Lenze i700 Reference Manual
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Lenze i700 Reference Manual

Servo inverter
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Summary of Contents for Lenze i700

  • Page 1 Inverter i700 E70ACM... i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Reference manual...

  • Page 2: Table Of Contents

    Lenze control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...
  • Page 3 "motor parameter identification" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 4 Setting the field controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x29C0 | 0x31C0 - Field controller: Parameter Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 5 5.15 "DC-injection braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x2B80 | 0x3380 - DC-injection braking: Current Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 6 Operating modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6.1.1 Triggering via control word via external control (Lenze setting) _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6.1.2 Triggering via state machine of device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6.1.3...
  • Page 7 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 8 0x60BB | 0x68BB - Touch probe pos1 neg value 0x60BC | 0x68BC - Touch probe pos2 pos value 0x60BD | 0x68BD - Touch probe pos2 neg value Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 9 History buffer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x10F3 - Diagnostics: History buffer Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 10 Error code 0xFF0E: Speed too low --> command cannot be executed. Error code 0xFF0F: No resolver connected --> command cannot be executed. Error code 0xFF10: Time-out Error code 0xFF11: Numerical problem Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 11 Data header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 12 Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 13: About This Documentation

    Please read the safety instructions in the mounting instructions and in the hardware manual for the i700 servo inverter. Both manuals are included in the scope of supply of the servo inverter. Target group This documentation addresses to all persons who want to parameterise, configure, and diagnose the i700 servo inverter.

  • Page 14: Conventions Used

    ( 14) Optically highlighted reference to another page. In this online documentation activated via mouse-click. Step-by-step instructions Step-by-step instructions are indicated by a pictograph.  Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 15: Terminology Used

    (that changes quickly) at the time of activation and to process it further within the program afterwards. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 16: Definition Of The Notes Used

    Pictograph Signal word Meaning Note! Important note to ensure trouble-free operation  Tip! Useful tip for easy handling  Reference to another document  Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 17: Structure Of The Parameter Descriptions

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Structure of the parameter descriptions All parameters which you can use to parameterise or monitor the i700 servo inverter are stored within "objects".
  • Page 18 • In the Table of attributes and the Index, all objects/parameters are listed with a reference to the detailed description. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 19: Parameter Handling

    (persistently). During the initialisation at run-up, only these deviations are transferred to the i700 servo inverter by the controller. Like this it is ensured that the i700 servo inverter works with the parameter settings provided for it.

  • Page 20: Storage Parameter Set (Par001.*) And Total Parameter Set (Par000.*)

    • Only contains the parameters of the i700 servo inverter which are writable and identified with the "P" attribute (persistent). • Parameters can be read out from the i700 servo inverter and saved to the file. Conversely, the parameters stored can be written to the i700 servo inverter again.

  • Page 21: Saving A Parameter Set From The I700 To A File (Export)

    For reading out a parameter set, the corresponding parameter values are summarised in a parameter set file (par001.* or par000.*) in the i700 servo inverter and are then transferred as a file to the controller via EtherCAT.

  • Page 22: Cyclic Redundancy Check (Crc) - Parameter Set Comparison On The Basis Of The Checksum

    In particular, it is thus determined for the i700 servo inverter whether the parameter set stored in the controller is identical to that in the i700 servo inverter and therefore does not have to be loaded again.

  • Page 23: Communication With The Controller

     Stop! Before switching on the i700 servo inverter for the first time, check the entire wiring with regard to completeness, short circuit, and earth fault. To establish communication, the i700 servo inverter must be supplied with voltage. During the acceleration of the system, the controller and the drive exchange configuration data.
  • Page 24 In the case of a voltage failure/dip, there is no immediate response by the i700 servo inverter. The functionality is to be maintained for as long as possible.

  • Page 25: Process Data (Cyclic Pdo Transfer) And Pdo Mapping

    2 bus cycles in addition (for Lenze C3200) . Thus, the turnaround time for a PDO can be indicated with 3 bus cycles.

  • Page 26: Synchronisation With "Distributed Clocks" (Dc)

    Freely configurable PDO mapping object 0x1606 0x1616 Fixed, preconfigured PDO mapping object for torque limit values TPDO mapping – configuration of process data (actual values) from the i700 servo inverter to the controller 0x1A00 0x1A10 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode...

  • Page 27: Parameter Data Transfer (Sdo Communication)

    0x35C0 - 0x363F Reserved 0x2E40 - 0x2FFF 0x3640 - 0x37FF CiA402 profile specific area 0x6000 - 0xDFFF Device profile CiA402 0x6000 - 0x67FF 0x6800 - 0x6FFF Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 28: Sdo Abort Codes (Abort Codes)

    • Part of the information contained in the EtherCAT Slave Information file can be uploaded online by the EtherCAT master by accessing the EtherCAT EEPROM of the device. The description of the object directory can also be identified online. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 29: Activating The Control Via Pdo

    Bit 7  Velocity and position monitoring - deactivated Bit 8-15  Reserved  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 30: 0X2831 | 0X3031 - Lenze Status Word

     Write access  CINH  OSC  P  RX  TX UNSIGNED_16 0x2833 | 0x3033 - Lenze statusword 2 From version 01.03 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 31 Bit 8-15 Reserved  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 32: Ethernet Over Ethercat (Eoe)

    The PC used for diagnostic purposes can get the IP address via the Ethernet Switchport terminal if this supports a DHCP server or BOOTP mechanism or it must feature a statically allocated IP itself in the same subnetwork. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 33: Supported Protocols And Services

    STRING(50) 7 Data packets received UNSIGNED_32 8 Data packets transmitted UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 34: Gci-Sdo Communication (Tcp Port 9410)

    System architecture). • The parameter data of the i700 servo inverter are stored in "objects". The objects serves, for instance, to set operating parameters and motor data or query diagnostic information. • The parameter data are transmitted as SDOs (Service Data Objects) and confirmed by the receiver, i.e.

  • Page 35: Structure Of The Ethercat Data Telegram

    Assignment of user data areas P0 ... P4 0x14 20 bytes ..0x114 276 bytes 2 bytes Reserved 0x0000 Data contents = 0 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 36 (error code) 0x01 0x82 0x80 0xXX 0xXX 0xXX 0x00 0x00 Write parameters The service identification (GSV) = 0x83 in the GCI header serves to write parameter data to the i700 servo inverter: Client Server (PC) (i700) Request Request User data Indication...

  • Page 37: Assignment Of User Data Areas P0

    Low word High word Low word High word Low byte High byte Low byte High byte Low byte High byte Low byte High byte Value Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 38: Error Codes

    The general telegram identification does not correspond to the GCI communication. 36874 0x900A Unknown server request Internal error in the GCI 36878 0x900E SRV timeout Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 39: Telegram Example 1: Querying The Heatsink Temperature (Read Request)

    Byte 2 Byte 3 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4 Reserved Reserved 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 40 Byte 3 Byte 4 Parameter value Reserved 0xAE 0x01 0x00 0x00 0x00 0x00 0x00 0x00 Read value = 0x01AE = 430 = 43.0 [°C] Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 41: Telegram-Example 2: Querying The Software Version Of The I700 (Read Request)

    Byte 2 Byte 3 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4 Reserved Reserved 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 42 0x00 0x00 0x00  Note! The read parameter value of data type VISIBLE_STRING (here: "1.5.0.9999 (release)") follows subsequent to the standard user data area. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 43: Setting The Lv Warning Threshold In The I700 (Write Request)

    3.6.4.6 Telegram example 3: Setting the LV warning threshold in the i700 (write request) The warning threshold for the low-voltage detection (LV) is to be set in the i700 servo inverter to 400 V. • Object to be written: 0x2540:2 Request •...
  • Page 44 Byte 4 Byte 1 Byte 2 Byte 3 Byte 4 Parameter value Reserved 0x90 0x01 0x00 0x00 0x00 0x00 0x00 0x00 Written value (reflected) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 45: Device Settings

    Sync0 monitoring when DC mode is used This monitoring mode checks whether the Sync0 Signals are generated at the correct time in the i700 servo inverter if the "Distributed Clock mode" (DC mode) has been selected and the i700 servo inverter is in the "Operational" status.
  • Page 46 Subindex 2: Synchronisation: Error threshold Setting for PDO frame failure detection • If the internal frame failure error counter reaches the value set here, the Servo-Inverter i700 changes to the "Safe-Operational" status and triggers an error (CiA402 error code 0x8700). •...

  • Page 47: Device Identification Data

    Setting range Lenze setting (min. value | unit | max. value)  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 48: Function "Optical Device Recognition

    • A setting of "1: Start" in subindex 1 activates the function: • The two LEDs "RDY" and "ERR" on the front of the i700 servo inverter will blink for the time period set in subindex 2 with a blinking frequency of 20 Hz. Then the function is deactivated automatically.

  • Page 49: Monitoring Of The Dc-Bus Voltage

    5 Overvoltage (OU): Error threshold 800 V UNSIGNED_16 6 Overvoltage (OU): Threshold 'Reset error' 790 V UNSIGNED_16 7 DC-bus voltage is critical UNSIGNED_8 8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 50 Undervoltage (LU): Warning threshold Warning threshold for monitoring with regard to undervoltage • If the DC-bus voltage of the i700 servo inverter falls below the threshold value set here, the device reports a warning. Reset is effected with a hysteresis of 10 V.
  • Page 51 (min. value | unit | max. value)  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Related topics: 24-V supply voltage monitoring ( 251) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 52: Resetting The "Undervoltage (Lu)" Error Message

    • By output of the error number, an evaluation can be carried out. • A status bit for undervoltage is set in the CiA status word. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 53: Real Time Information (Distributed Clock)

    Subindex 2: ECAT DC: Time stamp first real-time information Display of the time when the i700 servo inverter received its first real-time information from the outside since switch-on. • In the "No real-time information received yet" status, a value of "0" is displayed.
  • Page 54 • The clock is set by writing a value. • If the i700 servo inverter is in the "No real-time information received yet" status before the writing process, it will then change to the "Receive at least one piece of real-time information" status.

  • Page 55: Motor Control & Motor Settings

    VFC: User-definable V/f characteristic - frequency grid points (x) RECORD 0x2B03 0x3303 VFC: User-definable V/f characteristic - voltage grid points (y) RECORD 0x2B04 0x3304 VFC: Voltage vector control - current setpoint UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 56 0x3462 Pole position identification PPI (min. movement) RECORD 0x2C63 0x3463 Pole position identification PPI (without movement) RECORD Advanced settings 0x2DE0 0x35E0 Advanced settings RECORD Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 57: Required Commissioning Steps (Short Overview)

    Compensating for inverter influence on output voltage Synchronous motor (SM): Compensating for temperature and current influences Jerk limitation Notch filters (band-stop filters) "Short-circuit braking" function Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 58: Servo Control For Asynchronous Motor (Asm)

    Correction of the stator leakage inductance (Lss)... Asynchronous motor (ASM): Identifying the Lh saturation characteristic Estimating the optimal magnetising current Jerk limitation Notch filters (band-stop filters) "DC-injection braking" function Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 59: V/F Characteristic Control For Asynchronous Motor (Asm)

    Defining the behaviour at the current limit (Imax controller) Optional commissioning steps (additional function or fine adjustment) "Flying restart" function "DC-injection braking" function Setting the slip compensation Setting the oscillation damping Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 60: Commissioning Functions (Short Overview)

    Initialisation (min. value | unit | max. value) 100 0  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 61: 0X2825 | 0X3025 - Axis: Operating Mode

    The identification failed or has been aborted by controller inhibit. Bits 4-15 Reserved  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 62: Enable/Inhibit Operation Via Control Word

    In this case, a subsequent renewed enable only requires (without using the STO terminals) the control word command "Enable operation" (setting "15"). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 63: Saving Changed Parameters Safe Against Mains Failure

    3. Go to the Project menu and select the Device parametersImport device parameters command to import the Lenze parameter file (*.gdc) into the selected device. 4. Save PLC project. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 64: Wiring Check By Means Of Manual Test Modes

    (min. value | unit | max. value) -1000.0 1000.0 0.0 Hz  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 65 (min. value | unit | max. value) -1000.0 ° 1000.0 0.0 °  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 66: Manual Test Mode "Voltage/Frequency

    Velocity actual value 0x2835:3 0x3035:3 Output frequency for test mode 0x2C01:1 0x3401:1 Motor - number of pole pairs Motor Greyed out = read access only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 67: Manual Test Mode "Current/Frequency

    • The current does not set freely, but is controlled to a defined value. • If a synchronous motor is connected, the generated torque can be predicted. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 68 4. To stop the test mode: • Inhibit the servo inverter. • Set object 0x2825 0x3025 for axis B) to "0" to change back to the CiA402 mode. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 69: Manual Control

    Please observe the dead band that occurs in this case. More information can be found in the section entitled Frequency and speed limitations ( 155) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 70 Axis A Axis B Parameter 0x2836:5 0x3036:5 Time span for time monitoring Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 71: 0X2836 | 0X3036 - Manual Jog: Settings

    (min. value | unit | max. value) -1000.0 1000.0 0.0 Hz  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 72 (min. value | unit | max. value) 0.01 2000.00 20.00 ms  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 73: Setting The Control Mode

    6 VFC: V/f characteristic control V/f characteristic control for asynchronous motor (ASM)  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 74: Accepting/Adapting Plant Parameters

    0.00 ms  0x2904 0x3104 Speed: Actual speed - filter time 0.6 ms   0x2D44:1 0x3544:1 Motor speed monitoring: Threshold 8000 r/min   Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 75: Compensating For Inverter Influence On Output Voltage

    • If the switching frequency should be changed later during operation, the characteristic will automatically be adapted to the current switching frequency. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 76: 0X2947 | 0X3147 - Inverter Characteristic: Voltage Grid Points (Y

    0x2947 0x3147 for axis B). • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis.

  • Page 77: 0X2De0 | 0X35E0 - Advanced Settings

    (Lenze setting printed in bold) 0 Automatically by device type 1 On 2 Off  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 78: 0X2947 | 0X3147 - Inverter Characteristic: Voltage Grid Points (Y)

    17 IC: y17 = U17 (x = 100.00 %) 0.00 V UNSIGNED_16  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 79: Setting The Motor Parameters For The Servo Control

    4 Identification in progress (all motors) Determine motor parameters automatically via "motor parameter identification"  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 80: Enter Motor Nameplate Data

    Motor: Rated voltage   0x2C01:8 0x3401:8 Motor: Rated cosine phi   0x2C01:9 0x3401:9 Motor: Insulation class   Greyed out = read access only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 81 0x3402:1 Motor rotor resistance (value at 20°C) Ω 0x2C02:2 0x3402:2 Mutual motor inductance 0x2C02:3 0x3402:3 Motor magnetising current μN s Slip e.m.f. Electromotive force Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 82: Determine Motor Parameters Automatically Via "Motor Parameter Identification

    For this purpose, the rated device current has to be higher than half the rated motor current. In case of a synchronous motor, this is irrelevant. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 83 This should not be the case. • The mutual inductance and the cos(ϕ) values are not that important for the diagnostics, because they are strongly non-linear. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 84 0x3401 0x3402 for axis B). • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis.

  • Page 85: Motor Parameters (Object Descriptions)

    (min. value | unit | max. value) 0.000 500.000 51.000 mH  Write access  CINH  OSC  P  RX  TX Scaling: 1/1000 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 86  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Subindex 10: Motor: Designation  Write access  CINH  OSC  P  RX  TX STRING(50) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 87: 0X2C03 | 0X3403 - Motor (Sm): Parameter

    (min. value | unit | max. value) -179.9 ° 179.9 -90.0 °  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 88: 0X6075 | 0X6875 - Motor Rated Current

    (min. value | unit | max. value) 0.001 1000.000 0.600 Nm  Write access  CINH  OSC  P  RX  TX Scaling: 1/1000 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 89: Setting The Feedback System For The Servo Control

    Hiperface: Type code supported by firmware 0x2C41:9 0x3441:9 Hiperface: Encoder type 0x2C41:10 0x3441:10 Hiperface: Period length linear encoder Greyed out = read access only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 90: General Settings

    Display area Initialisation (min. value | unit | max. value) 65535  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 91: 0X2C5F | 0X345F - Feedback System: Parameter Crc

    The i700 servo inverter provides the possibility to identify the error of the connected resolver and to automatically generate adjustment values for compensating the resolver error. Preconditions for the execution •...

  • Page 92: 0X2C44 | 0X3444 - Resolver Error Compensation: Parameter

    (min. value | unit | max. value) -100 100 0  Write access  CINH  OSC  P  RX  TX INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 93: Settings For "Encoder" Version

    (min. value | unit | max. value) 12.0 5.0 V  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 94: Evaluation Of The Signal Quality

    • the Servo Inverter i700 keeps its operating status. The communication error monitoring (0x2C41:4) from version 01.06.05 is only used for monitoring the initial reading out and setting of the position. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 95 • approx. 3.5 ms for an encoder • 0.3 ms for a resolver. Halving the sensitivity results in a doubling of the response time. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 96: Additional Settings For Sincos Absolute Value Encoders With Hiperface® Protocol

    If an encoder is to be used, the type code of which is not listed in the table of the supported encoder types, this encoder can be introduced to the i700 servo inverter via the subindices 2 and 3 of the hiperface parameters described in the following.

  • Page 97: 0X2C41 | 0X3441 - Hiperface: Parameter

    (Lenze setting printed in bold) 0 No response 1 Fault 2 Warning  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 98 Communication with the encoder is monitored by the protocol and by generating a checksum. If a violation of the communication protocol or a defect frame is detected, a response occurs as a Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 99: Detection Of Changed Settings Of The Feedback System

    Encoder: Increments / revolution 0x608F 0x688F Position encoder resolution After a controller enable, bit 0 of the Lenze status word 2 is always reset to "0". Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 100: Synchronous Motor (Sm): Pole Position Identification

    For the control of a permanent-magnet synchronous motor, the pole position – the angle between motor phase U and the field axis of the rotor – must be known. • For Lenze motors with an absolute encoder or resolver, the pole position has already been set correctly.

  • Page 101: Monitoring Of The Pole Position Identification

    • Monitoring of the ultimate motor current ( 271)  Note! Please observe the following: Selection criteria for using the suitable pole position identification Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 102 The pole position identification is aborted if the deviations between the rotary motion of the current vector and the rotor exceed the error tolerance set in 0x2C41:4. [5-1] PLI function (360°) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 103  Current position of the rotor ( 0x6064:0, actual position or 0x2DDE:0, actual position of rotor angle)  Commutation angle of current vector, variable of the motor control (cannot be displayed in case of i700)  Amplitude of the d current vector (...
  • Page 104 0x3403:2 for axis B) for the activated feedback system is set. • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc).
  • Page 105 • The controller inhibit automatically set by the procedure can be deactivated via the Controlword (0x6040 0x6840 for axis B).Enable/inhibit operation via control word ( 52) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 106: Adapt Pole Position Identification Ppi (360°)

    (min. value | unit | max. value) 600 40 s  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 107 (min. value | unit | max. value) 0.00 42949672.95  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 108: 0X2C61 | 0X3461 - Pole Position Identification Ppi (360

    16.5 A Motor protection parameters 0x2DDF 5.00 A User information regarding max. peak axis current 0x2DDF 10.00 A User information regarding max. RMS axis current Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 109: Pole Position Identification Ppi (Min. Movement)

    20°). If a greater motion is detected via the encoder system, the pole position identification is cancelled and the parameterised error response (Lenze setting: Fault) is triggered. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 110: 0X2C62 | 0X3462 - Pole Position Identification Ppi (Min. Movement

    0x3403:2 for axis B) for the activated feedback system is set. • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc).
  • Page 111 (min. value | unit | max. value) ° 90 20 °  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 112: Pole Position Identification Ppi (Without Movement)

    Afterwards, the controller is inhibited automatically. The pole position identification (without movement) does not require any further parameterisation. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 113 0x3403:2 for axis B) for the activated feedback system is set. • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc).

  • Page 114: 0X2C63 | 0X3463 - Pole Position Identification Pli (Without Movement)

    After every controller enable, a PLI without movement is carried out in advance.  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 115: Setting Control Loops

    This coupling can be compensated for by activating the current controller feedforward control via object 0x2941 0x3141 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 116 To ensure a smooth transition to the field weakening range, it is recommended to apply the equations for the synchronous motor for the asynchronous motor as well. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 117: 0X2941 | 0X3141 - Current Controller: Feedforward Control

    (min. value | unit | max. value) 0.00 10.00 0.00 ms  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 118: Manual Test Mode "Current Pulse

    For this purpose, a characteristic is stored in the i700 servo inverter, describing the current dependence of the stator leakage inductance and correcting the current controller gain.
  • Page 119 5. Enable the servo inverter for a short time to start the test mode. After 100 ms, controller enable is cancelled automatically by the servo inverter, avoiding the risk of an undesired motor heat-up. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 120 (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis. Saving changed parameters safe against mains failure ( 53) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 121: Determining The Total Moment Of Inertia

    Load transformed to the motor shaft (marked by *). For determining the total moment of inertia, the i700 servo inverter is triggered by the higher-level Controller and a test path (motion profile) is executed. After a mathematical procedure, the total mass moment of inertia is determined from the detected speed and torque characteristics.

  • Page 122: 0X2910 | 0X3110 - Moments Of Inertia

    0 Rigid system 1 Elastic system 2 System with backlash  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 123: Setting The Speed Controller

    Pole distance of the permanent magnets, pole pair width pole pair J Moment of inertia = J kg m Forcer Slide Load m Moving mass = m Forcer Slide Load Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 124: 0X2900 | 0X3100 - Speed Controller: Parameter

    (min. value | unit | max. value) 50.0 0.0 ms  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 125: 0X2904 | 0X3104 - Speed: Actual Speed - Filter Time

    • When a Lenze motor is selected, a starting value is automatically preset for the time constant in order that most of the applications will be feasible. Modifications required for individual cases have to be determined empirically, e.g.

  • Page 126: Setting The Position Controller

    (min. value | unit | max. value) -2147483647 [Pos unit] 2147483647 0 [Pos unit]  Write access  CINH  OSC  P  RX  TX INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 127: 0X2984 | 0X3184 - Determine Target Position: Mode

    0 Absolute: (target position = 0x2983) 1 Relative: (actual position = actual position + 0x2983)  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 128: Setting The Field Controller (Asm)

    (min. value | unit | max. value) 0.00 A/Vs 50000.00 165.84 A/Vs  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 129: Setting The Field Weakening Controller (Asm)

    (min. value | unit | max. value) 0.000 Vs/V 2147483.647 0.000 Vs/V  Write access  CINH  OSC  P  RX  TX Scaling: 1/1000 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 130: 0X29E1 | 0X31E1 - Field: Field Set Value Limitation

    (min. value | unit | max. value) 20 5 %  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 131: Field Weakening Operation - Synchronous Motor (Sm)

    5.11.7 Field weakening operation - synchronous motor (SM) The control of the i700 servo inverter permits the operation of a synchronous motor outside the voltage range. If a motor is selected in the »Easy Starter«, the control is automatically parameterised.

  • Page 132: Fine Adjustment Des Motor Model

    (I/Imax). The variables of both axes which were scaled to a reference value are represented as percentages. • When a Lenze motor is selected, the saturation characteristic is already filled with values typical of the series. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 133: 0X2C04 | 0X3404 - Motor: Lss Saturation Characteristic - Inductance Grid Points (Y)

    0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y) From version 01.05, the correction by means of saturation characteristic via the subindex 18 can also be switched off. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 134: 0X2C05 | 0X3405 - Motor: Lss Saturation Charcteristic - Reference For Current Grid Points (X

    (min. value | unit | max. value) 500.0 5.4 A  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 135: Example For Determining The Saturation Characteristic

    0.75 * 15 A = 11.25 A 0.875 * 15 A = 12.38 A 1.0 * 15 A = 15 A Rated motor current = Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 136 81.25 87.5 93.75 3.75 A 7.5 A 11.25 A 12.38 A 15 A [5-7] Scaling of the determined saturation characteristic to "100 % Vp" Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 137 9. For permanent storage: Upload the detected characteristic from the i700 servo inverter into the Controller. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis.

  • Page 138: Synchronous Motor (Sm): Compensating For Temperature And Current Influences

    415 % UNSIGNED_16 8 Magnet characteristic: y4 = kT04/kTN 72 % UNSIGNED_16  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 139: Asynchronous Motor (Asm): Identifying The Lh Saturation Characteristic

    0x2C07 0x3407 for axis B). • For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis.

  • Page 140: 0X2C07 | 0X3407 - Motor (Asm): Lh Saturation Characteristic - Inductance Grid Points (Y)

    17 Lh: y17 = L17 (x = 100.00 %) 42 % UNSIGNED_16  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 141: Estimating The Optimal Magnetising Current

    (*.gdc). In the »PLC Designer«, this file can then be imported in the corresponding axis. Saving changed parameters safe against mains failure ( 53) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 142: Parameterising Filter Elements In The Setpoint Path

    • the speed controller must be optimised again afterwards. • the test procedure must be repeated. Setting the notch filters Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 143 7. Set the filter depth to 40 dB in 0x2944:3 0x3144:3 for axis B). • If "0 dB" are set (default setting), the filter is not effective. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 144: 0X2944 | 0X3144 - Torque: Notch Filter Setpoint Torque

    (min. value | unit | max. value) 500.0 20.0 Hz  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 145 (min. value | unit | max. value) 100 0 db  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 146: Parameterising The V/F Characteristic Control

    Manual test mode "Current pulse" • Only required if the voltage vector control is applied, or if DC-injection braking or the flying restart process is activated. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 147: Defining The V/F Characteristic Shape

    0x2B01:2 | 0x3301:2 0x2B01:2 | 0x3301:2 [5-11] Principle of a linear V/f characteristic (on the left) and a quadratic V/f characteristic (on the right) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 148: 0X2B01 | 0X3301 - Vfc: V/F Characteristic - Define Reference Point

    -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz [5-12] User-definable V/f characteristic (Lenze setting) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 149: 0X2B03 | 0X3303 - Vfc: User-Definable V/F Characteristic - Voltage Grid Points (Y)

    11 V/f: y11 = U11 (x = f11) 400.00 V UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 150: Torque Increase In The Lower Speed Range ("Boost" Function)

    (min. value | unit | max. value) 0.01 2000.00 3.77 ms  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 151: Setting The Voltage Boost

    Boost Boost Frequency at ref. point Frequency at ref. point [5-13] Voltage boost for a linear V/f characteristic (left) and square-law V/f characteristic (right) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 152: 0X2B06 | 0X3306 - Vfc: Voltage Boost

    (min. value | unit | max. value) 0.00 200.00 20.00 %  Write access  CINH  OSC  P  RX  TX Scaling: 1/100 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 153: Defining The Behaviour At The Current Limit (Imax Controller)

    • overcurrent errors occur due to load impulses or too high acceleration/deceleration ramps. Recommendation: Step 1: Reduce reset time in 0x2B08:2 0x3308:2 for axis B) Step 2: Increase gain in 0x2B08:1 0x3308:1 for axis B) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 154: 0X2B08 | 0X3308 - Vfc: Imax Controller - Parameter

    (min. value | unit | max. value) 2000.0 100.0 ms  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 155: Setting The Slip Compensation

    (min. value | unit | max. value) 6000 2000 ms  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 156: Setting The Oscillation Damping

    AC component in the motor current. In the following, this AC component is called "current oscillation". Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 157: 0X2B0A | 0X330A - Vfc: Oscillation Damping - Parameter

    (min. value | unit | max. value) 20.0 0.2 Hz  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 158: Optimising Pull-Out Slip Limitation

    (min. value | unit | max. value) -600.0 600.0 0.0 Hz  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 159: Flying Restart" Function

    Selection list (Lenze setting printed in bold) 0 Off 1 On  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 160 If the "flying restart process" function is activated, the flying restart process will start after controller enable: 1. The i700 servo inverter reports the started flying restart process to the controller via bit 8 in the Lenze status word (0x2831 0x3031 for axis B).

  • Page 161: 0X2Ba1 | 0X33A1 - Flying Restart: Current

    • Since a pulse inhibit > 500 ms causes a controller inhibit, this also applies to the pulse inhibit. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 162: 0X2Ba6 | 0X33A6 - Flying Restart: Result

    0x2BA6 | 0x33A6 - Flying restart: Result Output of the speed found for acceptance in the control. • This information is pending until the control reports acceptance of the found speed to the i700 servo inverter via bit 0 in the Lenze control word...

  • Page 163: Dc-Injection Braking" Function

    "√2". This also happens in case of the field frequency 0 Hz (DC current). In case of the DC injection braking, the r.m.s. value is thus given by the factor "√ too low in 0x2DD1:5 0x35D1:5 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 164: Short-Circuit Braking" Function

    Primarily, short-circuit braking can be used to convert a part of the kinetic energy into heat energy which serves to unload external brake assemblies and limit position dampers. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 165: Setting The Switching Frequency

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ If short-circuit braking is to be used as the only holistically effective deceleration unit, it is recommended to verify the feasibility by tests. For this purpose, bit 6 in the Lenze control word (0x2830 0x3030 for axis B) serves to trigger the short-circuit braking.

  • Page 166: Frequency And Speed Limitations

    Frequency setpoint If V/f characteristic control is used, the frequency setpoint is limited in addition to the speed setpoint. • If the frequency setpoint is limited, bit 10 ("Output frequency limited") is set in the Lenze status word (0x2831 0x3031 for axis B).
  • Page 167 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Holding brake control This device function is used to control a motor holding brake connected to the i700 servo inverter. ...

  • Page 168: Holding Brake Control

    • The delay times which have been transferred as parameters to the function block from the application are considered. • The brake parameters "closing time" and "opening time" of the i700 servo inverter are not effective in this operating mode.

  • Page 169: Opening The Brake With A Starting Torque

    The following signal flow clarifies the interaction between the L_SMC_BrakeControl function block (in the application program of the Lenze Controller) and the device function integrated in the Servo Inverter i700 for holding brake control. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 170 The xBrakeReleased output reports the inhibited. The CiA402 status word (bit 14) serves to report "Holding brake closed" status. the "Holding brake closed" status. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 171: Settings

    "Switched on" to "Operation enabled" device status, it is automatically determined whether a holding brake is connected. The brake identification is executed again after every controller enable. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 172 (min. value | unit | max. value) -3276.8 3276.7  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 173 1 Release holding brake Open brake 2 Apply holding brake Apply brake  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 174 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 175: Cia402 Device Profile

    0x6080 0x6880 Max motor speed UNSIGNED_32 0x6085 0x6885 Quick stop deceleration UNSIGNED_32 0x608F 0x688F Position encoder resolution RECORD 0x6090 0x6890 Velocity encoder resolution RECORD Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 176: Cia402 Device Profile

    UNSIGNED_16 0x605E 0x685E Fault reaction option code INTEGER_16 Set motor parameters manually 0x6075 0x6875 Motor rated current UNSIGNED_32 0x6076 0x6876 Motor rated torque UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 177: Supported Drive Modes

    Depending on the position encoder resolution set (0x608F 0x688F for axis B). Internal position Incr. [Incr.] ≡ 360° CiA402 velocity r/min Internal velocity n-unit ±2 [n-unit] ≡ ±480000 rpm Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 178: General Cia402 Parameters

     Write access  CINH  OSC  P  RX  TX UNSIGNED_32 Related topics: Touch probe (TP) Delay times of the digital inputs and required minimum signal duration Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 179: 0X67Ff | 0X6Fff - Device Profile Number

    (min. value | unit | max. value) 0x00000000 0xFFFFFFFF 0x00020192  Write access  CINH  OSC  P  RX  TX UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 180: Device Control

     Write access  CINH  OSC  P  RX  TX UNSIGNED_16 0x6041 | 0x6841 - Statusword Status word from the drive Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 181: 0X6060 | 0X6860 - Modes Of Operation

    Selection of the operating mode: 0 = no operating mode (standstill) Velocity mode Cyclic sync position mode Cyclic sync velocity mode 10 = Cyclic sync torque mode Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 182: 0X6061 | 0X6861 - Modes Of Operation Display

    1000 r/min 65536 [increments] 0x6085 ---------------------------------- - ⋅ -------------------------- - ⋅ -------------------------------------------------- - 2.5 [s] 60 [s/min] 1 [r] Increments 0x6085 436907 ---------------------------- - Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 183: Commands For The Device Status Control

    Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved Release Reserved brake Apply brake Release brake X = Status not significant Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 184: Shutdown

    Bit 2 Bit 1 Bit 0 Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on operation stop Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 185: Switching On

    Bit 2 Bit 1 Bit 0 Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on operation stop Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 186: Enable Operation

    CiA402 status word, the points mentioned before are concluded and the i700 servo inverter is ready for the acceptance of setpoints of the Controller. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 187: Activate Quick Stop

    The smaller of the two limits determine the output motor torque. The torque limits from 0x60E0 0x60E1 have no effect during the quick stop. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 188: Disable Operation

    Bit 2 Bit 1 Bit 0 Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on operation stop Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 189: Disable Voltage

    Bit 2 Bit 1 Bit 0 Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on operation stop Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 190: Fault Reset

    Bit 1 Bit 0 Fault reset Control bits depending on the operating mode Enable Activate quick Enable voltage Switching on operation stop 0  1 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 191: Device States

    Via bit 7 in the Statusword, a warning is indicated. • The occurrence of a warning does not cause a state change. • Warnings do not need to be reset. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 192 Brake applied Brake released is active is not active X = Status not significant Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 193 EtherCAT bus is in the "Operational" state or if PDO communication is deactivated via object 0x2824 0x3024 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 194: Switch On Disabled

    Bit 1 Bit 0 Warning is Switch on Quick stop Voltage Fault active Operation Switched on Ready to active disabled enabled enabled switch on Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 195: Ready To Switch On

    "Shutdown" command is activated. The change to the sequential "Switched on" state is effected by activation of the "Switching on" command. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 196: Switched On

    CiA402 status word, the points mentioned before are concluded and the i700 servo inverter is ready for the acceptance of setpoints from the control. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 197 Bit 1 Bit 0 Warning is Switch on Quick stop Voltage Fault active Operation Switched on Ready to active disabled enabled enabled switch on Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 198 Operation Switched on Ready to active disabled enabled enabled switch on  Note! "Enable operation" command serves to deactivate an active quick stop again. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 199 "Fault" device status is effected. The "Fault" device status can only be exited using the "Fault reset" command if the cause of the fault is eliminated. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 200: Fault

     Note! This device status can only be left using the "Fault reset" command if the cause of the fault is eliminated. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 201: Sto ("Safe Torque Off")

    • In case of the "VFC" control type, the slip frequency has to be preloaded.  Note! If STO is inhibited, a changeover to the "Switch on disabled" device status takes place and a warning is transmitted. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 202: Selection Of The Operating Mode

    The operating mode currently set can be read via the 0x6061 object (or 0x6861 for axis B). For this object, too, access is possible via SDO or PDO. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 203: 0X607E | 0X687E - Polarity

    (min. value | unit | max. value) r/min 480000 6075 r/min  Write access  CINH  OSC  P  RX  TX UNSIGNED_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 204: 0X608F | 0X688F - Position Encoder Resolution

    = "18 bits" means that a motor revolution is displayed in a resolution of 18 bits. The i700 servo inverter is internally dimensioned to variables with 32 bits. Thus, the remaining 14 bits are used for counting the motor revolutions.

  • Page 205: 0X6090 | 0X6890 - Velocity Encoder Resolution

    Lenze setting Data type 1 Incr./s 33554432 UNSIGNED_32 2 Motor revolutions/s UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 206: 0X6062 | 0X6862 - Position Demand Value

    0x6041 0x6841 Statusword UNSIGNED_16 Greyed out = read access only 0x6062 | 0x6862 - Position demand value Interpolated set position for the position control Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 207: 0X6063 | 0X6863 - Position Actual Internal Value

    (min. value | unit | max. value) 0 0 ms  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 208: 0X6067 | 0X6867 - Position Window

    (min. value | unit | max. value) -2147483648 Incr. 2147483647 0 incr.  Write access  CINH  OSC  P  RX  TX INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 209: Object Description

    0x3031 Lenze status word UNSIGNED_16 0x6061 0x6861 Modes of operation display INTEGER_8 0x603F 0x683F Error code UNSIGNED_16 0x6044 0x6844 vl velocity actual value INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 210: 0X6042 | 0X6842 - Vl Target Velocity

    (min. value | unit | max. value) -32768 r/min 32767  Write access  CINH  OSC  P  RX  TX INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 211: 0X6044 | 0X6844 - Vl Velocity Actual Value

    0x6049 | 0x6849 - vl velocity deceleration Sub. Name Lenze setting Data type Delta speed 0 rpm UNSIGNED_32 1 Delta time 10 s UNSIGNED_16 2 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 212 Operating mode: Selection 0x6042 0x6842 vl target velocity 0x60B2 0x68B2 Torque offset 0x60E0 0x68E0 Positive torque limit value 0x60E1 0x68E1 Negative torque limit value Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 213 0x2944:3 0x3144:3 Notch filter 1: Damping 0x2944:4 0x3144:4 Notch filter 2: Frequency 0x2944:5 0x3144:5 Notch filter 2: Bandwidth 0x2944:6 0x3144:6 Notch filter 2: Damping Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 214: Signal Flow (V/F Characteristic Control)

    Axis A Axis B Input data 0x6040 0x6840 Controlword 0x2830 0x3030 Lenze control word 0x6060 0x6860 Operating mode: Selection 0x6042 0x6842 vl target velocity Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 215 Flying restart: Start frequency 0x2BA3 0x33A3 Flying restart: Integration time 0x2BA4 0x33A4 Flying restart: Min. deviation 0x2BA5 0x33A5 Flying restart: Delay time 0x2BA6 0x33A6 Flying restart: Result Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 216 A detailed representation of the signal flow with all relevant parameters can be found in the »PLC Designer« on the Signal flow tab for the i700 servo inverter. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 217: Cyclic Sync Position Mode (Csp)

    • Update of the actual values for position, speed, and torque Selection of the operating mode "Cyclic sync position mode" is selected with the setting "8" in 0x6060 0x6860 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 218: Default Mapping

    0x686C Velocity actual value UNSIGNED_16 0x6077 0x6877 Torque actual value INTEGER_16 0x6064 0x6864 Position actual value INTEGER_32 0x60F4 0x68F4 Following error actual value INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 219: Object Description

    Interpolation sub mode select INTEGER_16 0x60C2 0x68C2 Interpolation time period RECORD 0x60E0 0x68E0 Positive torque limit value UNSIGNED_16 0x60E1 0x68E1 Negative torque limit value UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 220: 0X607A | 0X687A - Target Position

     Write access  CINH  OSC  P  RX  TX INTEGER_8 Index Interpolation time period s [ ] Time period value 10 s [ ] ⋅ [7-4] Definition of the interpolation time period Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 221: 0X60E0 | 0X68E0 - Positive Torque Limit Value

    Position actual value Velocity actual value Torque actual value Encoder evaluation [7-5] Signal flow of the servo control in cyclic sync position mode (simplified representation) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 222 0x2944:3 0x3144:3 Notch filter 1: Damping 0x2944:4 0x3144:4 Notch filter 2: Frequency 0x2944:5 0x3144:5 Notch filter 2: Bandwidth 0x2944:6 0x3144:6 Notch filter 2: Damping Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 223: Control Commands & Status Information

    The following status information is output in cyclic sync position mode via the Statusword (0x6041 0x6841 for axis B): Status word Status Meaning Bit 12 0 Cyclic sync position mode inactive 1 Cyclic sync position mode active Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 224: Cyclic Sync Velocity Mode (Csv)

    • Update of the actual values for position, speed, and torque Selection of the operating mode Cyclic sync velocity mode is selected with the setting "9" in 0x6060 0x6860 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 225: Default Mapping

    INTEGER_8 0x603F 0x683F Error code UNSIGNED_16 0x606C 0x686C Velocity actual value UNSIGNED_16 0x6077 0x6877 Torque actual value INTEGER_16 0x6064 0x6864 Position actual value INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 226: Object Description

    0x68B1 Velocity offset INTEGER_32 0x60FF 0x68FF Target velocity INTEGER_32 Greyed out = read access only 0x606C | 0x686C - Velocity actual value Current speed Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 227: 0X60B1 | 0X68B1 - Velocity Offset

    Position actual value Velocity actual value Torque actual value Encoder evaluation [7-6] Signal flow of the servo control in cyclic sync velocity mode (simplified representation) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 228 0x2944:3 0x3144:3 Notch filter 1: Damping 0x2944:4 0x3144:4 Notch filter 2: Frequency 0x2944:5 0x3144:5 Notch filter 2: Bandwidth 0x2944:6 0x3144:6 Notch filter 2: Damping Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 229: 0X60Ff | 0X68Ff - Target Velocity

    Name Axis A Axis B Input data 0x6040 0x6840 Controlword 0x2830 0x3030 Lenze control word 0x6060 0x6860 Operating mode: Selection 0x60FF 0x68FF Target velocity Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 230 Flying restart: Start frequency 0x2BA3 0x33A3 Flying restart: Integration time 0x2BA4 0x33A4 Flying restart: Min. deviation 0x2BA5 0x33A5 Flying restart: Delay time 0x2BA6 0x33A6 Flying restart: Result Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 231: Control Commands & Status Information

    Statusword (0x6041 0x6841 for axis B): Status word Status Meaning Bit 12 0 Cyclic sync velocity mode inactive 1 Cyclic sync velocity mode active Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 232: Cyclic Sync Torque Mode (Cst)

    • Update of the actual values for position, speed, and torque Selection of the operating mode "Cyclic synchronous torque mode" is selected with the setting "10" in 0x6060 0x6860 for axis B). Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 233: Default Mapping

    0x6061 0x6861 Modes of operation display INTEGER_8 0x603F 0x683F Error code UNSIGNED_16 0x606C 0x686C Velocity actual value UNSIGNED_16 0x6077 0x6877 Torque actual value INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 234: Object Description

    0x6078 0x6878 Current actual value INTEGER_16 0x6079 0x6879 DC bus: Actual voltage UNSIGNED_32 0x60B2 0x68B2 Torque offset INTEGER_16 Greyed out = read access only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 235 (min. value | unit | max. value) 3276.7 250.0 %  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 236 0x6876 [Nm] * 100 max_process • Depending on the motor frame size, the Lenze setting of 0x6073 (or 0x6873 for axis B) and 0x6072 0x6872 for axis B) serves to achieve a rated current of 150 % in case of synchronous motors and a rated current of 130 % in case of asynchronous motors.
  • Page 237 0x60B2 | 0x68B2 - Torque offset Additive value for the target torque or torque feedforward control • 100 % ≡ rated motor torque (0x6076 0x6876 for axis B) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 238 (min. value | unit | max. value) -3276.8 3276.7 0.0 %  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 239: Signal Flow

    Torque actual value Interpolation 0x60C2 0x68C2 Interpolation time period Speed restriction 0x6080 0x6880 Max motor speed 0x2903 0x3103 Speed: Speed setpoint - filter time Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 240 A detailed representation of the signal flow with all relevant parameters can be found in the »PLC Designer« on the Signal flow tab for the i700 servo inverter. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 241: Control Commands & Status Information

    The following status information is output in "Cyclic synchronous torque mode" via the Statusword (0x6041 0x6841 for axis B): Status word Status Meaning Bit 12 0 Cyclic sync torque mode inactive 1 Cyclic sync torque mode active Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 242: Touch Probe (Tp)

    Touch probe pos1 neg value INTEGER_32 0x60BC 0x68BC Touch probe pos2 pos value INTEGER_32 0x60BD 0x68BD Touch probe pos2 neg value INTEGER_32 Greyed out = read access only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 243: Default Mapping

    0x60BB 0x68BB Touch probe pos1 neg value INTEGER_32 0x60BC 0x68BC Touch probe pos2 pos value INTEGER_32 0x60BD 0x68BD Touch probe pos2 neg value INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 244: General Functional Principle

    Determination of the exact position by linear interpolation (principle) The position grid points are detected in the i700 servo inverter in a grid of 250 μs. After a touch probe is tripped, the input is deactivated for up to 250 μs in order to avoid bouncing. Thus the maximum frequency for the tripping of touch probes is 4 kHz.

  • Page 245: Filtering The Touch Probe Signal

    In the following illustration, the event is detected at the time  in the i700 servo inverter. Due to the input connection and the sensor used, however, the signal has undergone a runtime delay; the actual physical event has already occurred at the time .

  • Page 246: 0X2D00 | 0X3500 - Touch Probe (Tp): Dead Time Compensation

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Delay times of the digital inputs and required minimum signal duration The table below lists the delay times typical for the digital inputs of the i700 servo inverter and the required minimum signal duration:...
  • Page 247 1: Activate sampling Bit 14  Reserved Bit 15  Reserved  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 248: Touch Probe Status

    0: LOW level 1: HIGH level Bit 15 Reserved  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 249: Time Stamps And Positions Detected

    (min. value | unit | max. value) -2147483648 [Pos unit] 2147483647 0 [Pos unit]  Write access  CINH  OSC  P  RX  TX INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 250: 0X60Bd | 0X68Bd - Touch Probe Pos2 Neg Value

    (min. value | unit | max. value) -2147483648 [Pos unit] 2147483647 0 [Pos unit]  Write access  CINH  OSC  P  RX  TX INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 251: Monitoring Functions

    Below threshold: No operation • Response with regard to the EtherCAT master and adjacent EtherCAT slaves is undefined. Related topics: Monitoring of the DC-bus voltage ( 49) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 252: Monitoring Of The Power Section And Device Utilisation (Ixt)

    175 % rated current for 6 s, recovery phase 18 s with 75 % rated current • 3-minute cycle: 150 % rated current for 60 s, recovery phase 120 s with 75 % rated current Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 253 3 minute cycle with a 150 %/60 s overload phase and a 75 %/120 s recovery phase. PT1 with 3.3 s filter time constant for power section protection PT1 with 60 s filter time constant for device protection Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 254: 0X2D40 | 0X3540 - Ixt Utilisation

    PT1 timing element. • If the warning threshold (Lenze setting: 95 %) is exceeded, a warning is output in order that the master is still able to respond if required.

  • Page 255: Monitoring Of The Heatsink Temperature

    5 °C. • If the heatsink temperature increases further and exceeds the non-adjustable error threshold (100 °C), the device changes to the "Fault" device status. Further operation of the i700 servo inverter is disabled by controller inhibit.
  • Page 256 "Fault" status. • Bigger designs of the Servo-Inverter i700 are provided with an internal fan. This is triggered at the same time as the heatsink fan and does not have internal switch-on or switch-off thresholds.

  • Page 257: Monitoring Of The Motor Utilisation (I²Xt)

    • As a response to the excess of the adjustable error threshold, set "1: Fault" in subindex 1. • In subindex 2, set the threshold value as error threshold which in case of being exceeded triggers an interruption of the operation. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 258: 0X2D4C | 0X354C - Motor Utilisation (I²Xt): Parameter For The Thermal Model

    852 s UNSIGNED_16 2 - laminations Motor utilisation (I²xt): Influence of the 27 % UNSIGNED_8 3 winding Motor utilisation (I²xt): Starting value UNSIGNED_16 4 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 259 This setting is e.g. required if only the time constant of the laminated core (T2) is known. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 260 Example: Use in site altitudes > 1000 m. In case of motors of other manufacturers, the operating points have to be parameterised based on the data sheet information. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 261: 0X2D4D | 0X354D - Motor Utilisation (I²Xt): User-Definable Characteristic

     Write access  CINH  OSC  P  RX  TX An example of how to enter the characteristic can be found in the following subchapter. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 262: Example Of How To Enter The Characteristic For Standard And Servo Motors

    Speed above the rated speed (in the field weakening range for asynchronous motors) 0x2D4D:8 0x354D:8 * 100 % Permissible motor current at speed n (field weakening) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 263 DC current load. (It is called DC current load as the field frequency amounts to 0 Hz at standstill.) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 264: Ul 508-Compliant I²Xt Motor Overload Monitoring

    Motor utilisation (I²xt): Motor overload warning threshold 100 % From version 01.04 onwards: 0x2D50:1 0x3550:1 Motor utilisation (I²xt): Response 1: Fault 0x2D50:2 0x3550:2 Motor utilisation (I²xt): Error threshold 100 % Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 265 This condition can be met by the following parameter setting: Object Name Setting Axis A Axis B 0x2D4C:4 0x354C:4 Motor utilisation (I²xt): Starting value > 0 % Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 266: Motor Temperature Monitoring

    Error threshold for motor temperature monitoring • Reset is effected with a hysteresis of 5 °C. Setting range Lenze setting (min. value | unit | max. value) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 267 (min. value | unit | max. value) 30000 2225 Ohm  Write access  CINH  OSC  P  RX  TX INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 268: Spec. Charact. Curve For Motor Temperature Sensor

    • The special characteristic is defined based on two parameterisable sampling points. The two sampling points define a line which is extrapolated to the right and to the left. In the Lenze setting, the special characteristic is defined as follows: Lenze setting of the special characteristic ...

  • Page 269: Motor Speed Monitoring

    (Lenze setting printed in bold) 0 No response 1 Fault 2 Warning  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 270: Motor Phase Failure Monitoring

    (min. value | unit | max. value) 100.0 10.0 V  Write access  CINH  OSC  P  RX  TX Scaling: 1/10 UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 271: Limits Of The Motor Phase Failure Monitoring

    • The hoist moves downwards, i.e. the motor is in generator mode. • The slip frequency equals the field frequency in terms of amount. Both frequencies mutually neutralise themselves due to their opposite effective directions. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 272: Monitoring 2: In The "Enable Operation" State Transition

    • Monitoring responds if a rotating field is output and hence a specific commutation angle (approx. 150°, electric) is covered without the current having exceeded a (non- parameterisable) threshold that depends on the device power. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 273: Monitoring With Regard To Short Circuit And Earth Fault

    The motor phases are monitored with regard to short circuit and earth fault by means of a hardware circuit. If this monitoring function is activated, the i700 servo inverter reports an error and changes to the "Pulse inhibit" error status. This error can only be reset after an inhibit time of 5 s has elapsed.

  • Page 274: Monitoring Of The Ultimate Motor Current

    (Lenze setting printed in bold) 0 No response 1 Fault 2 Warning  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 275: Monitoring Of The Position And Velocity Error

    0 No response % 1 Fault % 2 Warning %  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 276: Monitoring Of The Position Error

    Controller is monitored in addition to the following error monitoring in the servo inverter. The following error monitoring in the Controller uses its own objects. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 277: Monitoring Of The Speed Deviation

    / 0x3551:1) has been exceeded and 2. the duration of the exceedance is pending uninterruptedly as long as set in the 0x2D51:2 0x3551:2 object. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 278: Diagnostics & Error Management

    RECORD 0x2D82 0x3582 Motor: Actual voltage - Veff, phase-phase UNSIGNED_32 0x2D83 0x3583 Motor: Phase currents RECORD 0x2D8A 0x358A Speed monitoring: Actual speed error INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 279: Led Status Displays

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ LED status displays The LED status displays on the front of the i700 servo inverter provide quick information on some operating states.

  • Page 280: Indication Of Fault And Warning (Error Code)

    • The fault/warning that has occurred first is always displayed. • Faults overwrite warnings. • In general, warnings do not lock up the system. If the cause of the warning disappears, the i700 servo inverter resets the warning display and bit 7 in the Statusword...

  • Page 281: Response Of The Device In The Event Of An Error

    Error code 0x7303: Error in feedback system (from version 01.06) Error code 0x7380: Hiperface communication error Error code 0x8181: EtherCAT communication Error code 0x8700: Sync controller Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 282: 0X605E | 0X685E - Response To Error

    The smaller of the two limits determine the output motor torque. The torque limits from 0x60E0 0x60E1 have no effect during the quick stop. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 283: 0X2826 | 0X3026 - Quick Stop: Duration In The Event Of A Fault

    Setting range Lenze setting (min. value | unit | max. value)  Write access  CINH  OSC  P  RX  TX UNSIGNED_8 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 284: History Buffer

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ History buffer Via the history buffer (0x10F3), the controller can access the last 32 messages of the i700 servo inverter.
  • Page 285 Lenze setting (min. value | unit | max. value) 65535 0  Write access  CINH  OSC  P  RX  TX UNSIGNED_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 286: Cia402 Error Codes / Error Messages

    0x2D50:1 | 0x3550:1. • Error threshold can be adapted in 0x2D50:2 | 0x3550:2. Monitoring of the motor utilisation (I²xt) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 287 (display Maximum axis current ---------------------------------------------------------- - 0x2DDF:2 | 0x35DF:2). Rated motor current • Setting of rated motor current in 0x6075 | 0x6875. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 288 • Dirty fan or ventilation slots. • Replace fan. • Fixed error threshold. • Fan defective. • Warning threshold set too low. Monitoring of the heatsink temperature Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 289 Warning if restart of the drive is command 1100. device command, consult Lenze if the requested via command. error occurs frequently. • Internal error Otherwise fault. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 290 (adjustable in 0x2C45 | 0x3445) is not used. • If "fault" is set, the response set in 0x605E 0x685E takes place. Encoder open-circuit monitoring Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 291 • Remove the i700 servo inverter from the project tree and rescan the bus. • Check the device description of the i700 servo inverter. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 292 "free mapping". Error code 0x8286: PDO mapping - error Text ID: 0x2E Cause Remedies Response Incorrect PDO mapping. Check PDO mapping. Fault Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 293 Otherwise class II fault (adjustable in 0x2820:6 | 0x3020:6) • If "fault" is set, the response set in 0x605E 0x685E takes place. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 294 Remedies Response A parameter was attempted to Postpone changing the parameter Warning change which influences the until the identification is completed. identification in progress. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 295 For monitoring in 0x2D45 | 0x3545. parameter setting of the two monitoring modes, see 0x2D45 | 0x3545. Motor phase failure monitoring Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 296 The results of the inverter error Check shielding of the motor cable. Warning identification are not plausible. Connect the shield with a surface as large as possible. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 297 Hence, no data can be the device. detected. Supported encoder types with HIPERFACE® protocol Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 298: Error Code 0Xff18: Communication Timeout In The Manual Control Mode

    The check of the Replacement • Enter correct Replacement Warning Protection has failed. Protection ID. • Replace device by an OEM device. • Reprogram Replacement Protection ID. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 299: Identification Data

    3 ECAT: ESI revision 65545 UNSIGNED_32 4 ECAT: Serial number UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 300: Diagnostics Parameters

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Diagnostics parameters 0x10F8 - ECAT DC: Current time Display of the time information the i700 servo inverter is currently using (time of the device if you will). Real-time information (Distributed Clock) Display area Initialisation (min.

  • Page 301: 0X2D8A | 0X358A - Speed Monitoring: Current Speed Error

    (min. value | unit | max. value) -480000 r/min 480000  Write access  CINH  OSC  P  RX  TX INTEGER_32 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 302: Service/Internal

    1 Q-current (iq): Actual Q-current INTEGER_16 2 D-current (id): D-current setpoint INTEGER_16 3 Q-current (iq): Q-current setpoint INTEGER_16 4 Motor current Ieff INTEGER_16 5 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 303: 0X2Dd2 | 0X35D2 - Position: Target Position Interpolated

     Write access  CINH  OSC  P  RX  TX INTEGER_32 Subindex 2: Speed: target speed 2 Display area Initialisation (min. value | unit | max. value) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 304: 0X2Dd4 | 0X35D4 - Speed Controller: Output Signal

    Torque: Notch filter 1 - input value 0.0 % INTEGER_16 2 Torque: Notch filter 2 - input value 0.0 % INTEGER_16 3 Torque: Target torque filtered 0.0 % INTEGER_16 4 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 305: 0X2Dd7 | 0X35D7 - Voltage Values

     Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16 Subindex 4: D-voltage (magnetisation) Display area Initialisation (min. value | unit | max. value) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 306: 0X2Ddc | 0X35Dc - Slip: Actual Slip

    Display area Initialisation (min. value | unit | max. value) 2047  Write access  CINH  OSC  P  RX  TX INTEGER_16 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 307: 0X2Ddf | 0X35Df - Axis: Device Data

    FoE. In order to carry out a firmware download, the drive component must be in the "Bootstrap" EtherCAT status. Only one firmware with the name "i700.bin" is accepted. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 308: Reserved Objects

    Sensorless synchronous control: High speed range • 0x2C12 Sensorless synchronous control: low speed range, current-controlled • 0x2C13 Sensorless synchronous control: Low speed range, operating mode Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 309: Appendix

    4: ECAT: Serial number UNSIGNED_32 0x10F1 ECAT: Behaviour in case of error 1: Internal device response UNSIGNED_32 2: Synchronisation: Error threshold UNSIGNED_32 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 310 3: ECAT DC: Time stamp last real-time UNSIGNED_64 information 4: ECAT DC: Current time UNSIGNED_64 Axis A - holding brake control Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 311 1/10 0x2903 Speed: Speed setpoint - filter time UNSIGNED_16 1/10 0x2904 Speed: Actual speed - filter time UNSIGNED_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 312 Determine target position: Mode UNSIGNED_8 0x29C0 Field controller: Parameter 1: Field controller: Gain UNSIGNED_32 1/100 2: Field controller: Reset time UNSIGNED_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 313 VFC: Slip compensation - parameter 1: VFC: Slip compensation - influence INTEGER_16 1/100 2: VFC: Slip compensation - filter time UNSIGNED_16 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 314 INTEGER_16 1/10 3: Motor (SM): Temperature coefficient - INTEGER_16 1/1000 magnets (kTN) 4: Motor (SM): Pole position INTEGER_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 315 16: Lh: y16 = L16 (x = 93.75 %) UNSIGNED_16 17: Lh: y17 = L17 (x = 100.00 %) UNSIGNED_16 0x2C08 Motor: Motor parameter setting method UNSIGNED_8 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 316 0x2C5F Feedback system: Parameter CRC UNSIGNED_32 Axis A - pole position identification 0x2C60 Monitoring pole position identification: UNSIGNED_8 Response Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 317 UNSIGNED_8 0x2D46 Monitoring: Ultimate motor current 1: Ultimate motor current: Threshold UNSIGNED_16 1/10 2: Ultimate motor current: Response UNSIGNED_8 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 318 1: Device: Operating time UNSIGNED_32 2: Device: Power-on time UNSIGNED_32 0x2D82 Motor: Actual voltage - Veff, phase-phase UNSIGNED_32 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 319 1: Axis: Rated current UNSIGNED_16 1/100 2: Axis: Maximum current UNSIGNED_16 1/100 UNSIGNED_16 1/10 UNSIGNED_16 1/10 5: Axis: Supported feedback type UNSIGNED_8 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 320 PRBS excitation 1: PRBS stimulation: Cycle time UNSIGNED_16 2: PRBS stimulation: Amplitude UNSIGNED_16 1/10 Axis B - controller settings Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 321 17: IC: y17 = U17 (x = 100.00 %) UNSIGNED_16 1/100 0x3180 Position controller: Gain UNSIGNED_32 1/100 0x3181 Position controller: Gain - adaption UNSIGNED_16 1/100 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 322 1: VFC: Voltage vector controller - gain UNSIGNED_32 1/100 2: VFC: Voltage vector controller - reset time UNSIGNED_32 1/100 0x3306 VFC: Voltage boost UNSIGNED_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 323 INTEGER_16 1/10 3: Motor (SM): Temperature coefficient - INTEGER_16 1/1000 magnets (kTN) 4: Motor (SM): Pole position INTEGER_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 324 16: Lh: y16 = L16 (x = 93.75 %) UNSIGNED_16 17: Lh: y17 = L17 (x = 100.00 %) UNSIGNED_16 0x3408 Motor: Motor parameter setting method UNSIGNED_8 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 325 UNSIGNED_16 1/10 5: PPI (min. movement): Max. move permitted UNSIGNED_8 6: PPI (min. movement): Absolute current UNSIGNED_32 1/100 amplitude Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 326 8: Thermal sensor characteristic: grid point 1 - INTEGER_16 resistance 9: Thermal sensor characteristic: grid point 2 - INTEGER_16 resistance Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 327 Speed monitoring: Actual speed error INTEGER_32 0x35D0 Field: Values 1: Field: Actual field UNSIGNED_16 2: Field: Setpoint field UNSIGNED_16 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 328 0x6041 Statusword UNSIGNED_16 0x6042 vl target velocity INTEGER_16 0x6043 vl velocity demand INTEGER_16 0x6044 vl velocity actual value INTEGER_16 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 329 Touch probe pos2 pos value INTEGER_32 0x60BD Touch probe pos2 neg value INTEGER_32 0x60C0 Interpolation sub mode select INTEGER_16 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 330 0x6876 Motor rated torque UNSIGNED_32 1/1000 CINH 0x6877 Torque actual value INTEGER_16 1/10 0x6878 Current actual value INTEGER_16 1/10 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 331 Target velocity INTEGER_32 480000/ 0x6C04 Motor manufacturer STRING(50) 0x6D02 Supported drive modes UNSIGNED_32 0x6FFF ECAT: Device Profile Number UNSIGNED_32 Greyed out = read only Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 332: Structure Of The Parameter Set File

    Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum ( 10) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 333: Data Header

    The parameter value assigns the number of data bytes which are listed under "Data type size of the parameter". At least, however, always one byte. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 334 Index of the parameter in the object directory which the error code belongs to. Subindex of the parameter object Subindex of the parameter in the object directory which the error code belongs to. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 335: Communication Objects

    7 (csp) RPDO-->A: 0x2902 (speed controller - load starting value) 0x29020010 UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 336: 0X1601 - Rpdo-->Axis A: Cyclic Sync Torque Mode (Cst)

    Data type 1 (TP) RPDO-->A: 0x60B8 (Touch probe function) 0x60B80010 UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 337: 0X1605 - Rpdo-->Axis A: Freely Configurable (User)

    7 (csp) RPDO-->B: 0x3102 speed controller - load starting value 0x31020010 UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 338: 0X1611 - Rpdo-->Axis B: Cyclic Sync Torque Mode (Cst)

    Data type 1 (TP) RPDO-->B: 0x68B8 (Touch probe function) 0x68B80010 UNSIGNED_32  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 339: 0X1615 - Rpdo-->Axis B: Freely Configurable (User)

    _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x1615 - RPDO-->Axis B: Freely configurable (user) PDO mapping object freely configurable by the user for process data from the controller to the servo inverter i700 Sub.

  • Page 340: 0X1A01 - Axis A-->Tpdo: Cyclic Sync Torque Mode (Cst)

     Write access  CINH  OSC  P  RX  TX 0x1A04 - Axis A-->TPDO: Touch probe (TP) Fixed, preconfigured PDO mapping object for touch probe detection Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 341: 0X1A05 - Axis A-->Tpdo: Freely Configurable (User)

     Write access  CINH  OSC  P  RX  TX 0x1A05 - Axis A-->TPDO: Freely configurable (user) PDO mapping object freely configurable by the user for process data from the i700 servo inverter to the controller Sub.

  • Page 342: 0X1A11 - Axis B-->Tpdo: Cyclic Sync Torque Mode (Cst)

     Write access  CINH  OSC  P  RX  TX 0x1A13 - Axis B-->TPDO: Velocity mode (vl) Fixed, preconfigured PDO mapping object for "Velocity mode" Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 343: 0X1A14 - Axis B-->Tpdo: Touch Probe (Tp)

     Write access  CINH  OSC  P  RX  TX 0x1A15 - Axis B-->TPDO: Freely configurable (user) PDO mapping object freely configurable by the user for process data from the i700 servo inverter to the controller Sub.

  • Page 344: 0X1A16 - Axis B-->Tpdo: Additional Status Information

    9 SM2 (RPDO-->Device): PDO assignment 9 0x0000 UNSIGNED_16 10 SM2 (RPDO-->Device): PDO assignment 10 0x0000 UNSIGNED_16  Write access  CINH  OSC  P  RX  TX Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 345: 0X1C13 - Sync Manager 3 (Rpdo-->Device): Pdo Mapping

    0 ns UNSIGNED_32 11 SM3 (Device-->TPDO): Counter - missing events UNSIGNED_16 12 SM3 (Device-->TPDO): Cycle time too short UNSIGNED_16 32 SM3 (Device-->TPDO): Sync error BOOL Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 346: Licences

    WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 347: Index

    0x29E4 0x1C12 0x2B00 0x1C13 0x2B01 0x1C32 0x2B02 0x1C33 0x2B03 0x2000 0x2B04 0x2001 0x2B05 0x2020 0x2B06 0x2021 0x2B07 0x2022 0x2B08 0x2030 0x2B09 0x2100 0x2B0A 0x2500 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 348 0x2D4F 0x3183 0x2D50 0x3184 0x2D51 0x31C0 0x2D81 0x31E0 0x2D82 0x31E1 0x2D83 0x31E2 0x2D84 0x31E3 0x2D8A 0x31E4 0x2DD0 0x3300 0x2DD1 0x3301 0x2DD2 0x3302 0x2DD3 0x3303 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 349 0x3544 0x6076 0x3545 0x6077 0x3546 0x6078 0x3549 0x6079 0x354C 0x607A 0x354D 0x607E 0x354E 0x6080 0x354F 0x6085 0x3550 0x608F 0x3581 0x6090 0x3582 0x60B1 0x3583 0x60B2 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 350 (0x2823 | 0x3023) 0x6879 Axis command (0x2822 | 0x3022) 0x687A 0x687E 0x6880 Behaviour after switch-on (0x2C63:1 | 0x3463:1) 0x6885 Brake 0x688F Application time (0x2820:2 | 0x3020:2) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 351 D-current controller Real time information (0x2580) Output signal (0x2DD7:2 | 0x35D7:2) Status real time information (0x2580:1) Dead time compensation Time stamp first real-time information (0x2580:2) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 352 Start frequency (0x2BA2 | 0x33A2) Time period (0x60C2:1 | 0x68C2:1) Following error Interpolation sub mode select (0x60C0 | 0x68C0) Actual error (0x60F4 | 0x68F4) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 353 Velocity error - response (0x2D51:3) y13 = L13 (x = 75.00 %) (0x2C04:13 | 0x3404:13) Motor y14 = L14 (x = 81.25 %) (0x2C04:14 | 0x3404:14) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 354 (0x2C60 | 0x3460) Motor revolutions (0x608F:2 | 0x688F:2) Pole position identification PLI (without movement) Motor speed monitoring (0x2C63 | 0x3463) Response (0x2D44:2 | 0x3544:2) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 355 (0x2DD3:1 | 0x35D3:1) Delta speed (0x6049:1 | 0x6849:1) Target speed 2 (0x2DD3:2 | 0x35D3:2) Delta time (0x6048:2 | 0x6848:2) Speed controller Delta time (0x6049:2 | 0x6849:2) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 356 (0x60FF | 0x68FF) Target torque (0x6074 | 0x6874) Velocity actual value (0x606C | 0x686C) Target torque filtered (0x2DD6:4 | 0x35D6:4) vl target velocity (0x6042 | 0x6842) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...
  • Page 357 (0x2B05:2 | 0x3305:2) Virtual MAC address (0x2020:1) Voltage reserve range (0x29E4 | 0x31E4) Voltage values (0x2DD7 | 0x35D7) Zero system current (0x2D83:1 | 0x3583:1) Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06...

  • Page 358: 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 suggestions for improvement, please e-mail us to: feedback-docu@Lenze.de Thank you for your support. Your Lenze documentation team...
  • Page 359 · reference manual · EDSE70ACMxx · 13512810 · DMS 3.0 EN · 06/2016 · TD06  Lenze Automation GmbH Hans-Lenze-Str. 1 D-31855 Aerzen Germany +49 5154 82-0 lenze@lenze.com www.lenze.com Service Lenze Service GmbH Breslauer Straße 3 D-32699 Extertal...

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