Lenze L-force 930 Software Manual
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Lenze L-force 930 Software Manual

Lenze L-force 930 Software Manual

Small drives control
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SW-HB 13.0002-EN
.0JH
efesotomasyon.com - Lenze
L-force
930 Servo Drives
Servo inverter
931E
Software Manual

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Summary of Contents for Lenze L-force 930

  • Page 1 - Lenze L-force SW-HB 13.0002-EN .0JH Software Manual 930 Servo Drives Servo inverter 931E ...
  • Page 2 All trade names listed in this documentation are trademarks of their respective owners. © 2006 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH & Co KG Kleinantriebe.

  • Page 3: Table Of Contents

    ........General safety and application notes for Lenze servo inverters .
  • Page 4 - Lenze Contents Commissioning ............
  • Page 5 - Lenze Contents Course program ............
  • Page 6 - Lenze Contents Appendix ..............

  • Page 7: Preface And General Information

    Preface and general information About this Manual Preface and general information With the Lenze Small Drives Control parameterisation software, the 931E servo positioning controller can be optimally adapted to your application. The parameterisation program provides the following features: Parameterisation of the 931E servo positioning controller ƒ...

  • Page 8: Terminology Used

    Via the contents and the table of keywords, you will quickly find the information ƒ regarding a specific problem. Descriptions and data with regard to further Lenze products can be gathered from ƒ the respective catalogs, Operating Instructions, and Manuals.

  • Page 9: Legal Regulations

    The specifications, processes, and circuitry described in these Instructions are for guidance only and must be adapted to your own specific application. Lenze does not take responsibility for the suitability of the process and circuit proposals.

  • Page 10: Safety Instructions

    - Lenze Safety instructions Personnel responsible for safety Safety instructions Personnel responsible for safety Operator An operator is any natural or legal person who uses the drive system or on behalf of ƒ whom the drive system is used.

  • Page 11: General Safety And Application Notes For Lenze Servo Inverters

    General safety and application notes for Lenze servo inverters (According to: Low-Voltage Directive 73/23/EEC) General Lenze controllers (frequency inverters, servo inverters, DC controllers) and the accessory components can include live and rotating parts - depending on their type of protection - during operation. Surfaces can be hot.
  • Page 12 - Lenze Safety instructions General safety and application notes for Lenze servo inverters Installation The controllers must be installed and cooled according to the instructions given in the corresponding documentation. Ensure proper handling and avoid mechanical stress. Do not bend any components and do not change any insulation distances during transport or handling.

  • Page 13: General Safety Information

    General safety information These safety information are not claimed to be complete. In case of questions and ƒ problems, please contact your Lenze representative. At the time of delivery the communication interfaces meet the state of the art and ƒ...

  • Page 14: Residual Hazards

    - Lenze Safety instructions Residual hazards Residual hazards Protection of persons After power-off, the power terminals UL, BR and GND still carry hazardous voltages for at least 3 minutes! Before working on the controller, check that no voltage is applied to the power ƒ...

  • Page 15: Definition Of Notes Used

    - Lenze Safety instructions Definition of notes used Definition of notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions:  Danger! (characterises the type and severity of danger)

  • Page 16: Installation

    The firmware of the 931E servo positioning controller and the Small Drives Control parameterisation software must match each other, i.e. if a new firmware version with additional functions is used, the corresponding version of the Lenze Small Drives Control parameterisation software will be required.

  • Page 17: Software Installation

    4. Start the SETUP.EXE program with a double-click. 5. Follow the instructions of the installation program. The installation program creates a new program group called ”Lenze”. In this program group, you can find the entry ”SDC” that is used to start the parameterisation program.

  • Page 18: User Interface

    - Lenze User interface Building up serial communication User interface Building up serial communication For correct communication data setting, proceed as follows: 1. Completely connect the 931E servo positioning controller. 2. Use a serial cable to connect the free interface of your PC with the 931E servo positioning controller.
  • Page 19 - Lenze User interface Building up serial communication Retry with old parameters (COM3, 9600 Baud): ƒ To solve the access conflict with a program using the interface, close the other program (with MS-DOS programs, also close the MS-DOS shell!!) and click Retry with old parameters (COM3, 9600 Baud).

  • Page 20: Starting Sdc / User Interface

    - Lenze User interface Starting SDC / user interface Standard buttons Starting SDC / user interface 4.2.1 Standard buttons If you open a control window, the control window will contain a ”button bar” which may look as follows: 931e_362 Meaning of the individual buttons: ƒ...

  • Page 21: Numerical Input Fields

    - Lenze User interface Starting SDC / user interface Numerical input fields 4.2.2 Numerical input fields The control windows of the parameterisation program often contain fields for numerical entries (see below figure): The values can be entered as follows: 1.

  • Page 22: Display Of Setpoints And Actual Values

    - Lenze User interface Starting SDC / user interface Display of setpoints and actual values 4.2.4 Display of setpoints and actual values The parameterisation program uses the following concept to display the setpoints selected by the user and the actual controller values: 1.

  • Page 23: Standard Control Windows

    - Lenze User interface Starting SDC / user interface Standard control windows 4.2.5 Standard control windows With online parameterisation, the command window, the status window and the actual value window will always be open by default. With offline parameterisation, the status window and the actual value window will not be open.

  • Page 24: Communication Via Communication Objects

    - Lenze User interface Starting SDC / user interface Communication via communication objects 4.2.7 Communication via communication objects The parameterisation program uses so-called communication objects to access the 931E servo positioning controller via a standardised software interface inside the controller.

  • Page 25: Commissioning

    - Lenze Commissioning Important notes Commissioning Important notes Before switching on the supply voltage for the 931E servo positioning controller for the first time, check the following connections for correctness and completeness: Motor cable and synchronous motor connection (X3) ƒ...
  • Page 26 - Lenze Commissioning Important notes Principle circuit diagram 1/PE AC 230 V 24 V DC 24 ... 48 V DC 931E +AIN 0 X4.1 -AIN 0 +AIN 1 -AIN 1 X4.2 +AMON 0 +AMON 1 DIN 4 DIN 5...

  • Page 27: Default Parameter Set

    - Lenze Commissioning Important notes Default parameter set 5.1.1 Default parameter set In the delivery state of the 931E servo positioning controller, the default parameter set is loaded. During the first commissioning, the default parameter set must be adapted to your application.

  • Page 28: Speed Control

    - Lenze Commissioning Speed control Functions available Speed control 5.2.1 Functions available The speed control has the structure of a cascade-shaped control system with an inner current control circuit and a higher-level speed control circuit. The controllers are designed as PI controllers.
  • Page 29 - Lenze Commissioning Speed control Functions available 931E_100 Fig. 2 Block diagram: Controller cascade  SW-HB 13.0002-EN EN 3.0...

  • Page 30: Commissioning Steps

    Open the menu Parameters  Device parameters  Motor data  Select Apart from the motor data, this menu new motor and select a motor from the Lenze motor database. also includes default settings for the feedback system and the current and speed controller.

  • Page 31: Selecting A Motor From The Motor Database

     Select new motor. A list will be displayed, from which you can select the motor used: 931e_372 If a Lenze motor is used,select the motor and confirm your selection withAccept values and close dialog. Otherwise, click Quit without changes.

  • Page 32: Activating The Operating Mode

    - Lenze Commissioning Speed control Activating the operating mode 5.2.4 Activating the operating mode For speed control, configure the command window as follows: 931e_208 5.2.5 Input configuration Select the menu Parameters  I/Os  Digital inputs and check if the analog input has been configured correctly.

  • Page 33: Setpoint Selection Via Setpoint Selectors

    - Lenze Commissioning Speed control Setpoint selection via setpoint selectors 5.2.6 Setpoint selection via setpoint selectors With torque and speed control, you can use the setpoint management of the 931E servo positioning controller for setpoint selection. Select Operating mode  Setpoint selection to open the corresponding menu.
  • Page 34 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors Setpoint selection via the analog input The 931E servo positioning controller is equipped with two analog inputs with an input voltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speed and torque setpoints.
  • Page 35 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors 931E_118 Fig. 3 Safe zero Setpoint  Safe zero   Note! In applications with position control (internal or via the extern control), the function ”safe zero” must not be activated, because activation will have the same control effects as a dead band or ”backlash”...
  • Page 36 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors Setpoint ramp The setpoint management includes a ramp generator. Via Selector: Speed setpoint, you can select one of the above setpoint sources and lead them via the ramp generator. In addition, you can select another source as setpoint (Selector: Connecting setpoint), which will, however, not be led via the ramp generator.
  • Page 37 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors péÉÉÇ 931e_218 You can separately select ramps for CW and CCW rotation and for rising and falling speeds. If the ramp accelerations are sometimes identical, you can use the [r3 = r1], [r4 = r2] or [r2 = r3 = r4 = r1] checkboxes to facilitate the entry.
  • Page 38 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors Setpoint selection via RS232 If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode  Setpoint selection RS232 to select the setpoint. The menu can also be opened by a click on the ”...”...
  • Page 39 - Lenze Commissioning Speed control Setpoint selection via setpoint selectors Torque limitation As already mentioned, with speed control, it is possible to define a torque limitation. In this case, the selected setpoint source will specify a maximum torque which will symmetrically limit the setpoint for the current and torque controller.

  • Page 40: Optimising The Speed Controller

    - Lenze Commissioning Speed control Optimising the speed controller 5.2.7 Optimising the speed controller To optimise the speed controller for your application, select Parameters  Controller parameters  Speed controller to open the menu for selecting the controller parameters: 931e_222 In this menu, you can set the Gain and the Time constant for the PI controller.
  • Page 41 - Lenze Commissioning Speed control Optimisation strategies  Stop! Excessive speed jumps may damage or destroy your system / mechanical components. Please observe the load limits for the mechanical components. Optimisation strategies The behaviour of the speed controller can be monitored by recording the response to a speed jump.
  • Page 42 - Lenze Commissioning Speed control Optimisation strategies For speed controller adjustment, increase the gain until vibrations occur. Then slowly reduce the gain until the drive stops vibrating. After this, reduce the time constant until vibrations occur. Then slowly increase the time constant until the controller is stable and stiff with setpoint = 0.

  • Page 43: Setting The Controller Enable Logic

    - Lenze Commissioning Speed control Setting the controller enable logic 5.2.8 Setting the controller enable logic Select the controller enable logic to enable the power stage and control in the 931E servo positioning controller. The controller enable logic decides which conditions must be met to enable the power stage and energise the motor.

  • Page 44: Making The Controller Ready For Operation

    - Lenze Commissioning Speed control Making the controller ready for operation 5.2.9 Making the controller ready for operation After controller enable, the shaft must start rotating. Unless the motor shows this behaviour, an error has occurred or the 931E servo positioning controller has not been parameterised correctly.

  • Page 45: Torque Control

    - Lenze Commissioning Torque control Functions available Torque control 5.3.1 Functions available The torque control has the structure of a cascade-shaped control system with an inner current control circuit and a higher-level speed control circuit. The controllers are designed as PI controllers.
  • Page 46 - Lenze Commissioning Torque control Functions available 931E_100 Fig. 4 Block diagram: Controller cascade  SW-HB 13.0002-EN EN 3.0...

  • Page 47: Commissioning Steps

    Open the menu Parameters  Device parameters  Motor data  Select Apart from the motor data, this menu new motor and select a motor from the Lenze motor database. also includes default settings for the feedback system and the current and speed controller.

  • Page 48: Selecting A Motor From The Motor Database

     Select new motor. A list will be displayed, from which you can select the motor used: 931e_372 If a Lenze motor is used,select the motor and confirm your selection withAccept values and close dialog. Otherwise, click Quit without changes.

  • Page 49: Activating The Operating Mode

    - Lenze Commissioning Torque control Activating the operating mode 5.3.4 Activating the operating mode For torque control, configure the command window as follows: 931e_226 The torque setpoint can be selected in A or Nm. Open the menu Options  Display units to select the unit.

  • Page 50: Input Configuration

    - Lenze Commissioning Torque control Input configuration 5.3.5 Input configuration Select the menu Parameters  I/Os  Digital inputs and check if the analog input has been configured correctly.  Note! The analog inputs must not be configured as digital inputs. The selection ”AIN’s used as DIN’s”...

  • Page 51: Setpoint Selection Via Setpoint Selectors

    - Lenze Commissioning Torque control Setpoint selection via setpoint selectors 5.3.6 Setpoint selection via setpoint selectors With torque and speed control, you can use the setpoint management of the 931E servo positioning controller for setpoint selection. Select Operating mode  Setpoint selection to open the corresponding menu.
  • Page 52 - Lenze Commissioning Torque control Setpoint selection via setpoint selectors qçêèìÉ Åçåíêçä 931e_228  Note! If an analog input is activated as setpoint source, but no line to the setpoint indicated, the digital entries might be activated. The following setpoint sources can be selected: 2 analog inputs: AIN0 and AIN1 ƒ...
  • Page 53 - Lenze Commissioning Torque control Setpoint selection via setpoint selectors Setpoint selection via the analog input The 931E servo positioning controller is equipped with two analog inputs with an input voltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speed and torque setpoints.
  • Page 54 - Lenze Commissioning Torque control Setpoint selection via setpoint selectors 931E_118 Fig. 5 Safe zero Setpoint  Safe zero   Note! In applications with position control (internal or via the extern control), the function ”safe zero” must not be activated, because activation will have the same control effects as a dead band or ”backlash”...
  • Page 55 - Lenze Commissioning Torque control Setpoint selection via setpoint selectors Setpoint selection via RS232 If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode  Setpoint selection RS232 to select the setpoint. The menu can also be opened by a click on the ”...”...
  • Page 56 - Lenze Commissioning Torque control Setpoint selection via setpoint selectors Torque limitation As already mentioned, with torque control, it is possible to define a torque limitation. In this case, the selected setpoint source will specify a maximum torque which will symmetrically limit the setpoint for the current and torque controller.

  • Page 57: Setting The Controller Enable Logic

    - Lenze Commissioning Torque control Setting the controller enable logic 5.3.7 Setting the controller enable logic Select the controller enable logic to enable the power stage and control in the 931E servo positioning controller. The controller enable logic decides which conditions must be met to enable the power stage and energise the motor.

  • Page 58: Making The Controller Ready For Operation

    - Lenze Commissioning Torque control Making the controller ready for operation 5.3.8 Making the controller ready for operation After controller enable, the shaft must start rotating. Unless the motor shows this behaviour, an error has occurred or the 931E servo positioning controller has not been parameterised correctly.

  • Page 59: Positioning Mode

    - Lenze Commissioning Positioning mode Functions available Positioning mode  Note! You can skip this chapter, if you are only using speed or torque control. 5.4.1 Functions available In positioning mode, the speed control is superimposed by a positioning control and a position is selected which is to be automatically approached by the motor, i.e.
  • Page 60 - Lenze Commissioning Positioning mode Functions available 931E_101 Fig. 6 Block diagram: Positioning control Positioning parameters of:  (positioning control, fieldbus (CAN), homing, course program) Trajectory generator  Positioning parameters Temp. data record Pos set  N precontrol ...
  • Page 61 - Lenze Commissioning Positioning mode Functions available  Note! Unlike many competitive products, the servo positioning controller re-calculates the complete traversing process in every control cycle. With this concept, positioning processes can be modified or cancelled any time, even during traversing.

  • Page 62: Commissioning Steps

    Open the menu Parameters  Device parameters  Motor data  Select Apart from the motor data, this menu new motor and select a motor from the Lenze motor database. also includes default settings for the feedback system and the current and speed controller.

  • Page 63: Selecting A Motor From The Motor Database

     Select new motor. A list will be displayed, from which you can select the motor used: 931e_372 If a Lenze motor is used,select the motor and confirm your selection withAccept values and close dialog. Otherwise, click Quit without changes.

  • Page 64: Activating The Operating Mode

    - Lenze Commissioning Positioning mode Activating the operating mode 5.4.4 Activating the operating mode For homing or positioning, configure the command window as follows: 931e_230 5.4.5 Input configuration Select the menu Parameters  I/Os Digital inputs to assign functionalities to the digital inputs DIN0 ...

  • Page 65: Global Positioning Settings

    - Lenze Commissioning Positioning mode Global positioning settings 5.4.6 Global positioning settings Select Parameters  Positioning  Settings position sets / course program to open the menu Settings position sets / course program. With this menu you can define the positioning range as a global setting for all positioning processes.

  • Page 66: Target Parameterisation

    - Lenze Commissioning Positioning mode Target parameterisation 5.4.7 Target parameterisation 64 position sets can be parameterised in the 931E servo positioning controller. For parameterising the position sets, open the menu Parameters  Positioning  Destination parameters. Click GO! to start positioning with the displayed destination position. Please observe the controller enable logic.
  • Page 67 - Lenze Commissioning Positioning mode Target parameterisation If the combination relative/Interrupt actual positioning is selected, the new target position will be calculated from the current setpoint position. In the Start during positioning field you can select the behaviour of the servo positioning controller, if a start command for a new target position is received during an active positioning process.
  • Page 68 - Lenze Commissioning Positioning mode Target parameterisation qê~îÉêëáåÖ éêçÑáäÉ 931e_238 Use the Destination field to enter the target position. The target position can be interpreted in different ways, depending on whether absolute or relative positioning has been selected (see the Settings) tab).
  • Page 69 - Lenze Commissioning Positioning mode Target parameterisation Time-optimal positioning Positioning with jerk limitation Fig. 7 Time optimal positioning and positioning with jerk limitation The positioning range selected under Parameters  Positioning  Settings position sets / course program is shown in the Positioning range (input limits) field.

  • Page 70: Setting The Controller Enable Logic

    - Lenze Commissioning Positioning mode Setting the controller enable logic 5.4.8 Setting the controller enable logic Select the controller enable logic to enable the power stage and control in the 931E servo positioning controller. The controller enable logic decides which conditions must be met to enable the power stage and energise the motor.

  • Page 71: Approaching Targets

    - Lenze Commissioning Positioning mode Approaching targets 5.4.9 Approaching targets There are different ways to select destinations and start positioning: Via the serial interface: ƒ Target position approaching and homing can be activated via the parameterisation program. For this, activate the menu items Parameters  Positioning  Go to destination.

  • Page 72: Setting Digital Outputs

    - Lenze Commissioning Positioning mode Setting digital outputs Input Function Description DIN9 Controller enable With a rising edge, the controller will be initialised and enabled together with the power stage. With a falling edge, the motor will be decelerated to speed = 0 and the power stage will be switched off.

  • Page 73: Course Program

    - Lenze Commissioning Course program Functions available Course program  Note! You can skip this chapter, if you are only using speed or torque control. 5.5.1 Functions available The course program allows you to link several position sets in a sequence. These positions will be approached one after another.

  • Page 74: Commissioning Steps

    Open the menu Parameters  Device parameters  Motor data  Select Apart from the motor data, this menu new motor and select a motor from the Lenze motor database. also includes default settings for the feedback system and the current and speed controller.

  • Page 75: Selecting A Motor From The Motor Database

     Select new motor. A list will be displayed, from which you can select the motor used: 931e_372 If a Lenze motor is used,select the motor and confirm your selection withAccept values and close dialog. Otherwise, click Quit without changes.

  • Page 76: Activating The Operating Mode

    - Lenze Commissioning Course program Activating the operating mode 5.5.4 Activating the operating mode For selecting the course program positioning, configure the command window as follows: 931e_242  SW-HB 13.0002-EN EN 3.0...

  • Page 77: Input Configuration

    - Lenze Commissioning Course program Input configuration 5.5.5 Input configuration In the menu Parameters  I/Os  Digital inputs, the two analog inputs must be used as digital inputs. 931e_368 Select Functional overview to display the digital inputs available and the current input assignments.
  • Page 78 - Lenze Commissioning Course program Input configuration When the course program is activated, the digital inputs that are usually used for starting and selecting position sets will be used as follows: DIN: Function: Explanation: DIN 0 NEXT 2 Rising edge: Continue with next position 2.

  • Page 79: Global Positioning Settings

    - Lenze Commissioning Course program Global positioning settings 5.5.6 Global positioning settings Select Parameters  Positioning  Settings position sets / course program to open the menu Settings position sets / course program. With this menu you can define the positioning range as a global setting for all positioning processes.

  • Page 80: Target Parameterisation

    - Lenze Commissioning Course program Target parameterisation 5.5.7 Target parameterisation 64 position sets can be parameterised in the 931E servo positioning controller. For parameterising the position sets, open the menu Parameters  Positioning  Destination parameters. Click GO! to start positioning with the displayed destination position. Please observe the controller enable logic.
  • Page 81 - Lenze Commissioning Course program Target parameterisation position will be calculated from the current setpoint position. In the Start during positioning field you can select the behaviour of the servo positioning controller, if a start command for a new target position is received during an active positioning process.
  • Page 82 - Lenze Commissioning Course program Target parameterisation qê~îÉêëáåÖ éêçÑáäÉ 931e_238 Use the Destination field to enter the target position. The target position can be interpreted in different ways, depending on whether absolute or relative positioning has been selected (see the Settings) tab).
  • Page 83 - Lenze Commissioning Course program Target parameterisation Time-optimal positioning Positioning with jerk limitation Fig. 8 Time optimal positioning and positioning with jerk limitation The positioning range selected under Parameters  Positioning  Settings position sets / course program is shown in the Positioning range (input limits) field.

  • Page 84: Creating The Course Programs

    - Lenze Commissioning Course program Creating the course programs 5.5.8 Creating the course programs Select Parameters  Positioning  Course program to open the menu for managing and creating course programs with up to 32 program lines. 931e_248 Click File>>Program to load a course program that has already been created into the servo positioning controller or click Program>>File to save the program you have created.
  • Page 85 - Lenze Commissioning Course program Creating the course programs You can select between the following basic course program commands: Position branch (and linear position sequence) ƒ Branch (line) ƒ Level test (and unconditional program jump) ƒ End of program ƒ...
  • Page 86 - Lenze Commissioning Course program Creating the course programs The response to the stop signal can also be defined in the Options field. If the digital stop signal is evaluated, the following actions will follow: The current positioning process, if any, will be interrupted. The drive will decelerate ƒ...

  • Page 87: Type Of Command - Position Branch

    - Lenze Commissioning Course program Type of command - Position branch 5.5.9 Type of command - Position branch 931e_250 Depending on NEXT1 and NEXT2, different positions will be approached. The course program will continue execution in the next command line.
  • Page 88 - Lenze Commissioning Course program Type of command - Position branch If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, the target selected under NEXT1 will be approached. Thus, you can carry out a linear positioning process (e.g. POS1POS2POS3).

  • Page 89: Type Of Command - Branch (Line)

    - Lenze Commissioning Course program Type of command - Branch (Line) 5.5.10 Type of command - Branch (Line) 931e_252 Depending on NEXT1 and NEXT2, the program will continue execution in different lines. If the digital signal NEXT1 changes to HIGH (rising signal), program execution will continue in line X.
  • Page 90 - Lenze Commissioning Course program Type of command - Branch (Line) Fig. 12 assumes that positioning has been started in program step 10. With the start of positioning (10), the course program changes to the following status. Assuming that ”Go to line immediately” has been selected for NEXT1/2, the NEXT1/2 inputs will already be polled in the active positioning process.

  • Page 91: Type Of Command - Level Test

    - Lenze Commissioning Course program Type of command - Level test 5.5.11 Type of command - Level test 931e_254 Depending on the level of NEXT1, the program will continue execution in different lines. NEXT1=HIGH NEXT1=LOW 931E_115 Fig. 13 Course program - level test Line N ...
  • Page 92 - Lenze Commissioning Course program Type of command - Level test In Fig. 14, the level of NEXT1/2 is checked at the beginning of program step 11. Depending on the result, the line of the next course program command will be determined.

  • Page 93: Type Of Command - End Of Program

    - Lenze Commissioning Course program Type of command - End of Program 5.5.12 Type of command - End of Program 931e_256 The current positioning process will be completed, then the program will be closed. No digital outputs will be set/reset. No other positioning process will be started.

  • Page 94: Setting The Controller Enable Logic

    - Lenze Commissioning Course program Setting the controller enable logic 5.5.13 Setting the controller enable logic Select the controller enable logic to enable the power stage and control in the 931E servo positioning controller. The controller enable logic decides which conditions must be met to enable the power stage and energise the motor.

  • Page 95: Debugging The Course Program

    - Lenze Commissioning Course program Debugging the course program 5.5.14 Debugging the course program If you change to debug mode, additional status information will be displayed in the course program window: Course program active: Will be on when the course program is active or being ƒ...

  • Page 96: Application Examples

    - Lenze Commissioning Course program Application examples 5.5.15 Application examples The following examples will give you an idea of the flexible solutions provided by the course program. Linear linkage of positions Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at every position.
  • Page 97 - Lenze Commissioning Course program Application examples Linear linkage of positions with digital output setting Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at every position. Then, the course program shall stop.
  • Page 98 - Lenze Commissioning Course program Application examples Setting and querying of digital inputs and outputs; never-ending loop Set DOUT1 for one second to HIGH. Then wait until NEXT1 will be active. When NEXT1 is active, position 16 will be constantly approached (3 seconds start delay).

  • Page 99: Homing

    - Lenze Homing Homing In most applications in which the 931E servo positioning controller is used in positioning mode, a zero position must be defined to which the position controller can refer. This position is called homing position and must be defined every time the controller is switched on.
  • Page 100 - Lenze Homing Mode 1: Negative limit switch with zero pulse evaluation With this mode, the drive traverses at search speed in negative direction until reaching the negative limit switch. In Fig. 18, this is indicated by the rising edge (movement from CW to CCW direction).
  • Page 101 - Lenze Homing  Note! With homing modes 1 and 2, ensure that the zero mark or the index pulse of the encoder will not coincide with the switching edge of the limit switch or be near the switching edge, because this may lead to a home position shift by one motor revolution.
  • Page 102 - Lenze Homing Modes 33 and 34: Homing to zero pulse With modes 33 and 34, the direction of homing is negative or positive. The zero position refers to the first zero pulse of the angle encoder in search direction.
  • Page 103 - Lenze Homing Mode -2: Positive limit stop with zero pulse evaluation With this mode, the drive traverses in positive direction until reaching the limit stop. The 931E servo positioning controller needs at least 1 second to detect the limit stop. When selecting the limit stop, ensure that it will not be damaged when the maximum current parameterised will be applied.

  • Page 104: Parameterisation Of Homing

    - Lenze Homing Parameterisation of homing Mode -18: Homing to the positive limit stop With this mode, the drive traverses in positive direction until reaching the limit stop. The 931E servo positioning controller needs at least 1 second to detect the limit stop. When selecting the limit stop, ensure that it will not be damaged when the maximum current parameterised will be applied.
  • Page 105 - Lenze Homing Parameterisation of homing pÉííáåÖë Use the Mode field to select the homing mode. With homing, the motor will rotate until the Destination is activated. A special case is the No run mode. In this case, the current actual position will be defined as home position.
  • Page 106 - Lenze Homing Parameterisation of homing aêáîáåÖ éêçÑáäÉ Here you can enter the speeds and accelerations for the following actions: Search: ƒ The drive traverses to the target (limit switch, limit stop) Crawl: ƒ The drive reverses (at low speed) to determine the contact threshold Running: ƒ...

  • Page 107: Digital Outputs And Analog Inputs And Outputs

    - Lenze Digital outputs and analog inputs and outputs Digital outputs DOUT1, DOUT2 Digital outputs and analog inputs and outputs Digital outputs DOUT1, DOUT2 By default, four digital outputs (DOUT0 ... DOUT3) are available to display selected operating states of the 931E servo positioning controller. The output DOUT0 is firmly connected and indicates if the servo positioning controller is ready for operation.
  • Page 108 - Lenze Digital outputs and analog inputs and outputs Digital outputs DOUT1, DOUT2 Settings Select the menu Parameters  I/Os  Digital outputs to set the parameters of the digital outputs DOUT1 and DOUT2. 931e_318 DOUT1 and DOUT2 can each be independently assigned with one of the following signals: OFF, i.e.
  • Page 109 - Lenze Digital outputs and analog inputs and outputs Digital outputs DOUT1, DOUT2 cçääçïáåÖ Éêêçê Following error: ƒ Tolerance margin for the permissible following error. Message delay: ƒ Time delay, in which the actual position must be outside the tolerance margin, before the message ”Following error”...
  • Page 110 - Lenze Digital outputs and analog inputs and outputs Digital outputs DOUT1, DOUT2 aÉëíáå~íáçå Angle/distance: ƒ Tolerance margin in which the message ”Target reached” is set. Message delay: ƒ Time delay, in which the actual position must be within the tolerance window, before the message ”Target reached”...

  • Page 111: Holding Brake Dout3

    - Lenze Digital outputs and analog inputs and outputs Holding brake DOUT3 Holding brake DOUT3 If your motor is equipped with a holding brake, the holding brake can be controlled by the 931E servo positioning controller in line with the operation. The 931E servo positioning controller can only control holding brakes with a rated voltage of 24 V DC.
  • Page 112 - Lenze Digital outputs and analog inputs and outputs Holding brake DOUT3 931E_117 Fig. 27 Time behaviour of the holding brake Controller enable  Power stage active  Holding brake released  Speed setpoint  Actual speed  Run delay Stop delay ...

  • Page 113: Analog Inputs Ain

    - Lenze Digital outputs and analog inputs and outputs Analog inputs AIN Analog inputs AIN The 931E servo positioning controller is equipped with two analog inputs with an input voltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speed and torque setpoints.
  • Page 114 - Lenze Digital outputs and analog inputs and outputs Analog inputs AIN 931E_118 Fig. 28 Safe zero Setpoint  Safe zero   Note! In applications with position control (internal or via the extern control), the function ”safe zero” must not be activated, because activation will have the same control effects as a dead band or ”backlash”...

  • Page 115: Analog Outputs Amon

    - Lenze Digital outputs and analog inputs and outputs Analog outputs AMON Analog outputs AMON The 931E servo positioning controller has two analog outputs for the output and display of internal control values which can be displayed by using an external oscilloscope. The output voltage is between 0 V and +10 V.

  • Page 116: Using The Oscilloscope Function

    - Lenze Oszilloskop Using the oscilloscope function Using the oscilloscope function of the parameterisation program, you can display signal flows and digital states and optimise physical parameters. The recorded curves, e.g. step responses, can be printed out, saved as bitmaps or exported ®...

  • Page 117: Oscilloscope Settings

    - Lenze Oszilloskop Oscilloscope settings Oscilloscope settings 931e_270 The Oscilloscope Settings window includes four tabs for more precise settings Ch1: Selection of the measured value on channel 1 ƒ Ch2: Selection of the measured value on channel 2 ƒ...
  • Page 118 - Lenze Oszilloskop Oscilloscope settings `eN ~åÇ `eO The oscilloscope has two channels. In the CH1 and CH2 tab, you can select the following channel settings: Measured value to be displayed. Click the selection box of the corresponding ƒ...
  • Page 119 - Lenze Oszilloskop Oscilloscope settings qêáÖÖÉê In the Trigger tab, you can select the trigger source from the selection list in the Trigger source field. As for CH1 and CH2, the trigger event can be selected from a list of predefined standard events.

  • Page 120: Oscilloscope Window

    - Lenze Oszilloskop Oscilloscope window Oscilloscope window 931e_272 The oscilloscope is equipped with the following buttons to activate activities: Commands and functions Shifts the indicated section in horizontal direction Stops the zoom function Zoom function: Help text Activates Excel and generates a worksheet with the measured values of the last...
  • Page 121 - Lenze Oszilloskop Oscilloscope window Further buttons and checkboxes: 931e_364 Cursor button ƒ These buttons and checkboxes are used to control and visualise the cursor control of the oscilloscope. When the user changes to the oscilloscope window, the value of the selected channel will be numerically displayed at the actual time (cursor position).

  • Page 122: Troubleshooting And Fault Elimination

    - Lenze Troubleshooting and fault elimination Error monitorings in the 931E Overcurrent and short-circuit monitoring Troubleshooting and fault elimination Error monitorings in the 931E The 931E servo positioning controller is equipped with a comprehensive sensor technology that monitors the trouble-free functioning of the controller, the power stage, the motor and the communication with the outside world.

  • Page 123: Monitoring The Dc-Bus Voltage

    - Lenze Troubleshooting and fault elimination Error monitorings in the 931E Monitoring the DC-bus voltage 9.1.2 Monitoring the DC-bus voltage Overvoltage monitoring: ƒ The overvoltage monitoring for the DC bus will respond if the DC-bus voltage exceeds the operating voltage range. After this, the power stage will be switched off.

  • Page 124: Monitoring The Motor

    - Lenze Troubleshooting and fault elimination Error monitorings in the 931E Monitoring the motor 9.1.5 Monitoring the motor Rotary encoder monitoring: ƒ When a rotary encoder error occurs, the power stage will be switched off. When a resolver is used, the track signal will be monitored. Other ”intelligent” encoders are equipped with other error detections.

  • Page 125: Other Internal Monitoring Functions

    - Lenze Troubleshooting and fault elimination Error monitorings in the 931E Other internal monitoring functions 9.1.7 Other internal monitoring functions Memory test / checksums: ƒ The check sum calculation and the processor stack are used to monitor the internal FLASH memory (program and data flash).

  • Page 126: Error Message

    - Lenze Troubleshooting and fault elimination Error message  SW-HB 13.0002-EN EN 3.0...
  • Page 127 - Lenze Troubleshooting and fault elimination Error message  SW-HB 13.0002-EN EN 3.0...
  • Page 128 - Lenze Troubleshooting and fault elimination Error message  SW-HB 13.0002-EN EN 3.0...
  • Page 129 - Lenze Troubleshooting and fault elimination Error message  SW-HB 13.0002-EN EN 3.0...
  • Page 130 - Lenze Troubleshooting and fault elimination Error message  SW-HB 13.0002-EN EN 3.0...
  • Page 131 Note! The 931E servo positioning controller internally manages error numbers 1 to ƒ Please contact your Lenze representative, if your controller indicates an error ƒ number that is not described in the error table and identified as an unknown error in the chapter ”Error management”. ( 133) These error numbers may have been assigned as part of firmware ƒ...

  • Page 132: Error Window

    - Lenze Troubleshooting and fault elimination Error window Error window The error window is a permanent window of the parameterisation program. If no error is active, the window will be minimised. When a controller error occurs, the user interface will change as follows: 1.

  • Page 133: Error Management

    - Lenze Troubleshooting and fault elimination Error management Error management The error management window and the error window are used for error messages and warnings. Select Error  Error management to open the error management window: 931e_276 This window is used to determine the error response of the servo positioning controller.

  • Page 134: Appendix

    - Lenze Appendix Parameterisation of outside motors Motor data Appendix 10.1 Parameterisation of outside motors 10.1.1 Motor data  Note! This menu must be activated, if the motor could not be identified by means of the list. Select the menu Parameters  Device parameters  Motor data.
  • Page 135 - Lenze Appendix Parameterisation of outside motors Motor data  Stop! Please observe that the entries for maximum current and rated current are r.m.s. values! If the currents are too high, the motor will be destroyed because the permanent magnets in the motor are demagnetised.

  • Page 136: Angle Encoder

    - Lenze Appendix Parameterisation of outside motors Angle encoder 10.1.2 Angle encoder The 931E servo positioning controller supports four angle encoder types. Resolvers with sin/cos signals ƒ Stegmann sin/cos encoders with hiperface interface (multi- and single-turn ƒ encoders) Select the menu Parameters  Device parameters  Angle encoder adjustments to enter the angle encoder parameters.
  • Page 137 - Lenze Appendix Parameterisation of outside motors Angle encoder During the automatic angle encoder identification, the controller will be switched on for several seconds and the motor directly driven with a controlled rotating field. The automatic identification thus determines the following parameters: Pole pair number of the motor ƒ...
  • Page 138 ƒ The manual determination of the angle encoder data requires a profound knowledge of synchronous machines and the encoder used. For this reason, we recommend to contact your Lenze representative in this case.  Danger! Faulty angle encoder data may lead to uncontrolled motions of the drive which may cause material damage at the motor or the entire system.
  • Page 139 - Lenze Appendix Parameterisation of outside motors Angle encoder the motor e.m.f. because the speed determined via the feedback features a higher accuracy. The feedback via the motor e.m.f. requires the entry of additional motor characteristics in the menu Parameters  Device parameters  Motor data, see the chapter ”Motor data”.

  • Page 140: Motor Temperature Monitoring

    Use the selection field to choose one of the following temperature sensors: KTY 81/82-210/220/250 ƒ KTY 81/82-110/120/150 ƒ KTY 83-110/120/150 (Lenze standard temperature sensor) ƒ KTY 84-130/150 ƒ  Stop! The selection of a wrong temperature sensor will lead to a faulty evaluation of the winding temperature.

  • Page 141: Selecting The Safety Parameters

    - Lenze Appendix Parameterisation of outside motors Selecting the safety parameters 10.1.4 Selecting the safety parameters In many applications, it is necessary to limit the accelerations, speeds and the traversing range to ”manageable” values to protect the mechanical components from overload.

  • Page 142: Limit Switch Settings

    - Lenze Appendix Parameterisation of outside motors Limit switch settings 10.1.5 Limit switch settings The 931E servo positioning controller supports both limit switches with normally closed and normally open contacts. When selecting the drive settings, ensure that both limit switches are inactive when the drive is in the permissible positioning range.

  • Page 143: Power Stage

    - Lenze Appendix Parameterisation of outside motors Power stage 10.1.6 Power stage With the menu Parameters  Device parameters  Power stage you can determine the behaviour of the power stage. As clock frequency you can select 10 kHz or 20 kHz.

  • Page 144: Dc-Bus Monitoring

    - Lenze Appendix Parameterisation of outside motors DC-bus monitoring 10.1.7 DC-bus monitoring In special applications, e.g. rapid acceleration or braking of axes with high masses, the DC-bus voltage may suddenly break down or become too high when the selected power supply unit is not powerful enough or not able to feed back the power.

  • Page 145: Current Controller

    - Lenze Appendix Parameterisation of outside motors Current controller 10.1.8 Current controller Select the menu Parameters  Controller parameters  Current controller to select the current controller settings: 931e_290 The speed controller can only be adjusted to the selected motor, if the current controller settings (gain factor and time constant) are correct.
  • Page 146 - Lenze Appendix Parameterisation of outside motors Current controller Fig. 29 Step response of the current controller  SW-HB 13.0002-EN EN 3.0...

  • Page 147: Setting And Optimising The Position Controller

    - Lenze Appendix Parameterisation of outside motors Setting and optimising the position controller 10.1.9 Setting and optimising the position controller In addition to the speed controller, a higher-level position controller is active during positioning which processes the deviations between setpoint and actual position and implements them into corresponding setpoint selections for the speed controller.
  • Page 148 - Lenze Appendix Parameterisation of outside motors Setting and optimising the position controller Optimising the position controller  Stop! The position controller adjustment requires correct current and speed ƒ controller settings. (See the previous chapters.) Please ensure that the motor shaft can freely rotate and the drive will not be ƒ...

  • Page 149: General Configuration Settings

    - Lenze Appendix Parameterisation of outside motors General configuration settings 10.1.10 General configuration settings The possible display unit settings (basic configuration) depend on the basic configuration selected under the menu Parameters  Application parameters  General configuration. Here, the following menu will appear. Use this menu to select the common drive...

  • Page 150: Display Unit Settings

    - Lenze Appendix Parameterisation of outside motors Display unit settings 10.1.11 Display unit settings Select the menu Options  Display units to enter the display unit settings for position, speed and acceleration. The display units are only used for the display in the parameterisation program.
  • Page 151 - Lenze Appendix Parameterisation of outside motors Display unit settings  Note! The settings of the display units are selected independently of a possible setpoint selection via the fieldbus. I.e. the settings of the display units do not influence the factor group and the notation and dimension indices in...
  • Page 152 - Lenze Appendix Parameterisation of outside motors Display unit settings aáêÉÅí áåéìí Use the Direct input tab to configure the display units. Thus it is possible to use other units than the display units that are available for selection.

  • Page 153: User-Defined Display Unit Settings

    - Lenze Appendix Parameterisation of outside motors User-defined display unit settings 10.1.12 User-defined display unit settings Go to the Display mode field and activate User-defined to adapt the display units to your application. 931e_306 aáëéä~ó ìåáíë  Note! All user-defined units are displayed with [...].
  • Page 154 - Lenze Appendix Parameterisation of outside motors User-defined display unit settings aÉÅáã~ä éä~ÅÉë Furthermore, you can select the decimal positions for the display units. Go to the Decimal places tab and select the menu OptionsDisplay units to select the number of decimal positions for the distance, speed and acceleration unit (between 0 and 5).

  • Page 155: Direct Entry Of Distance, Speed And Acceleration Units

    - Lenze Appendix Parameterisation of outside motors Direct entry of distance, speed and acceleration units 10.1.13 Direct entry of distance, speed and acceleration units aáêÉÅí áåéìí If you have selected the option Direct input in the Display mode field in the Display units tab, you can directly enter the Position, Speed and Acceleration factor group in the Direct input tab.

  • Page 156: Defining The Input Limits

    - Lenze Appendix Parameterisation of outside motors Defining the input limits 10.1.14 Defining the input limits Select Options  Input limits to open the following menu: 931e_312 Enter the maximum speed and acceleration values expected for your application. The program uses your entries for the input field limits.

  • Page 157: Communication Interfaces

    - Lenze Appendix Communication interfaces Control via CAN bus 10.2 Communication interfaces 10.2.1 Control via CAN bus Functions available The 931E servo positioning controller uses the CANopen protocol according to DS301 / DSP402. The following operating modes specified in CANopen are supported: Torque control (profile torque mode) ƒ...
  • Page 158 - Lenze Appendix Communication interfaces Control via CAN bus Processing of CAN messages The 931E servo positioning controller uses a command interpreter for the CAN messages received. The command interpreter is called every 1.6 msec. With every call, the command interpreter can process one SDO or a special message such as a SYNC telegram or an emergency message.
  • Page 159 - Lenze Appendix Communication interfaces Control via CAN bus CANopen communication parameter settings Select the menu Parameters  Fieldbus  CANopen to adapt the CANopen communication parameters of the 931E servo positioning controller to your CAN-bus network. 931e_330 You can select the following communication parameters: Baud rate: ƒ...

  • Page 160: Control Via The Serial Interface

    - Lenze Appendix Communication interfaces Control via the serial interface 10.2.2 Control via the serial interface Functions available The 931E servo positioning controller has an asynchronous serial interface which is in most cases used for the parameterisation of the servo positioning controller.
  • Page 161 - Lenze Appendix Communication interfaces Control via the serial interface Setting the RS232 communication parameters Select the menu Options  Communication  Baud rate to increase the baud rate to the Actual data transfer rate: 931e_332 For this, select a Preferred data transfer rate. The program will try to build up communication with the selected baud rate.
  • Page 162 - Lenze Appendix Communication interfaces Control via the serial interface Transfer window The Transfer window is used to send commands directly to the 931E servo positioning controller and to monitor the response. Select the menu command File  Transfer to activate the Transfer window.

  • Page 163: Control Via The Technology Interface

    Control via the technology interface The 931E servo positioning controller has a technology interface which is equipped with a synchronous serial interface. This enables the integration of customer-specific extension modules/communication interfaces. If required, please contact your Lenze representative.  SW-HB 13.0002-EN EN 3.0...

  • Page 164: Serial Communication Protocol

    - Lenze Appendix Serial communication protocol 10.3 Serial communication protocol The 931E servo positioning controller and the SDC parameterisation interface communicate via a serial communication protocol in ASCII format. All commands are terminated by a <CR> (return). For the exact technical data of the serial interface, please see the chapter ”Control via the serial interface”.
  • Page 165 - Lenze Appendix Serial communication protocol Command Response Description BAUDbbbb Set baud rate BOOT? SERVICE / APPLICATION Status check: Boot loader active? BUS? xxxx:BUS:nn:bbbb:mmmm CAN bus status INIT! Switch-on message Load default parameter set RESET! Switch-on message Activate HW reset...

  • Page 166: Communication Object List

    - Lenze Appendix Communication object list 10.4 Communication object list This chapter lists the communication objects used by the SDC parameterisation interface for data exchange with the 931E servo positioning controller. The chapter ”Base units” contains a list of the base units used for the communication objects.
  • Page 167 - Lenze Appendix Communication object list Name Meaning Scaling 0034 seqc_brake_lock_time Delay time for locking the holding brake. Base unit time 0035 seqc_auto_brake_time Minimum waiting time until brake response. Base unit time Presently not supported. 0036 commh_ctrlenab_log Parameter writes the component giving 0: Only DIN9 controller enable.
  • Page 168 - Lenze Appendix Communication object list Name Meaning Scaling 0087 ioh_aout_range Value range of analog monitor (maximum) for Base unit voltage both channels 0088 ioh_aout_resolution_volt Resolution of analog monitor, voltage Base unit voltage indication for one bit referred to the value...
  • Page 169 - Lenze Appendix Communication object list Name Meaning Scaling 00CA currc_i_ref_profi Setpoint torque - Profi Base unit current 00CB currc_i_lim_rs232 Parameterisable torque limitation - RS232 Base unit current 00CC currc_i_lim_can Parameterisable torque limitation - CAN Base unit current 00CD...
  • Page 170 - Lenze Appendix Communication object list Name Meaning Scaling 00F8 ssel_enab_off_ramp_dec Brake acceleration for quick stop ramp Base unit acceleration 00F9 spdc_n_target_speed Comparison speed for message ”When n_mess Base unit speed +/- n_mess_hyst is reached a bit will be set in the status word”...
  • Page 171 - Lenze Appendix Communication object list Name Meaning Scaling 012A posi_bus0_a_dec_jerkfree Jerk-free components during deceleration Base unit time Positioning group psarameter 012B seqc_homing_method Homing mode Determination according to CANopen DSP 402 012C ssel_ain0_x_per_volt Position setpoint scaling of AIN0: Base unit position...

  • Page 172: Base Units

    - Lenze Appendix Communication object list Base units Name Meaning Scaling 0162 osc_samples Number of samples Number of sample values per channel 0163 osc_sample_time Min. sample time between two samples Base unit time 0164 osc_triggermask Trigger mask of oscilloscope for digital triggers ’01L, ’02L, ’04L, etc., ’FFL’ are...

  • Page 173: Bit Assignment Of Command Word / Status Word / Error Word

    - Lenze Appendix Communication object list Bit assignment of command word / status word / error word 10.4.2 Bit assignment of command word / status word / error word Command word (seqc_opmode) Meaning Controller reset (hardware reset via commh) Debug mode 0 = off;...
  • Page 174 - Lenze Appendix Communication object list Bit assignment of command word / status word / error word Status word (rs232_stat_sum) Meaning 31 ... 28 — MOTID operation 26 ... 25 — INTERNAL enabling of controller and power stage 23 ... 22 —...
  • Page 175 - Lenze Appendix Communication object list Bit assignment of command word / status word / error word Error word (low) (errh_err_field_0) Meaning — Limit switch error — Following error monitoring Power stage temperature 5°C below maximum Motor temperature 5°C below maximum I@T with 80% 24 ...
  • Page 176 - Lenze Appendix Communication object list Bit assignment of command word / status word / error word Error word (high) (errh_err_field_1) Meaning Initialisation error Checksum error Stack overflow — Error in preliminary pos. calculation — Operating mode error Position data record error...

  • Page 177: Timing Charts

    - Lenze Appendix Timing charts 10.5 Timing charts The following diagrams show some typical 931E servo positioning controller applications and the corresponding timings of the digital inputs and outputs. Since some times depend on the operating state of the controller, sometimes only guide values can be indicated.In these cases, the control must query additional status messages of the 931E.

  • Page 178: Switch-On Sequence

    - Lenze Appendix Timing charts Switch-on sequence 10.5.1 Switch-on sequence 931E_121 Fig. 31 Switch-on sequence Power on  DOUT0: Ready  Controller enable  Power stage is on  Holding brake released  Speed setpoint  Actual speed ...
  • Page 179 - Lenze Appendix Timing charts Switch-on sequence t1 ≈ 500 msec ƒ Boot-program processing and start of application t2 > 1.6 msec ƒ t3 ≈ 10 msec ƒ Depends on the operating mode and the status of the drive t4 = N x 1.6 msec...

  • Page 180: Positioning / Target Reached

    - Lenze Appendix Timing charts Positioning / target reached 10.5.2 Positioning / target reached 931E_122 Fig. 32 Positioning /target reached Positioning start  DIN0 ... DIN5  Positioning in progress  DOUT: Target reached  Set position  Actual position ...

  • Page 181: Speed Message

    - Lenze Appendix Timing charts Speed message 10.5.3 Speed message 931E_123 Fig. 33 Speed message Setpoint speed  Actual speed  DOUT: Setpoint speed reached  t1 < 1.6 msec ƒ t2 < 1.6 msec ƒ 10.5.4 Error acknowledgement 931E_124 Fig.

  • Page 182: Limit Switches

    - Lenze Appendix Timing charts Limit switches 10.5.5 Limit switches 931E_125 Fig. 35 Limit switch Limit switch active  Actual speed (1)  Actual speed (2)  t1 < 0.2 msec ƒ t2 = N x 0.2 msec ƒ...

  • Page 183: Parameter Set Management

    - Lenze Appendix Parameter set management General information 10.6 Parameter set management 10.6.1 General information For trouble-free motor control with the 931E servo positioning controller, the characteristics of the 931E servo positioning controller must have been set correctly. In the following, the individual characteristics will be referred to as parameters;...

  • Page 184: Loading And Saving Of Parameter Sets

    - Lenze Appendix Parameter set management Loading and saving of parameter sets The current parameter set of the 931E servo positioning controller is saved in the RAM (RAM = Random Access Memory). The RAM contents will get lost when the supply voltage is switched off.

  • Page 185: Printing Parameter Sets

    - Lenze Appendix Parameter set management Printing parameter sets 10.6.3 Printing parameter sets Select the menu items File  Parameter set  Print to print, display or save parameter sets in plain text format: The following menu appears: 931e_340 In the Print positions field of this menu, you can select the positions to be printed at the end of the parameter list.
  • Page 186 - Lenze Appendix Parameter set management Printing parameter sets Additional information In this menu, the user can enter additional information on the parameter set. The information will be accepted in the plain text. This mainly concerns the date, which may be defined independently of the current date.

  • Page 187: Offline Parameterisation

    - Lenze Appendix Offline parameterisation 10.7 Offline parameterisation The toolbar below the menu bar indicates if offline or online parameterisation is active: Online parameterisation active Offline parameterisation active The active mode will be highlighted in green. The parameter setting program allows you to access parameter sets even if there is no serial communication with the 931E servo positioning controller available.
  • Page 188 - Lenze Appendix Offline parameterisation differs from the behaviour during the online parameterisation: Certain menus (e.g. Firmware download) are locked ƒ The menu File  Parameter set has different sub-menus: ƒ – Open file – Save file – Save file as...

  • Page 189: Info Window

    - Lenze Appendix Info window 10.8 Info window Select Info  Info to display general information about the SDC parameterisation tool and the 931E servo positioning controller. The following window will appear: 931e_344  Note! In case of a complaint, it will be useful to have the information of these tabs available.

  • Page 190: Quick Access Via Toolbar

    - Lenze Appendix Quick access via toolbar 10.9 Quick access via toolbar Some functions of the parameterisation program can be directly called in the toolbar below the menu bar: Commands and functions German language English language French language Find communication...

  • Page 191: Firmware Download To The 931E / Firmware Update

    - Lenze Appendix Firmware download to the 931E / firmware update Firmware download 10.10 Firmware download to the 931E / firmware update The firmware is the ”operating program” of the 931E servo positioning controller. The controllers are already delivered with a firmware. Under the following circumstances a new firmware may have to be loaded: Update to a new firmware version.
  • Page 192 - Lenze Appendix Firmware download to the 931E / firmware update Firmware download 931e_348 1. Select the firmware to be loaded and click Open. 2. After this, a window will appear in which you can select the baud rate: 931e_350 3.
  • Page 193 - Lenze Appendix Firmware download to the 931E / firmware update Firmware download In general, the error is due to a communication error during the data transfer to the 931E servo positioning controller. Repeat the above procedure with a lower baud rate.

  • Page 194: Index

    - Lenze Index Index Course program, 73 - digital inputs, 73 Actual speed filter, 40 - global settings, 65 , 79 Actual values - program creation, 84 - Actual value window, 23 Current controller, manual setting, 145 - of the servo, 22...
  • Page 195 - Lenze Index Homing, 99 Notes, definition, 15 - destination, 105 Numerical input fields, 21 - Go to zero position after homing run, 105 - Offset start position, 105 - speeds/accelerations/times, 106 OK, 20 Homing mode, 99 Operator, 10...
  • Page 196 - Lenze Index Speed control, 28 Speed controller, manual setting, 40 Safety instructions, 10 Speed limitation, 141 - definition, 15 - design, 15 Start signal, digital inputs, 64 Safety parameters, 141 Saving DCO files, offline parameterisation, 187 Target parameterisation, 66 , 80...
  • Page 197 - Lenze Notes  SW-HB 13.0002-EN EN 3.0...
  • Page 198 - Lenze Notes  SW-HB 13.0002-EN EN 3.0...
  • Page 199 - Lenze  Lenze GmbH & Co KG Kleinantriebe SW-HB 13.0002-EN Hans-Lenze-Straße 1 EN 3.0 D-32699 Extertal © 09/2006 Germany TD11 +49 (0) 51 54 82-0 Service 00 80 00 24 4 68 77 (24 h helpline) Service +49 (0) 51 54 82-1112 E-Mail Lenze@Lenze.de...

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