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Related Manuals for Lenze 9215
Summary of Contents for Lenze 9215
- Page 1 DATASHEET LENZE 33.9217_E.2A OTHER SYMBOLS: RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
- Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
- Page 3 EDB9200_E/GB 00375316 Antriebstechnik Operating Instructions Servo controller 9200 series...
- Page 4 These Operating Instructions are valid for the controllers with the nameplate data: 9212 E.5x 9215 E.5x 9217 E.5x 9222 E.5x.5x 9223 E.5x.5x 9224 E.5x.5x 9225 E.5x.5x 9226 E.5x.5x 9227 E.5x.5x 9228 E.5x.5x Controller type Enclosure IP20 Hardware version + index...
- Page 5 How to use these Operating Instructions... These Operating Instructions are divided into three parts: • Planning and installation This part comprises the technical data of the supply modules, the axis modules and of accessories available for the 9200 series (e. g. motors), instructions for installation and wiring and descriptions of the drive connections.
- Page 6 The specifications, processes and ciruitry described in these Operating Instructions are for guidance only and must be adapted to your specific application. Lenze cannot be held responsible for the applicability of the processes and circuitry indicated. The specifications in these Operating Instructions describe, not guarantee the features of the equipment.
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Page 7: Table Of Contents
Content Planning and Installation Features Technical data 2.1. General data 2.2. Unit-specific data 2.2.1. Rated data of supply modules 2.2.2. Rated data of axis modules 2.3. Dimensions 2.4. Extension of delivery 2.5. Application as directed 2.6. Manufacturer's certification Installation 3.1. Mechanical installation 3.2. - Page 8 LCD display 1.1. Key functions 1.2. Plain-text display Basics of parameter setting 2.1. Change parameters 2.2. Save parameters 2.3. Load parameter 2.4. Examples Commissioning 3.1. Basic parameter setting 3.2. Input of motor nameplate data 3.3. Setting of operating parameters Additional functions 4.1.
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Page 9: Features
Planning and installation Features The 9200 controller series comprises 3 supply modules (types 9212, 9215 and 9217) and 7 servo modules (types 9222-9228 with motor peak currents ranging from 8 to 82 A) for asynchronous servo motors. • Digital control by 16-bit microcontroller and 3 ASICs •... -
Page 10: Technical Data
Technical data 2.1. General data Enclosure Steel sheet housing, IP20 to DIN 40050 Noise immunity: Severity 4 to IEC 801-4 Influence of installation height on 1000 m: 100% rated current rated current: 2000 m: 95% rated current 3000 m: 90% rated current 4000 m: 85% rated current Ambient temperature 0 °C...+45 °C during operation... -
Page 11: Rated Data Of Axis Modules
2.2.2. Rated data of axis modules Axis module type 9222_E 9223_E 9224_E 9225_E Order no. 33.9222_E 33.9223_E 33.9224_E 33.9225_E Output current 13.5 = 8 kHz) Output current = 16 kHz) Peak current (for t = 5 s at f = 8 kHz; for t = 2.5 s at f = 16 kHz) Permanent power... -
Page 12: Dimensions
2.3. Dimensions Type [mm] [mm] [mm] [mm] [mm] [mm] 9212 - 9217 9222 - 9224 9225 - 9228 2.4. Extension of delivery • Axis module or supply module • Accessory kit (busbars, State-bus line, control terminals) • Operating Instructions 2.5. Application as directed The units of the 9200 series are electrical units which are designed for the application in control cabinets in industrial power... -
Page 13: Manufacturer's Certification
2.6. Manufacturer's certification We hereby certify that the below listed electronic controllers are control components for variable speed motors intended for the assembly into machines or together with other components to form a machine. According to the "Council directive ... relating to machinery"... -
Page 14: Installation
Installation 3.1. Mechanical installation • The units are designed as housing units with enclosure IP20. • Install the units vertically with the power terminals at the top. • Ensure a free space of 100 mm at both the bottom and the top. Caution! When working with the maximum brake power, the temperature of the output air of the supply modules can reach up to 120°C. -
Page 15: Electrical Installation
• Operate the supply module with assigned mains choke. • Power input Recommended cable diameter and number of cores Supply module 9212 9215 9217 Number of cores (L1,L2,L3,PE) (L1,L2,L3,PE) (L1,L2,L3,PE) Cable diameter [mm²]... -
Page 16: Combination Of Several Axis Modules With One Supply Module
9227 9223 9226 9228 [µF] 1175 1100 2200 Permissible total capacity depending on the interval between two closing operations and the mains voltage 9000 9215; 9217 8000 V mains=400V-480V 7000 6000 5000 9212 4000 V mains=400V 9212 3000 V mains=480V... - Page 17 • When selecting the power of the supply module, proceed as follows to find out about the required input power. 1. Determine the power profile of all axis modules connected to the DC-bus by means of the process profile and the load torques during a system cycle.
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Page 18: Screening And Earthing
GND and PE are connected by a jumper inside the drive. • In case of firmly installed computer connections, a mains isolation (e.g. Lenze Converter 2101) is mandantory between computer and axis module. • The screens of the motor cables −... - Page 19 >50V~ AC at PE. • In case of firmly installed computer connections, a mains isolation (e.g. Lenze Converter 2101) is mandatory between computer and axis module. • The individual cable screens must be connected to external insulated centreal points, which are then connected to the PE potential at one point.
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Page 20: Radio Interference Suppression
3.2.3. Radio interference suppression According to § 13 and § 14 of the legislation of the European Community relating to the electromagnetic compatibility of devices (EMVG v. 09.11.92) the national standards and regulations are only interim standards vilid until December 31, 1995. In addition, the harmonized European standards can be fulfilled following the recommendations below. -
Page 21: Drive Connections
Drive connections 4.1. Power connections 4.1.1. Mains and motor connection Caution! All power terminals carry mains potential up to 5 minutes after mains disconnection. The DC-bus terminals +U and the PE terminals of the supply and axis module must be connected by means of busbars (accessory kit). -
Page 22: External Brake Resistor
4.1.2. External brake resistor To increase the permanent brake power, an external brake resistor with a higher permanent power can be installed instead of the internal resistor. In this case, the internal brake resistor must be disconnected. Disconnection of the internal resistor: 1. - Page 23 Wiring of brake resistor Caution K1 must additionally set controller enable! Wiring when using the internal brake resistor Wiring when using the external brake resistor...
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Page 24: Control Connections Of Supply Module
4.2. Control connections of supply module 4.2.1. Overheat of internal brake resistor (9210 X1) The thermal contact (capacity 230V/10A) of the internal brake resistor can be accessed via the connector X1 of the supply module. It can be used to switch off the mains in case of overload of the internal brake resistor (see also: External brake resistor). -
Page 25: State Bus
4.2.3. State bus By means of the state bus X6, the supply module gives status information like ready, overvoltage, and heat sink or resistor overtemperature to the connected axis modules. The four state bus cables must be taken from the supply module to the axis modules. The terminals in the axis module which are next to each other are internally bridged. -
Page 26: Control Connections Axis Module
4.3. Control connections axis module 4.3.1. Control terminals Pin assignment of the control terminal block X5 4.3.2. Analog input and outputs Analog set value selection For analog set value provision, two inputs are available, either as speed or torque set value provision (for selection see C005 configuration). -
Page 27: Digital Inputs And Outputs
4.3.3. Digital inputs and outputs External 24 V supply Internal 15 V supply Caution! Caution! GND is internally connected to PE Bridge signals X5,39 and X5,40. via jumper BR-PE. +Vcc G N D +Vcc G N D 20 21 22 24 26 27 28 39 40 41 42 44 59 20 21 22 24 26 27 28 39 40 41 42 44 59 Legend Marking... - Page 28 Comment on QSP function Master frequency selection For speed set value selection by means of a master frequency, the 9-pole SubD Dig.Set (X2) is used. As master frequency signal either the simulated encoder signal of the master drive or an incremental signal source with two TTL complementary signals shifted by 90°...
- Page 29 Signal + 5V Resolver 2-pole resolvers (V=10V,f=5kHz) are fitted as standard. The Lenze servo motors are already equiped with the corresponding resolvers. The resolver is connected by means of a 9-pole socket (X3). The resolver supply cable and the resolver are monitored for open circuit (fault indication Sd2).
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Page 30: Application Examples
PLC. The positioning module can be integrated into the unit and adapted to several applications. Different designs are available, e.g. the basic module with or without a terminal extension and alternatively a field bus module as Interbus-S. Lenze S ervo 9 20 0... - Page 31 Features of the positioning module 2211PP: • 32 freely assignable digital inputs with 8 or 28 via terminals according to variant • 32 freely assignable digital outputs with 4 or 16 via terminals according to variant • Absolute or relative measuring system •...
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Page 32: Wiring With Positioning Control
5.2. Wiring with positioning control SX-1 5.2.1. Diagram 1: Mains supply... -
Page 33: Diagram 2: Control Circuit 230V
5.2.2. Diagram 2: Control circuit 230V... -
Page 34: Diagram 3: Control Circuit 24V
5.2.3. Diagram 3: Control circuit 24V... -
Page 35: Diagram 4: Control Connections 9200 - Sx1
5.2.4. Diagram 4: Control connections 9200 - SX1... -
Page 36: Diagram 5: Control Connections Sx1
5.2.5. Diagram 5: Control connections SX1... -
Page 37: Accessories
Accessories (All listed components must be ordered separately) 6.1. External brake resistors Order no. [Ω] [kW] [mm] [mm] [mm] [mm] [mm] 9212 ERBD029R01k1 9215 ERBD011R01k1 9217 ERBD009R01k1 6.2. Mains chokes Part no. [mH] [mm] [mm] [mm] [mm] [mm] [mm] [mm]... -
Page 38: Rfi Filter
For radio interference suppression according to EN 55011, limit value class A or B. Assigned RFI filters for mains voltage of 400 V Supply module type 9212 9215 9217 Mains current RFI filter 25 A 50 A Order no. mains filter... -
Page 39: System Cables For Master Frequency Selection X2 And Incremental Encoder Output X4
6.5.2. System cables for master frequency selection X2 and incremental encoder output X4 green b la ck b la ck b la ck ye llow b la ck w hite P osition ing co ntrolle r A xis m odu le A xis m od ule m aster A xis m o du le slave Design... -
Page 40: System Cables For Resolver X3
6.5.3. System cables for resolver X3 Various lengths +REF white - REF black - SIN black +SIN yellow -COS black +COS red Order numbers of resolver cables Length plugs at both ends plug at motor side plug at unit side 2.5 m EW00340907 EWREB_______05... -
Page 41: System Cables For Power Supply Of Servo Motors
6.5.4. System cables for power supply of servo motors Various lengths white brown 0.5 m m black 1 1.5 m m black 2 black 3 2.5 m m 2 blank Order numbers of motor cables Cable cross section Length 4 x 1.5 mm 4 x 2.5 mm 4 x 4.0 mm 4 x 10 mm... -
Page 42: System Calbes For Supply Fo Fan And Brake
6.5.5. System calbes for supply fo fan and brake Various length black 1 black 2 0.5 m m brown Y1 + brake blue Y2 - brake green-yellow Servo motor Y1+ Y2- D o tted line: m otor w ith brake but w ithout fan : D S V A B S X X Order numbers of fan and brake supply cables Cable cross section Length... -
Page 43: Motors
6.6. Motors Asynchronous servo motors DSV/DFV series Motor type Technical data of motors Standstill brake 230V∼ = 205 V= 50/60Hz cos ϕ [min - ] [Nm] [kW] [Hz] [kgcm [kg] [Nm] DSVARS 56 3950 0.70 DSVABS 56 3950 0.70 0.06 DSVARS 71 4050 0.76... -
Page 44: Lcd Display
Parameter setting LCD display Ready (green) Curr. limit I (red) Im pulse inhib it (yellow ) Keys 1.1. Key functions Function Change between code and parameter level Increase displayed value Rapid increase of displayed value + SH Reduce displayed value Rapid reduction of displayed value + SH SH + PRG... -
Page 45: Basics Of Parameter Setting
Basics of parameter setting The drive can be adapted to your specific applications by parameter setting of the axis modules. The possible settings are arranged in the form of codes, which are numbered in ascending order and start with the letter "C". Each code provides several parameters which can be selected according to the application. -
Page 46: Save Parameters
Acceptance with SH + PRG with controller inhibit The axis module accepts the new parameter when it has been inhibited prior to pressing SH + PRG. Inhibit the controller e.g. by pressing STP. First press SH and then in addition PRG. The display shows --ok-- for 0.5 seconds. -
Page 47: Examples
2.4. Examples Change of the operating mode 1. enter Code C001 using keys -Arrow for code level- ↓ -Code no.- -parameter- > C 0 0 1 - 0 - O p e r a t i n g m o d e -Explanatory text- 2. - Page 48 Change of the ratio denominator. For codes with more than 5 digit values, the keypad operation is different: In the parameter level, the cursor can be shifted to enter large values. This is done by pressing SH+ and SH+ . 1.
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Page 49: Commissioning
Typical faults are: • incorrect screening of the cables • earth or ground current loops and if Lenze system cables are not used: • incorrect connection of the motor phases • incorrect connection of the resolver terminals The axis modules are factory-set for terminal control and parameter... - Page 50 • C001 Operating mode Selection between keypad control or control via LECOM-A/B interface or parameter setting via LECOM interface. For control or parameter setting via LECOM interface, the drive must, in addition, be given an address in code C009 (code set -2-). To change the operating mode, open RFR switch (X5 terminal 28 open).
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Page 51: Input Of Motor Nameplate Data
This parameter is only required for automation module applications to calculate the absolute reference for the torque. The rated motor power of the Lenze servo motor, which is best adapted to the axis module, is factory-set. • C087 Rated motor speed •... -
Page 52: Setting Of Operating Parameters
3.3. Setting of operating parameters The operating parameters must be adjusted according to the specific application requirements. Operating parameters can be modified ON-LINE during operation. However, a preadjustment of the operating parameters before start-up of the motor is recommended. • C022 Maximum current I Factory set to the maximum controller current. - Page 53 Speed controller setting Set a low speed set value. Enable the controller release (close RFR switch or apply a voltage of 13...30 V to X5 terminal 28). The speed controller can now be set. In case of uncontrolled motor running (oscillation etc.), the drive can be immediately stopped by pressing the STP key.
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Page 54: Additional Functions
Additional functions 4.1. Mains failure detection with DC-bus control Purpose: In the event of mains failure, this function prevents an uncontrolled coasting of the drives as long as possible for the system. Within this period of time the drives, a speed-controlled, synchronous brake is possible. - Page 55 • Parameter setting of the mains failure detection: The following codes affect the drive properties in case of mains failure: C079 Proportional gain of the DC-bus voltage controller (V -controller) (see signal flow chart p.55) C080 Integral-action component of the V z -controller C228 Acceleration integrator for the set value of the DC-bus voltage C229...
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Page 56: Wiring
4.1.1. Wiring Note • For radio interference suppression, all relays have to be equipped with free- wheeling diodes! • all relays: R < 1KΩ a) Wiring for C005 = 11 und 21 b) Wiring for C005 = 12, 13, 30 and for interface control... -
Page 57: Setting
4.1.2. Setting These setting instructions are meant as guideline and must not always decelerate the machine to standstill before reaching the undervoltage threshold. The parameter setting of the codes, which influences the DC-bus control during mains failure detection (C079, C080, C228, C236, C237), depend on the size of the drive configurations and the mechanical features of the system. - Page 58 Setting course: 1. Select a medium speed as set value according to the occuring speed range of the system. 2. Switch-off the mains. The oscillogramme shows the reaching of the undervoltage threshold on channel 2, the DC-bus voltage decreases slowly (see fig.
- Page 59 Signal fow chart DC-bus control...
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Page 60: Homing Mode
4.2. Homing mode • C250 Homing mode In the homing mode (C250 = -0-) the increments of the master frequency at the DIG.SET input are processed as a relative change of angle. By activating the homing mode (C250 = -1-) it is possible to refer to an absolute angle position of the motor shaft. -
Page 61: Further Additional Functions
4.3. Further additional functions • C004 Switch-on display Entering a code number under C004 determines which parameter is to be displayed after switching-on. • C018 Chopper frequency The chopper frequency determines the noise level. The chopper frequency can either be 8 or 16 kHz. Changing the chopper frequency changes the admissible permanent load of the axis module. -
Page 62: Serial Interfaces
The 9200 servo axis modules can communicate via the serial interfaces LECOM1 and LECOM2 with superimposed hosts (PLC or PC) as well as Lenze operating units. The LECOM1 interface (connector X1) is used to process the LECOM A/B protocol. The LECOM1 interface can also be used to connect devices to the RS 232C standard (LECOM-A) or to the RS 485 standard (LECOM-B). -
Page 63: Lecom Status Messages
5.2. LECOM status messages • C068 Operating state Bit no. Signal 0, 1, 2, 3 Operating fault 4, 5, 6, 7 Communication fault RFR enable Q min running I max N act = N set • C069 Controller state Bit no. Signal BALARM CALARM... -
Page 64: Table Of Attributes
LECOM2. Legend Code Meaning Code Lenze code number Data structure E = Single variable (only one parameter element) A = Array variable (several parameter elements can be selected by the code for the preselection or by LECOM sub code.) Image variable (several parameter elements can only be selected by the code for preselection). - Page 65 Code LCM-R/W AIF-PZD LCM2 Form. Index C000 FIX32 24575 C001 FIX32 Ra/Wa 24574 C002 FIX32 Ra/W 24573 C003 FIX32 Ra/W 24572 C004 FIX32 24571 C005 FIX32 Ra/W 24570 C009 FIX32 24566 C011 FIX32 Ra/W 24564 C012 FIX32 Ra/W 24563 C013 FIX32 Ra/W 24562...
- Page 66 Code LCM-R/W AIF-PZD LCM2 Form. Index C140 FIX32 Ra/W 24435 C153 FIX32 Ra/W 24422 C154 FIX32 Ra/W 24421 C158 FIX32 24417 C159 FIX32 Ra/W 24416 C161 FIX32 24414 C162 FIX32 24413 C163 FIX32 24412 C164 FIX32 24411 C165 FIX32 24410 C166 FIX32 24409...
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Page 67: Code Table
Code table The following table shows which settings can be performed with which codes. Detailed explanation about the codes and the functions which can be achieved, are described in special chapters. For the acceptance of parameters see page 41. How to read the code table: Column Short form Meaning Code... - Page 68 Code Name Parameter Accept- ance page C005* Configuration -11- Speed control : analog, X5, terminals 7, 8 -12- Speed control : analog, X5, terminals 1, 2 -13- Speed control : Dig. Set X2 -20- Speed control with corresponding variable torque limitation : analog X5, terminals 1, 2 : analog X5, terminals 7, 8 -21-...
- Page 69 Code Name Parameter Accept- ance page C025* Encoder noe encoder selected for setting SH+PRG bipolar set value X5, terminals 1, 2 Dig. Set master frequency X2 unipolar set value X5, terminals 7, 8 -13- act. resolver value X3 C026* Encoder no encoder constant SH+PRG constant...
- Page 70 Code Name Parameter Accept- ance page C041 CW/CCW Set value not inverted SH+PRG Set value inverted C042 QSP (Quick Quick stop inactive SH+PRG stop) Qick stop active (The speed set value goes to digital 0 with the quick stop deceleration time under C105) C043 Trip Reset no act.
- Page 71 Code Name Parameter Accept- ance page C061 Utilization I x t xxxx Setting range: 0.0...+100.0% read only Step: 0.1% The indicated value is determined by the current-time integral I x t of the controller current. When reaching 100% the I x t monitoring sets overload trip C067 Fault diagnosis see under "Service"...
- Page 72 Code Name Parameter Accept- ance page C117* Assignment of Terminal X5,42 has the function: Qmin terminal Qmin Terminals X5,42 has the function: following error limit reached If code C117 is set to -1-, the terminal X5,42 changes from HIGH to LOW level as soon as reaching the following error limit C255.
- Page 73 C161 Saved fault Display of the last eight fault read only messages messages saved under C068, C168 readable only via LECOM. The last fault reset is in C161. C200 Software Display of the software version, read only version readable only via LECOM...
- Page 74 Code Name Parameter Accept- ance page C228* Acceleration 0.01 Setting range: 0.00...990 s ON-LINE time (V Step: 0.01 s from 0.00...1 s controller) 0.1 s from 1...10 s 1 s from 10...100 s 10 s from 100...990 C229* Activation Mains failure detection with V -control -controller not activated...
- Page 75 Code Name Parameter Accept- ance page C370* Automation Automation interface active interface Automation interface inactive The automation communication must be activated when using an auto- mation module or a field bus connec- tion LECOM2. If the communication is enabled, without communicating to the other side, the controller remains inhibited.
- Page 76 JO G -e n a b le C C W F actory setting o ffse t m a x D iffe re n tia l a m p lifie r 1 0 b it C 380 C 011 C031 1 1 ,1 2 ,2 0 ,3 3 S et v alue influence, + S E T1 w hen using...
- Page 77 Torque and current control Monitoring Current transformer Controller identification Resolver wire breakage Heat sink temperature Pulse inhibit Fault memory Current vector calculation Status supply module Motor nameplate...
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Page 78: Monitoring Messages
Service Monitoring messages The servo drives of the 9200 series have numerous monitoring functions, to protect against non-permissible operating conditions. When such a protective function is activated, it either causes a corresponding message on the controller display and pulse inhibit (IMP) or, in addition (TRIP) setting. - Page 79 • OC5 Overload axis module (I · t) The servo controllers can be overloaded up to their peak current for a certain period of time. The possible duration of overload without Trip setting depends on its intensity. When exceeding the time limit, the fault OC5 "overload" is displayed. The current/time ratios that do not lead to Trip setting are shown in the overload diagrams below.
- Page 80 Overload chart for f = 16kHz chop Parameter I1/Irated Parameter I2/Irated Example B given: = 16kHz chop = 0,8 . I overload I rated = 3,4 . I overload I rated required: maximum duration of the overoad t result: = 7s OUE Overvoltage If the DC bus voltage exceeds 750 V due to : •...
- Page 81 EEr External TRIP The voltage at the TRIP-SET input X5 terminal 26 must be < 5V. Otherwise, the external TRIP will be set. SD2 Wire breakage resolver or resolver cable The electrical resistance of the resolver cables is monitored. If the line resistance is too high due to a line breakage or an interruption in the resolver, fault SD2 "wire breakage"...
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Page 82: Led Displays
LED displays The LED displays clearly indicate the momentary operating state of the controller even from greater distances. The axis modules are provided with 3 LEDs in the operating terminal, the supply has 2 LEDs at the front side. 2.1. LED supply module Ready to operate The LED is illuminated after the ON-delay has passed and no fault... -
Page 83: Checking The Power Stage
Checking the power stage The measurements described below are to be carried out only by skilled specialists. Use a digital voltmeter. The measuring values indicate the nominal value. If they are different from your measure- ments, there is a defect. 3.1. -
Page 84: Index
Index Acceleration time 48 CEO 77 A cceptance Change parameters 41 direct 41 Checking the mains rectifier 79 On-line 41 Checking the output stage 79 with SH + PRG 41 Code table 63 with SH + PRG with controller Commissioning 45 cos ϕ... - Page 85 Integral action time of the speed Mains isolation 14, 15, 59 controller 49 Mains status 20 Interference immunity 34 Mains voltage 6 Master frequency 46 Master frequency provision 46 Master frequency selection 24 Keypad control 45 Maximum current 48 Maximum speed 48 Monitoring 58 Monitoring messages 74 LCD display 40...
- Page 86 Supply modules 6 Supply voltage interrupted 77 Switch-on display 57 System cables 34 for control terminal block 34 for power supply 37 for resolver 36 supply of fan and brake 38 System fault 77 Systemcables for master frequency selection 35 Table of attributes 60 Terminal control 45 TRIP setting 74...