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.
( 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...
(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...
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...
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Structure of the parameter descriptions All parameters which you can use to parameterise or monitor the i700 servo inverter are stored within "objects".
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• 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...
(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.
• 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.
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.
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.
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.
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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.
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...
• 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...
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...
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.
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...
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(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...
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...
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...
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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...
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 •...
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.
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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). •...
• 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.
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...
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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.
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(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...
• 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...
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.
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• 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.
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...
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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...
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...
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...
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...
3. Go to the Project menu and select the Device parametersImport 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...
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...
• 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...
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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...
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...
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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...
• 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...
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.
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...
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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...
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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.
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...
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 •...
• 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...
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• 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...
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.
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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...
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...
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.
• 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...
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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...
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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 (...
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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).
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• 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...
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...
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...
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).
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...
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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).
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...
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...
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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...
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.
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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...
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(*.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...
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.
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...
• 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.
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.
(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...
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...
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...
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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...
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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.
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.
(*.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...
• 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...
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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...
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...
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...
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...
• 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...
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...
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...
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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).
• 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...
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...
"√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...
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...
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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.
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).
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_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Holding brake control This device function is used to control a motor holding brake connected to the i700 servo inverter. ...
• 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.
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...
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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...
"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...
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...
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...
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...
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...
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...
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...
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...
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...
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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...
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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...
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...
"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...
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...
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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...
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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...
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"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...
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...
• 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...
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...
= "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.
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...
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...
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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...
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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...
• 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...
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...
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...
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...
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...
• 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...
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...
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...
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...
• 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...
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...
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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.
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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...
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...
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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...
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...
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.
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 .
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...
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...
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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...
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.
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.
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"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.
• 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...
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...
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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...
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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...
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...
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...
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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...
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...
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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...
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...
• 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 ...
• 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...
• 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...
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.
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...
/ 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...
• 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...
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...
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...
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(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...
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• 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...
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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...
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(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...
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• 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...
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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...
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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...
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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...
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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...
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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...
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...
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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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...
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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...
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.
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.
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...
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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...
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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...
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...
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· 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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