1 2 31 30 2 30 1 3 30 1 I Tip Repeaters do not have a device address When calculating the maximum number of bus devices they reduce the number of devices by 1 on each side of the segment Repeaters can be used to build up line and tree topologies The maximum total bus system expansion depends on ƒ the baud rate used ƒ the number of repeaters used ...

Страница 22: ...cable length The length of the bus cable depends on the baud rate used Baud rate kbps Length m 9 6 93 75 1200 187 5 1000 500 400 1500 200 3000 12000 100 Note The baud rate depending on the data volume cycle time and number of nodes should only be selected as high as required for the application I Tip For high baud rates we recommend to consider the use of optical fibres Advantages of optical fibre...

Страница 23: ...ng to EN 61800 5 1 SELV PELV in the case of external voltage supply and larger distances between the control cabinets External voltage supply of the communication module is required if communication via the fieldbus is to be maintained even when the power supply of the standard device fails Note With external voltage supply of the function module the active bus terminating resistor is fed independ...

Страница 24: ... DC PLC level HTL l 1 HIGH 12 30 V DC PLC level HTL reference GND2 E2 20 DC voltage source for the internal supply of the digital inputs E1 and E2 l 20 V DC reference GND1 l Imax 20 mA 39 GND2 Reference potential of the l digital inputs at X3 1 E1 and X3 1 E2 l controller inhibit CINH at X3 2 28 59 External DC voltage supply for the function module l 24 V DC 10 reference GND1 l Current consumption...

Страница 25: ... 2 28 28 CINH Controller inhibit l Start HIGH 12 30 V DC l Stop LOW 0 3 V DC reference GND2 20 DC voltage source for internal supply of controller inhibit CINH l 20 V DC reference GND1 l Imax 20 mA 59 External DC voltage supply for the function module l 24 V DC 10 reference GND1 l Current consumption on 24 V DC 80 mA The current for looping through the supply voltage to other nodes via terminal 59...

Страница 26: ...stored in numerically ascending order in the Lenze controllers and in the plugged in communication function modules In addition to these configuration codes there are codes for diagnosing and monitoring the bus devices 6 1 Before switching on Stop Before switching on the standard device with the function module for the first time check ƒ the entire wiring for completeness short circuit and earth f...

Страница 27: ... dc if attached 85 4 Provide software compatibility with the function module l DIP switch S8 OFF 32 5 Activate the bus terminating resistor of the first and last bus device through DIP switch ON l Lenze setting OFF 33 6 A Set the bus device address via C1509 or DIP switches S1 S7 If the setting via code applies DIP switches S1 S7 OFF then the address must be reassigned after a parameter set transf...

Страница 28: ...TRL1 IMOT PIW5 Actual process controller value PCTRL1 ACT PIW6 Process controller setpoint PCTRL1 SET1 PIW7 Process controller output PCTRL1 OUT PIW8 Controller load MCTRL1 MOUT PIW9 DC bus voltage MCTRL1 DCVOLT PIW10 Ramp function generator input NSET1 RFG1 IN 11 Enable process output data with C1512 65535 l Only required if C1511 has been changed l Do not deactivate the process data words used b...

Страница 29: ...e downloaded from www Lenze com Device data base file The device data base file LENZ081B GSE contains the following configurations Module in LENZ081B GSE Parameter data without with consistency Process data without with consistency Assigned I O memory Without With Without With Drivecom PAR cons PZD n Words DRIVECOM n words 4 n words Drivecom PAR cons PZD n Words Cons n words 4 n words PKW cons PZD...

Страница 30: ...ibility with the PPO types 1 5 PROFIdrive device control the following codes must be configured in addition ƒ C1510 1 20 PROFIdrive status word ƒ C1511 1 19 PROFIdrive control word Example 1 The slave is to operate with PPO2 and consistent process data 1 Select the entry PKW cons PZD 6W cons from the GSE file 2 Set the following codes via the parameter data channel C1510 1 20 C1511 1 19 3 Set C151...

Страница 31: ...data length is defined during the initialisation phase of the PROFIBUS It is possible to configure up to 10 process data words see chapter Process data transfer 36 Optionally you can activate a parameter data channel If the parameter data channel is active it additionally occupies 4 words of the process input and process output data ƒ PIW process data input word process data from standard device t...

Страница 32: ...ords Input output 00 Special identification format 01 Input 10 Output 11 Input and output Length format 0 Byte 1 Word Consistency 0 Byte or word 1 Total length 6 4 Setting the software compatibility DIP switch S8 2 serves to set compatibility with the Lenze PROFIBUS function modules E82ZAFPC0xx E82ZAFP020B ON 1 6 2 7 4 3 8 5 9 10 ON OFF E82ZAFD005 DIP switch 2 Position of switch S8 Compatibility O...

Страница 33: ...es S1 S7 2 or via code C1509 Note ƒ The bus device addresses of networked controllers must differ from each other ƒ If the DIP switches S1 S7 are in the OFF position the code setting for the bus device address is active ƒ Switch off the voltage supply of the function module and the controller and then switch it on again to activate changed settings Valid address range Input via Valid address range...

Страница 34: ...EN 4 0 6 6 2 Settings via DIP switch Set the bus device address with the DIP switches S1 S7 E82ZAFP020B ON 1 6 2 7 4 3 8 5 9 10 ON OFF E82ZAFD005 DIP switches 2 Value Example Switch position Bus device address S1 1 ON 1 16 32 64 113 S2 2 OFF S3 4 OFF S4 8 OFF S5 16 ON S6 32 ON S7 64 ON ...

Страница 35: ...stablishing communication via an externally supplied function module the standard device must be switched on as well ƒ After communication has been established the externally supplied module is independent of the power on off state of the standard device Protection against uncontrolled start up After a fault e g short term mains failure a restart of the drive is not always wanted and in some cases...

Страница 36: ...yclically transferred between the host and the controllers continuous exchange of current input and output data ƒ The host can directly access the process data In the PLC for instance the data are directly assigned to the I O area ƒ With the function module a maximum of 10 process data words 16 bits word can be exchanged in each direction ƒ Process data are not stored in the controller ƒ Process d...

Страница 37: ...values or setpoints of the controller can be freely configured via code C1511 Note ƒ The assignment of control words of different device controls is not permitted ƒ If C1511 is changed the process output data are automatically inhibited to ensure data consistency ƒ Via C1512 you can re enable individual or all POWs ƒ To activate the DRIVECOM device control assign the DRIVECOM control word to a POW...

Страница 38: ...d 1 FIF CTRL1 16 bits 2 FIF control word 2 FIF CTRL2 16 bits 3 Setpoint 1 NSET1 N1 24000 º 480 Hz 4 Setpoint 2 NSET1 N2 24000 º 480 Hz 5 Additional setpoint PCTRL1 NADD 24000 º 480 Hz 6 Actual process controller value PCTRL1 ACT 24000 º 480 Hz 7 Process controller setpoint PCTRL1 SET1 24000 º 480 Hz 8 Reserved 9 Torque setpoint torque limit value MCTRL1 MSET 214 º100 rated motor torque 10 PWM volt...

Страница 39: ...bits 16 bits 16 bits 16 bits 16 bits 16 bits 16 bits 16 bits 16 bits 16 bits C0410 1 200 C0410 2 200 C0410 3 200 C0410 4 200 C0410 5 200 C0410 6 200 C0410 7 200 C0410 8 200 C0410 9 200 C0410 10 200 C0410 11 200 C0410 12 200 C0410 13 200 C0410 14 200 C0410 15 200 C0410 17 200 C0410 18 200 C0410 19 200 C0410 20 200 C0410 21 200 C0410 22 200 C0410 23 200 C0410 24 200 C0412 1 200 C0412 2 200 C0412 3 2...

Страница 40: ...mp function generator input 0 NSET1 RFG1 0 5 CW rotation quick stop QSP DCTRL1 CW QSP 0 1 Not active Active deceleration via C0013 0 1 Not active Active 6 UP function of motor potentiometer MPOT1 UP 6 CCW rotation quick stop QSP DCTRL1 CCW QSP 0 1 Not active Active 0 1 Not active Active 7 DOWN function of motor potentiometer MPOT1 DOWN 7 X3 E1 is digital frequency input DFIN1 ON 0 1 Not active Act...

Страница 41: ... values to the up to 10 process data input words PIW of the master can be freely configured ƒ To call DRIVECOM conform status information assign the DRIVECOM status word to a PIW C1511 x 18 The FIF status word 1 is mapped to the DRIVECOM status word ƒ To call PROFIdrive conform status information assign the PROFIdrive status word to a PIW C1511 x 20 The FIF status word 1 is mapped to the PROFIdriv...

Страница 42: ... frequency without slip MCTRL1 NOUT 24000 º 480 Hz 5 Apparent motor current MCTRL1 IMOT 214 º100 rated device current 6 Actual process controller value PCTRL1 ACT 24000 º 480 Hz 7 Process controller setpoint PCTRL1 SET 24000 º 480 Hz 8 Process controller output PCTRL1 OUT 24000 º 480 Hz 9 Controller load MCTRL1 MOUT 214 º 100 rated motor torque 10 DC bus voltage MCTRL1 DCVOLT 16383 º 565 V DC for ...

Страница 43: ...FIF OUT W1 B0 FIF OUT W2 B0 FIF OUT W1 B15 FIF OUT W2 B15 STAT1 NSET1 PCTRL1 MCTRL1 DCTRL1 STAT2 STAT1 B0 STAT2 B0 STAT1 B15 STAT2 B15 FIF OUT W1 FIF OUT W2 C0421 3 C0421 4 C0421 5 C0421 6 C0417 16 C0417 1 C0418 1 C0418 16 2 2 2 2 2 2 2 2 2 2 FIF OUT PIW2 PIW1 PIW3 PIW4 PIW5 PIW6 PIW7 PIW8 PIW9 PIW10 PROFIBUS PIW2 PIW1 PIW3 PIW4 PIW5 PIW6 PIW7 PIW8 PIW9 PIW10 A B CN C1510 18 1 C1510 3 2 C1510 4 3 ...

Страница 44: ... 1 False True 6 Output frequency 0 DCTRL1 NOUT 0 6 LP1 warning fault in motor phase active DCTRL1 LP1 WARN 0 1 False True 0 1 False True 7 Controller inhibit DCTRL1 CINH 7 f fmin NSET1 C0010 C0011 0 1 Controller enabled Controller inhibited 0 1 False True 11 8 Device status DCTRL1 STAT 1 STAT 8 8 TRIP active DCTRL1 TRIP Bit 11 10 9 8 0 1 False True 0 0 0 0 0 1 0 0 Controller initialisation Switch ...

Страница 45: ...xxx 0xxx xxxx Switch on device Status word xxxx xxxx x0xx 0000 NOT READY TO SWITCH ON READY TO SWITCH ON Status word xxxx xxxx x01x 0001 SWITCHED ON Status word xxxx xxxx x01x 0011 OPERATION ENABLED Status word xxxx xxxx x01x 0111 FAULT Status word xxxx xxxx x0xx 1000 SWITCH ON INHIBIT Status word xxxx xxxx x0xx 0000 QUICK STOP ACTIVE Status word xxxx xxxx x01x 0111 Enable operation xxxx xxxx xxxx...

Страница 46: ... RFG stop command Ramp function generator output NSET1 RFG1 is frozen the device status of the drive does not change Mapping to FIF control word 1 FIF CTRL1 bit 4 negated NSET1 RFG1 STOP 0 RFG stop active 1 RFG stop not active 6 RFG zero command Sets ramp function generator input NSET1 RFG1 to 0 Þ Controlled deceleration via the ramp set under C0013 the device status of the drive does not change M...

Страница 47: ...ommand applied Command not applied 6 Device status Switch on inhibit 0 1 Status Switch on inhibit not active Status Switch on inhibit active 7 Collective warning 0 1 No warning Warning overtemperature active 8 Collective message Automatic setting and resetting of pulse inhibit IMP in the device status Operation enabled Possible causes Undervoltage overvoltage or overcurrent 0 1 No message Message ...

Страница 48: ...eration Transition ð Operation enabled The controller inhibit CINH is deactivated x x x x 1 1 1 1 0 Bit not set Inhibit operation Transition ð Switched on The controller inhibit CINH is activated x x x x 0 1 1 1 Inhibit voltage Transition ð Switch on inhibit The controller inhibit CINH is activated x x x x x x 0 x x Any bit status Quick stop QSP Transition ð Switch on inhibit If the drive has been...

Страница 49: ... for Switch on command 0 1 x 0 0 0 1 0 Bit not set Switched on Controller inhibited CINH Waiting for Operation enabled command 0 1 x 0 0 1 1 Operation enabled Controller enabled CINH Pulse inhibit can be set automatically 0 1 x 0 1 1 1 x Any bit status Fault reaction active Fault TRIP recognised a time based fault dependent reaction is executed Then automatically ð Fault 0 x x 1 1 1 1 Fault Contro...

Страница 50: ...xx x1xx xxxx x01x Commands priority OFF2 highest priority OFF3 OFF1 lowest priority OFF1 Switch on devices Automatically when initialisation is completed Not ready to switch on Status word xxxx xxxx x0xx x000 OFF2 OFF3 OFF2 OFF3 OFF2 OFF3 Ready to switch on Status word xxxx xxxx x0xx x001 Ready for operation Status word xxxx xxxx xxxx x011 Operation enabled Status word xxxx xxxx xxxx x111 OFF1 act...

Страница 51: ...G not active 5 RFG stop Free mapping to bit FIF CTRL B4 negated 6 Inhibit setpoint Free mapping to bit FIF CTRL B5 negated 7 Reset fault Reset fault TRIP For this purpose a bit change from 0 to 1 must occur 8 Jogging 1 Not used 9 Jogging 2 Not used 10 Master function by automation device 0 No master function by automation device 1 Master function by automation device 11 Manufacturer Mapping to FIF...

Страница 52: ...IP active 4 OFF2 Information on command OFF2 0 Command applied 1 Command not applied 5 OFF3 Information on command OFF3 0 Command applied 1 Command not applied 6 Switch on inhibit Device status information 0 Switch on inhibit status not active 1 Switch on inhibit status active 7 Warning Collective warning 0 No warning 1 Warning 8 Reserved Always 1 9 Master function requested 1 10 SETPOINT REACHED ...

Страница 53: ...meter data are transmitted via the parameter data channel DRIVECOM parameter data channel PROFIdrive parameter data channel DP V0 DP V1 ƒ The parameter data channel provides access to all Lenze codes ƒ In general the transfer of parameter data is not time critical ƒ Parameter data are for instance operating parameters diagnostic information and motor data Note Cyclic writing to codes via PROFIBUS ...

Страница 54: ...exes byte 2 The Lenze code numbers are converted into indexes via an offset 24575dec 5FFFhex Addressing of Lenze codes Example for C0001 operating mode l PROFIBUS index 24575 Lenze code l PROFIBUS index 24575 1 24574 l PROFIBUS DP Indexhex 5FFFhex Lenze codehex l PROFIBUS DP Indexhex 5FFFhex 1hex 5FFEhex Lenze parameters are mainly represented in the fixed point format data type integer32 with fou...

Страница 55: ... request l The master changes this toggle bit for every new request l The controller copies the bit into its response telegram Status Status information from the controller to the master when sending the request confirmation This bit informs the master whether the request has been carried out without any faults l 0 Request completed without fault l 1 Request not completed An error has occurred The...

Страница 56: ...at have a subcode see code table Example Code C0039 subcode 3 addresses NSET JOG 50 Lenze setting Byte 3 4 index Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Service Subindex Index High byte Index Low byte Data 4 Error 4 Data 3 Error 3 Data 2 Error 2 Data 1 Error 1 The parameter or the Lenze code is selected with these two bytes according to the formula Index 24575 Lenze code number Exa...

Страница 57: ...Bit 7 1 Parameter value data 1 4 Error information error 1 4 for an invalid access 58 Error code list Parameter value data Depending on the data format the length of the parameter value is between 1 to 4 bytes Data are saved in the Motorola format i e first the high byte or high word then the low byte or low word Byte 5 Byte 6 Byte 7 Byte 8 High byte Low byte High byte Low byte High word Low word ...

Страница 58: ...b cannot be executed at the moment 0x08 0x00 0x21 Not executable because of local control 0x08 0x00 0x22 Not executable because of device status 0x08 0x00 0x30 Out of value range parameter can only be changed with inhibited controller 0x08 0x00 0x31 Parameter value too large 0x08 0x00 0x32 Parameter value too small 0x08 0x00 0x33 Subparameter out of value range 0x08 0x00 0x34 Subparameter value to...

Страница 59: ... bit is the same the response has been received It is useful to implement a time monitoring tool 5 Check whether the status bit in the service byte is set Status bit is not set The Data Error field contains the required parameter value Status bit is set The read request has not been executed correctly The Data Error field contains the error information Example The heatsink temperature 43 C of the ...

Страница 60: ... 00hex 00hex 00000001bin 00000000bin 01011111bin 11000010bin 00000000bin 00000000bin 00000000bin 00000000bin Waiting for change of handshake bit in the response bit 6 here 0 à 1 ƒ Response telegram from drive to master for error free execution Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Service Subindex Index High byte Index Low byte Data 4 Data 3 Data 2 Data 1 30hex 00hex 5Fhex C2hex ...

Страница 61: ... input data and the DP output data If the handshake bit is the same the response has been received It is useful to implement a time monitoring tool 6 Check whether the status bit in the service byte is set Status bit is not set The write request has been executed correctly Status bit is set The write request has not been executed correctly The Data Error field contains the error information Exampl...

Страница 62: ...10bin 00000000bin 01011111bin 11110011bin 00000000bin 00000011bin 00001101bin 01000000bin Waiting for change of handshake bit bit 6 here 0 à 1 ƒ Response telegram from drive to master for error free execution Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Service Subindex Index High byte Index Low byte Data 4 Data 3 Data 2 Data 1 40hex 00hex 5Fhex F3hex 00hex 00hex 00hex 00hex 01000110bin...

Страница 63: ...he master class 2 diagnostics master etc The integration of the acyclic service into the fixed bus cycle depends on the corresponding configuration of the master class 1 ƒ For an existing configuration a time slot is reserved ƒ When there is no configuration the acyclic service is appended when a master class 2 acyclically accesses a DP V1 slave Access to the Lenze codes of the controller The code...

Страница 64: ...already been defined in the PROFIdrive profile version 2 0 and is kept merely for compatibility reasons We recommend the use of the PROFIdrive parameter data channel DP V1 for new configurations 8 2 1 1 Telegram structure The PROFIdrive parameter data channel is located same as the DRIVECOM parameter data channel in the first 8 bytes of the cyclic data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byt...

Страница 65: ...rite array parameter word 8 Write array parameter double word PKE Response identification Positive Negative 0 No response 1 Transmit single parameter value word 2 Transmit single parameter value double word 4 Transmit array parameter value word 5 Transmit array parameter value double word 4 Transmit array parameter value word 5 Transmit array parameter value double word 7 Request cannot be execute...

Страница 66: ...ord Low word Double word ƒ Assignment of bytes 5 8 with parameter values of different lengths Byte 5 Byte 6 Byte 7 Byte 8 Parameter value length 1 00 00 00 Parameter value length 2 00 00 Parameter value length 4 ƒ A slave provides the response until the master creates a new request ƒ For responses containing parameter values the slave always replies with the current value cyclic processing Byte 7 ...

Страница 67: ... heatsink temperature 43 C of the controller is to be read C0061 ƒ Job identification high nibble in byte 1 Read simple parameter 1 ƒ Code low nibble in byte 1 and byte 2 C0061 61 3Dhex ƒ Lenze subcode byte 3 Subindex 0 as there is not subindex under code C0061 ƒ Bytes 5 8 Data not contained in the request telegram Data 1 4 43 C x 10000 430000 00068FB0hex Result ƒ Request telegram from master to d...

Страница 68: ... from the entry in the low word Example The controller acceleration time C0012 is to be set to 20 s ƒ Job identification high nibble in byte 1 Transmit simple parameter value 1 ƒ Code low nibble in byte 1 and byte 2 C0012 12 0Chex ƒ Lenze subcode byte 3 Subindex 0 as there is not subindex under code C0012 ƒ Bytes 5 8 Data Data 1 4 20 s x 10000 200000 00030D40hex Result ƒ Request telegram from mast...

Страница 69: ...uests responses cannot be split over several data blocks ƒ Spontaneous messages are not transmitted ƒ There are only acyclic parameter requests ƒ Profile specific parameters can be read independently of the slave state 8 2 2 1 Establishing a connection between master and slave A class 1 master can always be used to request parameters from a slave if the slave is in the Data_Exchange state In addit...

Страница 70: ...res without data Read req without data Read res without data Read req without data Read res with data parameter response Sequence ƒ A Write req is used to pass the data set DB47 to the slave in the form of a parameter request ƒ With Write res the master receives the confirmation for the receipt of the message ƒ The master requests the response of the slave with Read req ƒ The slave responds with R...

Страница 71: ...with DP V1 The data unit DU contains the DP V1 header and the parameter request or the parameter response In the following subchapters the parameter request and the parameter response are described in detail Note The DP V1 header consists of ƒ Function identifier ƒ Slot number ƒ Data set ƒ Length of the user data Please refer to the corresponding PROFIBUS specification for further information on t...

Страница 72: ...d the maximum data length of 240 bytes Request header Byte 1 Byte 2 Byte 3 Byte 4 U8 Request reference U8 Request identification U8 Axis U8 Number of indexes Request reference This value is specified by the master Request identification 0x01 request parameter for reading Axis 0x00 or 0x01 Number of indexes 0x n number of parameters requested Parameter attribute Byte 5 Byte 6 U8 Attribute U8 Number...

Страница 73: ...f parameters requested ƒ A read request must not exceed the maximum data length of 240 bytes Response header Byte 1 Byte 2 Byte 3 Byte 4 U8 Request reference mirrored U8 Response identification U8 Axis mirrored U8 Number of indexes Request reference Mirrored value of parameter request Response identification 0x01 parameter has been read Axis 0x00 or 0x01 Number of indexes 0x n number of parameters...

Страница 74: ...epending on the data type the user data are assigned as follows Data type Length Assignment of the user data Byte 7 Byte 8 Byte 9 Byte 10 Byte String x bytes U8 1 byte 00 High byte Low byte U16 2 bytes High word Low word High byte Low byte High byte Low byte U32 4 bytes This representation applies to one parameter value ...

Страница 75: ...f parameter request Response identification 0x81 read error An error code is transmitted see below Axis 0x00 or 0x01 Number of indexes 0x n number of parameters requested Parameter format Byte 5 Byte 6 U8 Format U8 Number of values Format 0x44 error Number of values 0x01 error code without additional information 0x02 error code with additional information Error code Byte 7 Byte 8 Byte 9 Byte 10 U1...

Страница 76: ...Byte 1 Byte 2 Byte 3 Byte 4 U8 Request reference U8 Request identification U8 Axis U8 Number of indexes Request reference This value is specified by the master Request identification 0x02 write parameter Axis 0x00 or 0x01 Number of indexes 0x n number of parameters requested Parameter attribute Byte 5 Byte 6 U8 Attribute U8 Number of subindexes Attribute 0x10 value Number of subindexes 0x00 l For ...

Страница 77: ...ows Data type Length Assignment of the user data Byte 13 Byte 14 Byte 15 Byte 16 Byte String x bytes U8 1 byte 00 High byte Low byte U16 2 bytes High word Low word High byte Low byte High byte Low byte U32 4 bytes This representation applies to one parameter value 8 2 2 8 Response to a correctly executed write request Response header Byte 1 Byte 2 Byte 3 Byte 4 U8 Request reference mirrored U8 Res...

Страница 78: ...eter n is indicated at the nth position in the response telegram of a multi parameter request Response header Byte 1 Byte 2 Byte 3 Byte 4 U8 Request reference mirrored U8 Response identification U8 Axis mirrored U8 Number of indexes Request reference Mirrored value of parameter request Response identification 0x82 write error An error code is transmitted see below Axis 0x00 or 0x01 Number of index...

Страница 79: ...10 Number of subindexes 0x00 Value No subindex Byte 7 Byte 8 Byte 9 Byte 10 High byte Low byte High byte Low byte Index Subindex 0x5F 0xC2 0x00 0x00 Calculation of parameter offset 0x5FFF 0x3D 0x5FC2 24575 61 24514 Parameter response for faultless transmission Byte 1 Byte 2 Byte 3 Byte 4 Request reference 0xXX Response identifier 0x01 Axis 0x00 Number of indexes 0x01 Mirrored Parameter has been re...

Страница 80: ...ameter response for faulty transmission Byte 1 Byte 2 Byte 3 Byte 4 Request reference 0xXX Response identifier 0x81 Axis 0x00 Number of indexes 0x01 Mirrored Parameter has not been read Mirrored Byte 5 Byte 6 Format 0x44 Number of values 0x01 Error Byte 7 Byte 8 0x00 0xXX Error code from error code list 83 ...

Страница 81: ...ute 0x10 Number of subindexes 0x00 Value No subindex Byte 7 Byte 8 Byte 9 Byte 10 High byte Low byte High byte Low byte Index Subindex 0x5F 0x96 0x00 0x00 Calculation of parameter offset 0x5FFF 0x69 0x5F96 24575 105 24470 Byte 11 Byte 12 Format 0x43 Number of values 0x01 Double word 1 value Byte 13 Byte 14 Byte 15 Byte 16 High word Low word High byte Low byte High byte Low byte Values 0x00 0x00 0x...

Страница 82: ...error Byte 1 Byte 2 Byte 3 Byte 4 Request reference 0xXX Response identifier 0x82 Axis 0x00 Number of indexes 0x01 Mirrored Parameter has not been written Mirrored 1 index Byte 5 Byte 6 Format 0x44 Number of values 0x01 Error Error code without additional information Byte 7 Byte 8 0x00 0xXX Error code from error code list 83 ...

Страница 83: ... parameters 0x000C Reserved PROFIdrive profile V2 Wrong password 0x000D Reserved PROFIdrive profile V2 Text cannot be read in cyclic data transfer 0x000E Reserved PROFIdrive profile V2 Name cannot be read in cyclic data transfer 0x000F No text array available Access to text array that is not available parameter value is available 0x0010 Reserved PROFIdrive profile V2 No PPO write 0x0011 Request ca...

Страница 84: ...0 C3999 ƒ Offset 4000 addresses parameter set 3 C4000 C5999 ƒ Offset 6000 addresses parameter set 4 C6000 C7999 If a parameter is only available once see documentation for 8200 vector use the code offset 0 Example for C0011 maximum rotating field frequency ƒ C0011 in parameter set 1 Lenze code number 11 ƒ C0011 in parameter set 2 Lenze code number 2011 ƒ C0011 in parameter set 3 Lenze code number ...

Страница 85: ...ule is not supplied with voltage l The standard device and or the external voltage supply is are switched off Blinking const The function module is supplied with voltage but has not established a connection to the standard device Causes l The standard device is switched off l The standard device is in the initialisation phase l The standard device is not available Blinking 3x short Internal error ...

Страница 86: ...ce Set station address is incorrect Set the correct station address The PROFIBUS master indicates a bus error and the yellow LED on the function module is blinking Incorrect PROFIBUS configuration data Check the configuration data sent by the master via C1526 Permitted configuration data 31 The drive cannot be enabled The enable signal via the control word is missing Send 007Fhex Controller inhibi...

Страница 87: ...toring time in the master If one of these preconditions is not met the reaction to the absence of cyclic process data telegrams from the master is not executed Short time interruption of the communication POWER ON WAIT_PRM WAIT_CFG DATA_EXCH Slave_Diag Get_Cfg Set_Slave_Add Slave_Diag Chk_Cfg not o k Set_Prm not o k Chk_Cfg o k Slave_Diag Set_Prm Get_Cfg 2133PFB006 The master detects the communica...

Страница 88: ...ring function is available under code C1513 which becomes active when the Data_Exchange state is exited and the parameterised time 0 65535 ms has expired This function then triggers the reaction parameterised in code C1514 Note Observe the following condition for the time setting Reaction time response monitoring time of PROFIBUS ...

Страница 89: ...A17h Enable process output data 94 C1513 23062d 5A16h Monitoring response time of PZD communication 95 C1514 23061d 5A15h Monitoring reaction in case of PZD communication fault 96 C1516 23059d 5A13h Display baud rate 98 C1517 23058d 5A12h Display bus device address 98 C1520 1 10 23055d 5A0Fh Display of all words to master 98 C1521 1 10 23054d 5A0Eh Display of all words from master 99 C1522 1 16 23...

Страница 90: ...code Name Designation of the Lenze code Index Index under which the parameter is addressed Lenze Lenze setting of the code g Display code Configuration of this code is not possible Values Fixed values determined by Lenze selection list or a value range Minimum value Smallest increment unit Maximum value Access R read access reading permitted W write access writing permitted Data type l FIX32 32 bi...

Страница 91: ...election C1509 23066d 5A1Ah 3 3 1 126 FIX32 This code serves to set the bus device address The setting in this code is only effective if the DIP switches S1 S7 are set to OFF Note ƒ The bus device addresses of networked controllers must differ from each other ƒ Switch off the voltage supply of the function module and the controller and then switch it on again to activate the changed settings ...

Страница 92: ...t slip MCTRL1 NOUT 24000 º 480 Hz 5 Apparent motor current MCTRL1 IMOT 214 º100 rated device current 6 Actual process controller value PCTRL1 ACT 24000 º 480 Hz 7 Process controller setpoint PCTRL1 SET 24000 º 480 Hz 8 Process controller output PCTRL1 OUT 24000 º 480 Hz 9 Controller load MCTRL1 MOUT 214 º 100 rated motor torque 10 DC bus voltage MCTRL1 DCVOLT 16383 º 565 V DC for 400 V mains 16383...

Страница 93: ...bits 2 FIF control word 2 FIF CTRL2 16 bits 3 Setpoint 1 NSET1 N1 24000 º 480 Hz 4 Setpoint 2 NSET1 N2 24000 º 480 Hz 5 Additional setpoint PCTRL1 NADD 24000 º 480 Hz 6 Actual process controller value PCTRL1 ACT 24000 º 480 Hz 7 Process controller setpoint PCTRL1 SET1 24000 º 480 Hz 8 Reserved 9 Torque setpoint torque limit value MCTRL1 MSET 214 º100 rated motor torque 10 PWM voltage MCTRL1 VOLT A...

Страница 94: ...to re enable all or individual process data output words POW Due to the different decimal values of the bit positions any combination of process data output words can be enabled ƒ 0 Inhibit output word ƒ 1 Enable output word Value of bit position POW 10 POW 9 POW 2 POW 1 29 28 21 20 65535 FFFFhex in code C1512 enables all process output data Note 8200 vector With 8200 vector it is not possible to ...

Страница 95: ...ion is activated a communication abort initiates TRIP CE5 Documentation for the standard device Please refer to this documentation for a complete description of the setting options of this code C1513 Monitoring response time of PZD communication Code Subcode Index Possible settings Data type Lenze Selection C1513 23062d 5A16h 3000 0 1 ms 65535 FIX32 The value of the response monitoring time is pro...

Страница 96: ... this code is executed Note A change in the monitoring reaction becomes effective immediately C1572 Response time after exiting Data_Exchange Code Subcode Index Possible settings Data type Lenze Selection C1572 23003d 59DBh 65535 0 1 ms 65535 U16 If the Data_Exchange state is exited the reaction parameterised in code C1514 is carried out after the time set here has expired Note ƒ The set response ...

Страница 97: ...ssible settings Data type Lenze Selection C1501 23074 0x5A22 g VS Here the software creation date and time are displayed e g Jun 21 2000 12 31 The code contains a string with a length of 17 bytes C1502 Display of software identification code Code Subcode Index Possible settings Data type Lenze Selection C1502 23073 0x5A21 g U32 1 4 Display of code C1500 in 4 subcodes 4 characters each C1503 Displa...

Страница 98: ...A12h g 3 1 126 FIX32 Display of the valid bus device address which has been set via the DIP switches S1 S7 or via code C1509 C1520 Display of all words to master Code Subcode Index Possible settings Data type Lenze Selection C1520 23055d 5A0Fh g 0 1 65535 U16 1 PIW1 10 PIW10 Display of the master s process data input words PIW1 PIW10 in the different subcodes All words are displayed Only the confi...

Страница 99: ...511 C1522 Display of all process data words to standard device Code Subcode Index Possible settings Data type Lenze Selection C1522 23053d 5A0Dh g 0 1 65535 U16 1 16 Display of the process data words 1 16 which are transferred from the function module to the standard device Subcode Process data word 1 FIF control word 1 FIF CTRL1 2 FIF control word 2 FIF CTRL2 3 Setpoint 1 NSET1 N1 4 Setpoint 2 NS...

Страница 100: ...rocess data word 1 FIF status word 1 FIF STAT1 2 FIF status word 2 FIF STAT2 3 Output frequency with slip MCTRL1 NOUT SLIP 4 Output frequency without slip MCTRL1 NOUT 5 Apparent motor current MCTRL1 IMOT 6 Actual process controller value PCTRL1 ACT 7 Process controller setpoint PCTRL1 SET 8 Process controller output PCTRL1 OUT 9 Controller load MCTRL1 MOUT 10 DC bus voltage MCTRL1 DCVOLT 11 Ramp f...

Страница 101: ...1525 23050d 5A0Ah g 1 0 1 127 2 0 1 This code displays the current DIP switch settings ƒ Subcode1 bus device address DIP switches 2 Value Example Switch position Bus device address S1 1 ON 1 16 32 64 113 S2 2 OFF S3 4 OFF S4 8 OFF S5 16 ON S6 32 ON S7 64 ON ƒ Subcode2 compatibility DIP switches 2 Position of switch S8 Compatibility OFF E82ZAFPC201 ON E82ZAFPC0xx ...

Страница 102: ...0hex F9hex With consistent DRIVECOM parameter data channel and consistent process data Process data with consistency F0hex 1 word F9hex 10 words PKW Cons PZD 1W 1 00hex With consistent PROFIdrive parameter data channel and process data 2 F3hex With consistent PROFIdrive parameter data channel and process data in this case byte 1 is 00hex 3 70hex 79hex With consistent PROFIdrive parameter data chan...

Страница 103: ...e number of input and output bytes that will be transferred 10 DATA_EX If the parameter settings as well as the configuration have been accepted by the firmware and by the application the slave state changes to Data_Exchange exchange of user data with the master 11 Not possible 7 6 State of the watchdog state machine WD STATE 00 BAUD_SEARCH The Profibus slave is able to recognise the baud rate aut...

Страница 104: ...C1531 23044d 5A04h g 0 1 65535 FIX32 1 4 Depending on the subcode the following bus states are displayed ƒ Subcode 1 data cycles per second ƒ Subcode 2 total data cycles ƒ Subcode 3 total parameterisation events ƒ Subcode 4 total configuration events I Tip When the maximum count value of 65535 is reached the counter starts again with 0 ...

Страница 105: ...pecific parameter set of the function module l FPAR1 is stored in the function module ƒ Restoring the delivery state Selection Description 1 Lenze setting ðPAR1 Restoring the delivery state in the selected parameter set 2 Lenze setting ðPAR2 3 Lenze setting ðPAR3 4 Lenze setting ðPAR4 31 Lenze setting ðFPAR1 Restoring the delivery state in the function module 61 Lenze setting ðPAR1 FPAR1 Restoring...

Страница 106: ... ð keypad Copy all available parameter sets PAR1 PAR4 FPAR1 if available into the keypad 80 With function module 20 other Keypad ð function module Overwrite only the module specific parameter set FPAR1 with the keypad data 40 Only with function module Function module ð keypad Copy only the module specific parameter set FPAR1 into the keypad 50 Only with function module ƒ Saving your own setting Se...

Страница 107: ...dex Default setting Values Access Data type g 0 9 6 kbps R U16 1 19 2 kbps 2 93 75 kbps 3 187 5 kbps 4 500 kbps 6 1 5 Mbps 7 3 Mbps 8 6 Mbps 9 12 Mbps 10 31 25 kbps 11 45 45 kbps This PROFIdrive index displays the baud rate of the PROFIBUS I 964hex Device identification Index 964hex Name Subindex Default setting Values Access Data type 0 g 262 Manufacturer Lenze R U16 1 g 8201 Device type 2 g xxyy...

Страница 108: ...8 EDS82ZAFPC201 EN 4 0 I 974hex Settings for DPV1 parameters Index 974hex Name Subindex Default setting Values Access Data type 0 Maximum block length g 240 bytes R U16 1 Maximum number of parameter accesses g 40 2 Maximum time per access g ...

Страница 109: ...signment Bit Assignment 0 S1 0 Reserved 1 S2 1 Reserved 2 Brake 2 Reserved 3 Reserved 3 Reserved 4 Reserved 4 Reserved 5 Reserved 5 Reserved 6 Reserved 6 Fixed 1 7 Reserved 7 Controller inhibit 0 1 Controller enabled Controller inhibited 8 Reserved 8 11 Device status 9 Controller inhibit FIF CTRL1 CINH 0 1 Controller enabled Controller inhibited Bit 11 10 9 8 10 External fault FIF CTRL1 TRIP SET 0...

Страница 110: ...on To avoid such an impermissible state the parameter data to be transmitted must be marked as consistent Data communication with existing consistency With consistency either reading or writing is possible when the master and the CPU simultaneously access the memory ƒ The PROFIBUS master transfers data only as a complete data set ƒ The CPU can only access completely updated data sets ƒ The PROFIBU...

Страница 111: ...tion for your configuring software for this purpose I Tip Consistency configuration depends on the PROFIBUS master configuring software When using a Siemens S5 PLC please consider ƒ Consistency is switched on by any word in the consistent area ƒ Consistency must be switched off by a specific switch off word ƒ The type of CPU and consistency and the address area determine which word switches off co...

Страница 112: ...E82ZAFCC210 Sys bus CAN I O RS PT E82ZAFCC100 CANopen PT E82ZAFUC010 ü x x x x x DeviceNet PT E82ZAFVC010 ü x x x x x INTERBUS PT E82ZAFIC010 ü x x x x x LECOM B PT E82ZAFLC010 ü x x x x x AS interface PT E82ZAFFC010 ü x x x x x Function module on FIF Communication module on AIF INTERBUS EMF2113IB LECOM A B EMF2102IBC V001 LECOM A EMF2102IBC V004 LECOM B EMF2102IBC V002 LECOM LI EMF2102IBC V003 St...

Страница 113: ...aces 12 l 113 EDS82ZAFPC201 EN 4 0 Notes on parallel operation For internal voltage supply the jumper 0 must be plugged on at the indicated position 0 8200vec073 External voltage supply delivery state Voltage supply through internal voltage source 0 0 ...

Страница 114: ...cation fault 96 C1516 Display baud rate 98 C1517 Display bus device address 98 C1520 Display of all words to master 98 C1521 Display of all words from master 99 C1522 Display of all process data words to standard device 99 C1523 Display of all process data words from standard device 100 C1525 Display of current DIP switch setting 101 C1526 Display of last configuration data 102 C1530 PROFIBUS diag...

Страница 115: ...ntification 11 Information on nameplate 11 Installation 18 electrical 19 mechanical 18 Terminals Assignment 24 Insulation E82ZAFPC201 15 Interfaces 13 Internal DC voltage supply 23 L LED status displays 85 Lenze codes 89 C0002 105 C0126 95 C1500 97 C1501 97 C1502 97 C1503 97 C1509 91 C1510 42 92 C1511 38 93 C1512 94 C1513 95 C1514 96 C1516 98 C1517 98 C1520 98 C1521 99 C1522 99 C1523 100 C1525 101...

Страница 116: ...cture DP V0 64 Telegram structure DP V1 71 Writing parameters DP V0 61 Writing parameters DP V1 76 PROFIdrive DP V0 64 PROFIdrive DP V1 69 PROFIdrive objects 107 Programming of read requests PROFIdrive 67 Programming of write requests PROFIdrive 68 Protection against uncontrolled start up 35 Protection against unexpected start up 35 Protection of persons 10 Protective insulation 15 E82ZAFPC201 15 ...

Страница 117: ...onditions Ambient conditions Climate 14 V Validity of the documentation 5 Voltage supply 23 internal 23 Voltage supply external 23 W Wiring according to EMC 19 Wiring with a host master 20 Writing parameters PROFIdrive DP V0 61 PROFIdrive DP V1 76 ...

Страница 118: ...many Service Lenze Service GmbH Breslauer Straße 3 D 32699 Extertal Germany 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline Ê 49 0 51 54 82 28 00 Ê 49 0 51 54 82 11 12 Lenze Lenze de Service Lenze de ü www Lenze com EDS82ZAFPC201 IFG EN 4 0 TD29 10 9 8 7 6 5 4 3 2 1 ...

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