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Lenze 9300 Servo PLC Manual

Lenze 9300 Servo PLC Manual

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  • Page 1 Show/Hide Bookmarks Manual Global Drive 9300 Servo PLC...
  • Page 2 We do not accept any responsibilty for direct or consequential damages, such as loss of profits, loss of orders, or effects on the course of business of any kind. 2000 Lenze GmbH & Co KG No part of this documentation may be copied or made available to third parties without the express written permission of Lenze GmbH &...

  • Page 3: Table Of Contents

    ............. 1.2 Lenze software guidelines for variable names .
  • Page 4 Show/Hide Bookmarks 9300 Servo PLC Contents 2.9 Digital master frequency input (DF_IN_DigitalFrequency) ........
  • Page 5 ............3.1 System bus (CAN) in the Lenze drive system .
  • Page 6 Show/Hide Bookmarks 9300 Servo PLC Contents 4 Appendix .............

  • Page 7: Preface And General Information

    • and selection help for controllers of the 9300 series can be found in the Manual 9300 Planning, which you can order separately from Lenze. 1.1.1 Conventions in this manual This manual uses the following conventions to distinguish between different types of information:...

  • Page 8: Terminology Used

    Terminology used Term In the following text used for Function block System block Parameter codes Codes for setting the functionality of a function block Global Drive Control (parameterization program from Lenze) 1.1.4 What’s new? Version ID-No. Changes 07/2000 revised edition for the Drive PLC Developer Studio V01.00...

  • Page 9: Lenze Software Guidelines For Variable Names

    Lenze. If you make use of Lenze-specific functions or function blocks, you will immediately be able to see, for instance, which data type you must transfer to a function block, and which type of data you will receive as an output value.

  • Page 10: Recommendation For Designating Variable Types

    Show/Hide Bookmarks 9300 Servo PLC Preface and general information Examples of the data-type entry Examples of a data-type Meaning Bool Byte Integer Word Double-integer Double Word String Real (Float) Short Integer Time Unsigned Integer Unsigned Double Integer Unsigned Short Integer Identifier (the proper variable name) •...

  • Page 11: Designation Of The Signal Type In The Variable Name

    1.2.1.2 Designation of the signal type in the variable name The inputs and outputs of the Lenze function blocks each have a specific signal type assigned. These may be: digital, analog, position or speed signals. For this reason, each variable name has an ending attached that provides information on the type of signal.
  • Page 12 Show/Hide Bookmarks 9300 Servo PLC Preface and general information 9300ServoPLC EN 1.4...

  • Page 13: System Blocks

    Introduction System blocks Introduction For a long time, Lenze has followed the principle of describing inverter functions with the aid of function blocks (FB’s). This principle may also be found in the IEC1131-3 standard. • The function library includes functions that you can apply as software functions in your project.
  • Page 14 Bool binary %IX1.0.4 C0443 DIGIN_bIn5_b Bool binary %IX1.0.5 C0443 2.1.2 Module numbers The system blocks of the automation system 9300 Servo PLC carry the following module numbers: Module number System block DIGITAL_IO ANALOG1_IO ANALOG2_IO DF_IN_DigitalFrequency DF_OUT_DigitalFrequency CAN1_IO CAN2_IO CAN3_IO AIF1_IO_AutomationInterface...

  • Page 15: Definition Of The System-Block Inputs/Outputs

    Show/Hide Bookmarks 9300 Servo PLC System blocks Introduction 2.1.3 Definition of the system-block inputs/outputs In order to implement a connection of the user program with the hardware, system blocks are joined to program-organisation elements (POEs): POE-Input POE-Output SB-Output SB-Input Abb. 2-2...

  • Page 16: Automation Interface (Aif1_Io_Automationinterface)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) Automation interface (AIF1_IO_AutomationInterface) 2.2.1 Inputs_AIF1 (AIF1_IN) Automation interface (module number 41) This SB is used as an interface for input signals from plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 17 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF1_wDctrlCtrl Word %IX41.0 C0136/3 AIF1_nInW1_a Integer analog %IW41.1 C0856/1 dec [%] +16384 = +100 % AIF1_nInW2_a Integer analog %IW41.2 C0856/2 dec [%] +16384 = +100 %...
  • Page 18 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF1_bInB16_b Bool binary %IX41.3.0 C0855/2 AIF1_bInB17_b Bool binary %IX41.3.1 C0855/2 AIF1_bInB18_b Bool binary %IX41.3.2 C0855/2 AIF1_bInB19_b Bool binary %IX41.3.3 C0855/2 AIF1_bInB20_b Bool binary %IX41.3.4...

  • Page 19: Outputs_Aif1 (Aif1_Out)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) 2.2.2 Outputs_AIF1 (AIF1_OUT) Automation interface (module number 41) This SB is used as an interface for output signals from plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 20 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF1_wDctrlStat Word %QW41.0 AIF1_nOutW1_a Integer analog %QW41.1 C0858/1 dec [%] +100 % = +16384 AIF1_nOutW2_a Integer analog %QW41.2 C0858/2 dec [%] +100 % = +16384...
  • Page 21 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF1_IO_AutomationInterface) Function The input signals of this function block are copied to the 8 byteuser data of the AIF object and applied to the plugged-in fieldbus module. Byte 1 and 2 Byte 1, 2 can be used as word information.

  • Page 22: Automation Interface (Aif2_Io_Automationinterface)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF2_IO_AutomationInterface) Automation interface (AIF2_IO_AutomationInterface) 2.3.1 Inputs_AIF2 (AIF2_IN) Automation interface (module number 42) This SB is used as an interface for input signals from plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 23 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF2_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF2_nInW1_a Integer analog %IW42.0 +16384 = +100 % AIF2_nInW2_a Integer analog %IW42.1 +16384 = +100 % AIF2_nInW3_a Integer analog %IW42.2 +16384 = +100 %...

  • Page 24: Outputs_Aif2 (Aif2_Out)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF2_IO_AutomationInterface) 2.3.2 Outputs_AIF2 (AIF2_OUT) Automation interface (module number 42) This SB is used as an interface for output signals to the plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 25 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF2_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF2_nOutW1_a Integer analog %QW42.0 +100 % = +16384 AIF2_nOutW2_a Integer analog %QW42.1 +100 % = +16384 AIF2_nOutW3_a Integer analog %QW42.2 +100 % = +16384...
  • Page 26 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF2_IO_AutomationInterface) Function The input signals of this function block are copied to the 8 byte user data of the AIF object and applied to the plugged-in fieldbus module. Bytes 1-2 and bytes 3-4 It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4.

  • Page 27: Automation Interface (Aif3_Io_Automationinterface)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF3_IO_AutomationInterface) Automation interface (AIF3_IO_AutomationInterface) 2.4.1 Inputs_AIF3 (AIF3_IN) Automation interface (module number 43) This SB is used as an interface for input signals from plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 28 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF3_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF3_nInW1_a Integer analog %IW43.0 +16384 = +100 % AIF3_nInW2_a Integer analog %IW43.1 +16384 = +100 % AIF3_nInW3_a Integer analog %IW43.2 +16384 = +100 %...

  • Page 29: Outputs_Aif3 (Aif3_Out)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF3_IO_AutomationInterface) 2.4.2 Outputs_AIF3 (AIF3_OUT) Automation interface (module number 43) This SB is used as an interface for output signals to the plugged-in fieldbus modules (e.g. INTERBUS, PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
  • Page 30 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF3_IO_AutomationInterface) VariableName DataType SignalType Address DIS format Note AIF3_nOutW1_a Integer analog %QW43.0 +100 % = +16384 AIF3_nOutW2_a Integer analog %QW43.1 +100 % = +16384 AIF3_nOutW3_a Integer analog %QW43.2 +100 % = +16384...
  • Page 31 Show/Hide Bookmarks 9300 Servo PLC System blocks Automation interface (AIF3_IO_AutomationInterface) Function The input signals of this function block are copied to the 8 byte user data of the AIF object and applied to the plugged-in fieldbus module. Bytes 1-2 and bytes 3-4 It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4.
  • Page 32 Show/Hide Bookmarks 9300 Servo PLC System blocks AIF_IO_Management AIF_IO_Management Automation interface management (module number 161) This SB is used for the control and monitoring of special AIF-modules (fieldbus modules). Tip! Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

  • Page 33: Inputs_Analog1 (Ain1)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Analog inputs/outputs 1 (ANALOG1_IO) Analog inputs/outputs 1 (ANALOG1_IO) 2.6.1 Inputs_ANALOG1 (AIN1) Analog input 1 (module number 11) This SB forms the interface for analog signals via terminal X6/1-2 as setpoint input, actual value input, and parameter control.

  • Page 34: Outputs_Analog1 (Aout1)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Analog inputs/outputs 1 (ANALOG1_IO) 2.6.2 Outputs_ANALOG1 (AOUT1) Analog output 1 (module number: 11) You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/62 as voltage signals, and used, for example, as display or setpoints for following drives.

  • Page 35: Inputs_Analog2 (Ain2)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Analog inputs/outputs 2 (ANALOG2_IO) Analog inputs/outputs 2 (ANALOG2_IO) 2.7.1 Inputs_ANALOG2 (AIN2) Analog input 2 (module number 12) This SB forms the interface for analog signals via terminal X6/3-4. Abb. 2-13 Inputs_ANALOG2 (AIN2) VariableName...

  • Page 36: Outputs_Analog2 (Aout2)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Analog inputs/outputs 2 (ANALOG2_IO) 2.7.2 Outputs_ANALOG2 (AOUT2) Analog output 2 (module number: 12) You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/63 as voltage signals, and used, for example, as display or setpoints for following drives.

  • Page 37: Drive Control (Dctrl_Drivecontrol)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) Drive control (DCTRL_DriveControl) Module number: 121 This SB operates the drive controller in specific states (e.g. TRIP, TRIP-RESET, QSP or controller inhibit). • The process image is created in a fixed system task (interval: 2 msec).

  • Page 38: Trip-Set

    Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) VariableName DataType SignalType Address DIS format Note DCTRL_wCAN1Ctrl Word %QW121.3 DCTRL_wAIF1Ctrl Word %QW121.2 DCTRL_bCInh1_b Bool binary %QX121.0.1 C0878/1 TRUE = inhibit controller DCTRL_bCInh2_b Bool binary %QX121.0.2 C0878/2 TRUE = inhibit controller...
  • Page 39 Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) 2.8.1 Quickstop (QSP) The drive is braked to standstill via the deceleration ramp C105 and generates a holding torque. • The function can be operated via 3 inputs: – Control word CAN1_wDctrlCtr from SB CAN1_IN –...

  • Page 40: Trip-Reset

    Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) 2.8.3 Controller inhibit “ControllerInhibit” (CINH) The power output stages are disabled. All speed/current/position controllers are reset. • The function can be operated via 6 inputs: – Terminal X5/28 (FALSE = controller disable) –...

  • Page 41: Dctrl_Wfaultnumber

    Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) 2.8.6 DCTRL_wFaultNumber An existing fault can be read using the system variable DCTRL_wFaultNumber = C0168. For the assignment of the error numbers refer to chapter ”Monitoring” of the description of the automation system.

  • Page 42: Control Word And Status Word

    Show/Hide Bookmarks 9300 Servo PLC System blocks Drive control (DCTRL_DriveControl) 2.8.10 Control word and status word If the control and/or status word from DCTRL_DriveControl is assigned to the AIF1_IO/CAN1_IO,then this must be implemented by the user. Examples: LD DCTRL_wStat ST AIF1_wDctrlStat...

  • Page 43: Digital Master Frequency Input (Df_In_Digitalfrequency)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) Digital master frequency input (DF_IN_DigitalFrequency) Module number: 21 This SB can convert and normalize a pulse current at the digital frequency input X9 into a speed and phase-angle setpoint. The transmission of a digital frequency is very precise (without offset and gain errors).

  • Page 44: Digital Frequency Input X9

    Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) 2.9.1 Digital frequency input X9 • The digital frequency input X9 is dimensioned for signals with TTL levels. • You can use C0425 to adapt the drive to the sensor/encoder that is connected or to the preceding drive controller in the case of digital-frequency cascade or digital-frequency-bus operation.
  • Page 45 Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) C0427 = 1 (A = pulse / B = direction) Abb. 2-19 Control of the direction of rotation by track B • CW rotation: – Track A transmits the speed.
  • Page 46 Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) Transmission function ô 2 DFIN_nIn_v f [Hz] ô no. of incr._from C0425 15000 Example: Input frequency = 200 kHz C0425 = 3 (corresponds to 2048 increments/turn) Solution: DFIN_nIn_v [rpm] 200000 Hz ô...

  • Page 47: Technical Data For The Connection Of X9 And X10

    Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) 2.9.2 Technical data for the connection of X9 and X10 Digital frequency output X10 Digital frequency input X9 Features: Features: • • Sub-D female connector, 9-pole Sub-D male connector, 9-pole •...

  • Page 48: Touch-Probe (Tp)

    Show/Hide Bookmarks 9300 Servo PLC System blocks Digital master frequency input (DF_IN_DigitalFrequency) 2.9.3 Touch-Probe (TP) ϕ  Abb. 2-22 Function diagram of a TP € Time-equidistant start of an interval-task ϕ Phase-angle signal Functional sequence 1. The TP is triggered by a FALSE-TRUE edge at the digital input X5/E5 or by a zero pulse from X9 (only if an encoder is attached).
  • Page 49 10 msec, as in the example. Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 msec) • For Lenze FBs, this procedure has already been implemented in the FBs. 2-37 9300ServoPLC EN 1.4...

  • Page 50: Digital Frequency Output (Df_Out_Digitalfrequency)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2.10 Digital frequency output (DF_OUT_DigitalFrequency) Module number: 22 Converts internal speed signals into frequency signals and outputs them, for example, to following drives. The transmission is very precise (without offset and gain errors).

  • Page 51: Output Signals On X10

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2.10.1 Output signals on X10 Abb. 2-24 Signal sequence for CW rotation (definition) • The output signal corresponds to the simulation of an incremental encoder: – Track A, track B and the zero track (if necessary) as well as the corresponding inverted tracks are output with tracks shifted by 90°.

  • Page 52: Output Of An Analog Signal

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2.10.2 Output of an analog signal Selection: C0540 = 0 The input signal DFOUT_nOut_v is interpreted as an analog signal [% ] and given out as a frequency signal at the master frequency output X10.

  • Page 53: Direct Output Of X8

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2.10.5 Direct output of X8 Selection: C0540 = 5 Use: X8 as input for incremental encoder or Sin-Cos encoder • The signal at input X8 is amplified electrically and is output directly to X10.

  • Page 54: Technical Data For The Connection Of X9 And X10

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2.10.7 Technical data for the connection of X9 and X10 Digital frequency output X10 Digital frequency input X9 Features: Features: • • Sub-D female connector, 9-pole Sub-D male connector, 9-pole •...

  • Page 55: Digital Inputs/Outputs (Digital_Io)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.11 Digital inputs/outputs (DIGITAL_IO) 2.11 Digital inputs/outputs (DIGITAL_IO) 2.11.1 Inputs_DIGITAL (DIGIN) Digital inputs (module number: 1) This SB reads in the signals at the terminals X5/E1 ... X5/E5 and conditions them. DIGIN DCTRL -X5/28...

  • Page 56: Outputs_Digital (Digout)

    %QX1.0.2 C0444/3 DIGOUT_bOut4_b Bool binary %QX1.0.3 C0444/4 Function • Electrical data of the output terminals: Terminal Use (Lenze setting in bold print) Data LOW: 0 0 +4 V X5/A1 freely assignable HIGH: +13 0 +30 V X5/A2 freely assignable X5/A3...

  • Page 57: Free Codes (Fcode_Freecodes)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 Free Codes (FCODE_FreeCodes) 2.12 Free Codes (FCODE_FreeCodes) Module number: 141 This SB can be used to assign code values directly to variables. The code value that is entered is converted into the corresponding variable value by a fixed scaling routine.
  • Page 58 – A fixed scaling routine relates the codes to the variable values. – In the code table, you can find the options that can be set, and the Lenze settings. 4-15) •...
  • Page 59 The code C0470 is not available as a system variable. This code occupies the same memory address as code C0471. The double-word is divided into 4 bytes (C0470/1...4). Code C0470 can be written to via the keypad/GDC. Normalization in the 9300 Servo PLC: • rpm Õ INT •...

  • Page 60: Internal Motor Control (Mctrl_Motorcontrol)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13 Internal motor control (MCTRL_MotorControl) This SB contains the control functions for the drive machine. It consists of: phase-angle controller, speed controller and motor control. Abb. 2-28 Internal motor control (MCTRL) 2-48 9300ServoPLC EN 1.4...
  • Page 61 Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) • The process image is created in a fixed system task (interval: 1 msec). Exception: MCTRL_bActTPReceived_b , MCTRL_dnActIncLastScan_p and MCTRL_nNAct_v are read into the process input image of the task in which they are actually used.

  • Page 62: Current Controller

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) VariableName DataType SignalType Address DIS format Note MCTRL_bMotorTemp Bool binary %IX131.0.11 Monitor: motor temperature > 150 ºC GreaterSetValue_b MCTRL_bMotorTemp Bool binary %IX131.0.12 Monitor: motor temperature > C0121 GreaterC0121_b...

  • Page 63: Additional Torque Setpoint

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.2 Additional torque setpoint MCTRL_nMAdd_a is used, depending on the operation of MCTRL_bNMSwt_b as a torque setpoint or an additional torque setpoint. The additional torque setpoint can be used, for example for friction compensation or for speed injection (dv/dt).

  • Page 64: Torque Control With Speed Restriction

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) • Integral-action time T , parameterize in C0071: – Reduce C0071, until the drive becomes unstable (observe motor noises). – Increase C0071, until the drive becomes stable again.

  • Page 65: Speed-Setpoint Restriction

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.6 Speed-setpoint restriction The speed setpoint restriction in the input MCTRL_nNSet_a is to ±100% of n (C0011) = 100% = 16384). You can use C0909 to set a restriction of rotational direction, referred to the speed setpoint.

  • Page 66: Quickstop Qsp

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.8 Quickstop QSP The quick stop function is used to stop the drive independently of the setpoint input, within a time to be set. DCTRL_bQspIn_b MCTRL_bQspOut_b C0907/3 Any Variable...

  • Page 67: Chopping Frequency Changeover

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.10 Chopping frequency changeover You can select the following frequency for the inverter: • 8 kHz fixed, for operation with optimum power (C0018 = 1) – maximum power output of the controller, but with audible pulse operation •...

  • Page 68: Touch-Probe (Tp)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.11 Touch-Probe (TP) ϕ  Abb. 2-30 Function diagram of a TP € Time-equidistant start of an interval-task ϕ Phase-angle signal Functional sequence 1. The TP is triggered by a FALSE-TRUE edge at the digital input X5/E4 or by a zero pulse from X8 or X7.

  • Page 69: System Marker Mctrl_Nnmaxc11

    SYSTEM_nTaskInterval / 4, to get the result in increments per 10 msec, as in the example. Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 msec) • For Lenze FBs, this procedure has already been implemented in the FBs. 2.13.12 System marker MCTRL_nNmaxC11 The system marker MCTRL_nNmaxC11 shows the max.

  • Page 70: Overvoltage (Ou)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) If the undervoltage (LU) message is present for more than 3 seconds or if the event is a power-on, this is entered into the history buffer. This can be the case if the control module is supplied externally by terminals X5/39 and X5/59 and the mains is switched off.

  • Page 71: Earthfault (Monitoring For Earth Fault Oc2)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) Remedy: • Use supply module 934X or • Use (additional) brake choppers type 935X When several controllers are operated simultaneously, an operation as DC bus connection may be useful.

  • Page 72: Tmot>Setvalue (Motor-Temperature Monitoring Oh3 - Fixed)

    Stop! You can only use X7 or X8. The other input must not be assigned (must remain open). This monitoring is activated by default setting. This means that the monitoring reacts if no Lenze servo motor is used. Features: •...

  • Page 73: Ptcovertemp (Motor-Temperature Monitoring Oh8)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.13.7 PTCOverTemp (motor-temperature monitoring OH8) • This function protects the motor. • The message is triggered by MCTRL_bPTCOverTemp_b = TRUE. Function The signal PTCOverTemp is derived from the digital signal via the terminalsT1, T2 next to the power terminals UVW.

  • Page 74: 2.13.13.9 Resolver Monitoring For Wire Breakage Sd2

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.13.9 Resolver monitoring for wire breakage Sd2 (MCTRL_bResolverFault_b) Purpose • Motor protection • Monitors the cable and the resolver for wire breakage. Function Warning! During commissioning this monitoring should not be switched off, since the machine may reach very high speeds (potential destruction of the motor and the driven machine) in the event of a fault (e.g.

  • Page 75: Heatsink Monitoring Oh4 (Adjustable)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.13.10 Heatsink monitoring OH4 (adjustable) (MCTRL_bKuehlGreaterC0122_b) Purpose Controller protection This monitoring is designed as a warning before the disconnection of the controller via the OH-TRIP. Thus, the process can be influenced to avoid a switch-off of the controller at an inconvenient time.

  • Page 76: Plant Speed Monitoring Nmax

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.13 Internal motor control (MCTRL_MotorControl) 2.13.13.12 Plant speed monitoring N (MCTRL_bNmaxFault_b) Purpose Process monitoring Function A maximum plant speed can be entered under code C0596, independent of the direction of rotation. The monitoring is released, if: •...

  • Page 77: Statebus (Statebus_Io)

    Bool binary %IX51.0.6 Function The statebus is a device-specific bus system which is designed for Lenze controllers only. The SB STATEBUS acts on the terminals X5/ST or reacts to a LOW signal at these terminals (multimaster capability). • Steers all networked drives to the preselected state.
  • Page 78 Show/Hide Bookmarks 9300 Servo PLC System blocks 2.14 Statebus (STATEBUS_IO) Stop! Do not apply an external voltage across terminals X5/ST. F2 F3 F2 F3 F2 F3 +UG -UG +UG -UG 93XX - 93XX 93XX - 93XX 93XX - 93XX ST 39...
  • Page 79 Module number: 151 System markers are global variables that are permanently integrated into the run-time system. They include functions that facilitate the programming. The following system markers are integrated into the Lenze System 9300 Servo PLC : VariableName DataType Address...

  • Page 80: System Markers (System_Flags)

    Show/Hide Bookmarks 9300 Servo PLC System blocks 2.15 System markers (SYSTEM_FLAGS) SYSTEM_bTogCycleTask • This system marker toggles with the cyclical task: 1. cycle = FALSE 2. cycle = TRUE 3. cycle = FALSE 4. cycle = TRUE etc. SYSTEM_nTaskInterval •...

  • Page 81: Networking

    This applies particularly to a drive network and automation of decentralized drives. Drives of the Lenze range can easily be networked and implemented into a comprehensive automation concept. The control and parameterization of the devices can be carried out, depending on the task, using different communication interfaces: •...

  • Page 82: System Bus (Can) In The Lenze Drive System

    Show/Hide Bookmarks 9300 Servo PLC Connection System bus (CAN) in the Lenze drive system 3.1.1 Contact assignment 9300 Servo controller / 8200 vector 9300 Servo PLC Terminal X4 Terminal X3 CG LO HI CG LO HI Drive PLC Terminal X5...

  • Page 83: Wiring Of The System Bus

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.1.2 Wiring of the system bus Basic structure shown at a Drive PLC with 8200 vector Drive PLC Controller 1 Controller 2 GND LOW HI plc014 Abb. 3-1 Basic structure of a system bus network...

  • Page 84: System Bus Wiring Complying To Emc

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.1.2.1 System bus wiring complying to EMC 9300PLC123 1. Every device in the system bus must have a good PE connection. 2. Control cabinets, which include bus devices should be interconnected by a separate equipotential bonding cable.

  • Page 85: Technical Data

    The telegram throughput time for 8 bytes of user data depends on the data-transmission speed: Baud rate [kBit/s] 1000 Telegram throughput time 1.05 0.52 0.26 0.13 [msec] Processing times in a LENZE controller • Parameter: typically 30...50 msec • Process data: 1...2 msec 9300ServoPLC EN 1.4...

  • Page 86: Commissioning

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.1.4 Commissioning 1. Switch on the controller or PLC (main supply or external 24 V supply). 2. If necessary, change the transmission speed (C0351) using the operating module 9371 BB or the PC (default setting 500 kBaud).

  • Page 87: Parameter Channels

    3.1.5.2 Parameter channels Parameters are values that are stored in the Lenze drive controllers in a code position. Parameters are set, for example, for one-off system settings or a change of materials in a machine. Parameter are transmitted with a low priority.

  • Page 88: Process Data Channels

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.1.5.3 Process data channels Process data are data with a high priority, and are optimised for high speed in transmission and processing. A cyclic process data channel CAN1_IO (PDO = Process Data Objekt) The process data via CAN1_IO are intended for a higher-level control system.
  • Page 89 Show/Hide Bookmarks 9300 Servo PLC Connection Two event-controlled process data channels with selectable and adjustable cycles(PDOs) CAN2_IO, CAN3_IO These process data channels are intended for exchanging data between one drive controller and another. Another application of these process data is for decentralised input and output terminal.

  • Page 90: System Blocks For The System Bus

    Show/Hide Bookmarks 9300 Servo PLC Connection System blocks for the system bus 3.2.1 System bus (CAN1_IO) 3.2.1.1 Inputs_CAN1 (CAN1_IN) System bus inputs (Module number: 31) This SB is used for cyclic data communication with higher-level control systems. A special telegram (the sync-telegram) must be generated for transmission.
  • Page 91 Show/Hide Bookmarks 9300 Servo PLC Connection VariableName DataType SignalType Address DIS format Note CAN1_wDctrlCtrl Word %IW31.0 C0136/2 CAN1_nInW1_a Integer analog %IW31.1 C0866/1 dec [%] +16384 = +100 % CAN1_nInW2_a Integer analog %IW31.2 C0866/2 dec [%] +16384 = +100 % CAN1_nInW3_a...

  • Page 92: Outputs_Can1 (Can1_Out)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.1.2 Outputs_CAN1 (CAN1_OUT) System bus outputs (Module number: 31) This SB is used for data communication with higher-level control systems. A special telegram, the sync-telegram, must be generated for transmission. 3-49) This SB cannot be used for exchanging data between one drive controller and another.
  • Page 93 Show/Hide Bookmarks 9300 Servo PLC Connection Function 8 bytes are available for data communication with the drive controller. Byte Notes Address 1, 2 Bytes 1 and 2 form the control word for the controller. %QB31.0 and %QB31.1 The signals for functions such as IMP , CINH etc. can be written from SB DCTRL to the SB CAN1_OUT by using the status word from SB DCTRL.

  • Page 94: System Bus (Can2_Io)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.2 System bus (CAN2_IO) 3.2.2.1 Inputs_CAN2 (CAN2_IN) System bus inputs (Module number: 32) This SB is used for data communication between one drive controller and another, and the exchange of data with decentralised inputs and output terminals. It is also possible to exchange data with higher-level control systems.
  • Page 95 Show/Hide Bookmarks 9300 Servo PLC Connection Function For data communication with the drive controller, 8 bytes are available. Byte Notes Address You can use byte 1, 2 and byte 3, 4 simultaneously as 1, 2 %IB32.0 and %IB32.1 • binary information (up to 32 bits),...

  • Page 96: Outputs_Can2 (Can2_Out)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.2.2 Outputs_CAN2 (CAN2_OUT) System bus outputs (Module number: 32) This SB is used for data communication between one drive controller and another, and the exchange of data with decentralised inputs and output terminals. It is also possible to exchange data with higher-level control systems.
  • Page 97 Show/Hide Bookmarks 9300 Servo PLC Connection Function ⋅ For data communication with the drive controller, 2 8 bytes are available. Byte Notes Address You can freely link bytes 1-2 and 3-4 with variables of the corresponding data type, as a 16-bit data word 1, 2 %QB32.0 und %QB32.1...

  • Page 98: System Bus (Can3_Io)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.3 System bus (CAN3_IO) 3.2.3.1 Inputs_CAN3 (CAN3_IN) System bus inputs (Module number: 33) This SB is used for data communication between one drive controller and another, and the exchange of data with decentralised inputs and output terminals. It is also possible to exchange data with higher-level control systems.
  • Page 99 Show/Hide Bookmarks 9300 Servo PLC Connection Function For data communication with the drive controller, 8 bytes are available. Byte Notes Address You can use byte 1, 2 and byte 3, 4 simultaneously as 1, 2 %IB33.0 and %IB33.1 • binary information (up to 32 bits),...

  • Page 100: Outputs_Can3 (Can3_Out)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.3.2 Outputs_CAN3 (CAN3_OUT) System bus outputs (Module number: 33) This SB is used for data communication between one drive controller and another, and the exchange of data with decentralised input and output terminals. It is also possible to exchange data with higher-level control systems.
  • Page 101 Show/Hide Bookmarks 9300 Servo PLC Connection Function ⋅ For data communication with the drive controller, 2 8 bytes are available. Byte Notes Address You can freely link bytes 1-2 and 3-4 with variables of the corresponding data type, as a 16-bit data word 1, 2 %QB33.0 and %QB33.1...

  • Page 102: Systembus Management (Can_Management)

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.2.4 Systembus Management (CAN_Management) Modul number: 101 • The process image is created in a fixed system task (interval: 1 msec). With this SB • a Reset-Node can be activated. (Changes to the baud rate and the addressing only become effective after a reset-node.) •...
  • Page 103 Show/Hide Bookmarks 9300 Servo PLC Connection Function CAN_bTxCan2Syncronized_b / CAN_bTxCan3Syncronized_b • FALSE : data from CAN2-OUT/CAN3-OUT are transmitted at the end of the process image. • TRUE : data from CAN2-OUT/CAN3-OUT are transmitted after a sync (ID: 128), the Sync Tx Time can be set under the code C0369.

  • Page 104: Synchronization Of Control Program Cycles

    CAN_bResetSyncForInterpolatord_b CAN_bSyncForInterpolator_b CAN_bSyncInsideWindow_b CAN_nSyncDeviation Synchronizes the control program cycle of the drives to the cycle of a higher-level control. This can also be a Lenze Servo controller of the 9300 series. Variable Name Data Type Signal Type Address DIS format Note...
  • Page 105 Show/Hide Bookmarks 9300 Servo PLC Connection Possible axis synchronizations • Synchronization via system bus (CAN) by sync telegram • Synchronization via terminal by sync signal at terminal X5/E5 Tip! • The system block CAN_Synchronization must previously be entered into the control configuration.
  • Page 106 Show/Hide Bookmarks 9300 Servo PLC Connection Axis synchronization via system bus (CAN) The system bus (CAN) transmits the sync telegram as well as the process signals (for further information refer to Part 3 ”Networking”). Application examples: • Input of cyclic, synchronized position setpoint information for multi-axis applications via the system bus (CAN).
  • Page 107 Show/Hide Bookmarks 9300 Servo PLC Connection Time window The variable CAN_bSyncInsideWindow_b can be used for synchronization monitoring. Code Code Possible settings IMPORTANT Lenze Choice [C1123] Sync-window {0.001 ms} 6.5 Synchronization window If the sync telegram/signal from the master is within this ”time window”, CAN_bSyncInsideWindow_b = switch es to TRUE.
  • Page 108 Show/Hide Bookmarks 9300 Servo PLC Connection Correction value phase controller Code Code Possible settings IMPORTANT Lenze Choice C0363 Sync corr 5 CAN Sync correction Change correction value until CAN_nSyncDeviation has reached a minimum. 1 = 0.2 µs/ms 2 = 0.4 µs/ms 3 = 0.6 µs/ms...
  • Page 109 Show/Hide Bookmarks 9300 Servo PLC Connection Configuration example CAN-SYNC Maintain the following sequence when commissioning the system: Step Location Operation Commission controller and system bus. Extend control configuration by the system block CAN_Synchronization. CAN slaves Connect CAN_bSyncInsideWindow_b with digital input.

  • Page 110: Application Example

    This section describes the programming of the application example in Abb. 3-13. Parameter addressing (code numbers / index) The parameters for the drive controller are addresssed through the index. The index for Lenze code numbers (codes) lies in the range from 20567 (5060...

  • Page 111: Description Of The Codes For The System Bus

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.2 Description of the codes for the system bus 3.4.2.1 Baud-rate setting C0351 The following settings are possible: C0351 Value [kBit/s] 500 (Lenze setting) 1000 Save changes with C0003. The settings only become effective after the following actions: •...
  • Page 112 Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.2.3 General address assignment C0350 C0350 can be used to set the addressing for all the data objects(parameter- and process-data channels). Save changes with C0003. The settings only become effective after the following actions: •...
  • Page 113 C0353/x = 0 or 1 Meaning C0353/1; C0353/1 = 0 Addresses are determined by C0350 (Lenze setting) Address selction for the cyclical process- Address for CAN1_IN is determined by C0354/1, address for CAN1_OUT data CAN1_IN and CAN1_OUT C0353/1 = 1 is determined by C0354/2 C0353/2;...

  • Page 114: Display Code Of The Resulting Identifier C0355

    Time setting for the Boot-Up of the master (only valid if C0352 = 1) In general, the Lenze setting will be sufficient here. If several drive controllers are in a group, without a higher-level control system that takes on the initialisation of the CAN net- work, this must be done through a drive controller.

  • Page 115: Diagnosis Codes

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.2.7 Diagnosis codes You can use the following diagnosis codes to observe the events on the bus: • C0359 bus status • C0360 telegram counter • C0361 bus load C0359 bus status This code shows the present operating state of the bus system.
  • Page 116 Show/Hide Bookmarks 9300 Servo PLC Connection C0361 Bus load With these codes you can find out which percentage loading of the bus is required by the drive controller, or is occupied by the individual data channels or system blocks. Faulty telegrams are not taken into account in this case.

  • Page 117: Monitoring

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.2.8 Monitoring Monitoring times C0357 Each individual process-data object can monitor whether a telegram has arrived within the time defined here. If a telegram has arrived, then the corresponding monitoring time is restarted (retrigerrable monostable function).

  • Page 118: Communication Profile Of The System Bus

    Initialisation – User data for establishing communication across the CAN-bus. • Parameterization – User data for the parameterization of the drive controller. For Lenze drive controllers, the parameters are stored under the code positions or the variables. • Process data –...

  • Page 119: Addressing The Drives

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.3.2 Addressing the drives The CANbus system is oriented around messages, not participants. Each message has a unique label, the identifier. With CANopen, participant orientation is achieved by having only one sender for each message. The identifiers are derived from the addresses that are entered in the drive controller.

  • Page 120: The Communication Phases Of The Can Network

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.4 The communication phases of the CAN network 11-bit Identifier 2-byte user data Abb. 3-15 Telegram for changing over the communication phase To be able to change over between the various communication phases, telegrams are used with an Identifier 0 and 2 bytes of user data.
  • Page 121 Show/Hide Bookmarks 9300 Servo PLC Connection When certain telegrams have to be transmitted, a change is made to a different state: from after Data (hex) Remarks Pre-Operational Operational 01xx Process and parameterization data are active Operational Pre-Operational 80xx only parameterization data are active...

  • Page 122: Parameterization

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.5 Parameterization Two separate software channels are available for parameterization, which are defined by the controller address. The structure of the telegram for parameterization is as follows: 11-bit identifier 8-byte user data Command Index...
  • Page 123 Show/Hide Bookmarks 9300 Servo PLC Connection Index LOW-byte, Index HIGH-byte The selection of the parameter or the selection of the Lenze code is made with these two bytes according to the formula: Index = 24575 - Lenze code number Example:...
  • Page 124 An example of a telegram clarifies the left-aligned Intel data format: For code C0012, a value of 20 sec is to be transmitted. Index = 24575 - Lenze code = 24575 - 12 = 24563 = 5FF3 ⋅ Value (Data 1 ... Data 4) = 20 sec 10.000 = 200.000 = 00 03 0D 40...

  • Page 125: Example: Write A Parameter

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.5.1 Example: Write a parameter The acceleration time C0012 of the drive controller with the device address 1 is to be altered from 1 to 20 sec through parameter channel 1. Calculation of identifier:...

  • Page 126: Example: Read A Parameter

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.5.2 Example: Read a parameter The heatsink temperature (value 43°C) C0061 is to be read from the drive controller with the device address 5 through parameter channel 1. Calculation of identifier: Identifier from parameter channel 1 to drive controller = 1536 + device address = 1536 + 5 = 1541...

  • Page 127: Process Data

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.6 Process data For the rapid exchange of data between drive controllers, or with a higher-level control system, there are 3 process-data objects (PDO) available for input information, and 3 PDOs for output information.

  • Page 128: Cyclical Process-Data Objects

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.6.1 Cyclical process-data objects In order to be able to read process-data from the drive controller, or to accept the process-data by the drive controller, a special additional telegram is required - the sync telegram.
  • Page 129 Show/Hide Bookmarks 9300 Servo PLC Connection Cyclical process-data telegram to the drive CAN1_IN The process-data telegram to the drive has 8-byte user-data length. It is structured as follows: Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...
  • Page 130 Show/Hide Bookmarks 9300 Servo PLC Connection Cyclical process-data telegram from the drive CAN1_OUT The structure of the process-data telegram from the drive is as follows: Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 1 Byte 2 Identifier Abb.

  • Page 131: Event-Controlled Process-Data Objects, Optionally With Adjustable Cycle Time

    Show/Hide Bookmarks 9300 Servo PLC Connection 3.4.6.2 Event-controlled process-data objects, optionally with adjustable cycle time The event-controlled process-data must be linked to the individual system blocks, like the cyclical process-data. Here too, there are 8 bytes available for a data object.
  • Page 132 Show/Hide Bookmarks 9300 Servo PLC Connection Event-controlled process-data telegram CAN2_IN to the drive The process-data telegrams to the drive have a user-data length of 8 bytes, and the following structure: Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...
  • Page 133 Show/Hide Bookmarks 9300 Servo PLC Connection Event-controller process-data telegram to the drive CAN3_IN The process-data telegrams to the drive have a user-data length of 8 bytes, and the following structure: Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...
  • Page 134 Show/Hide Bookmarks 9300 Servo PLC Connection Event-controlled process-data telegram CAN2_OUT from the drive The process-data telegrams from the drive have a user-data length of 8 bytes, and the following structure: Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...
  • Page 135 Show/Hide Bookmarks 9300 Servo PLC Connection Event-controlled process-data telegram CAN3_OUT from the drive The process-data telegrams from the drive have a user-data length of 8 bytes, and the following structure: Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 136: Appendix

    Show/Hide Bookmarks 9300 Servo PLC Appendix Appendix PLC functionality Field Numbe Description Inputs digital Input for controller enable 24V DC / 8mA per input Free inputs (interruptable, response time 250µs) Free inputs Ö analog 2 Free inputs (11 bit + sign)

  • Page 137: System Pous

    Show/Hide Bookmarks 9300 Servo PLC Appendix System POUs Abb. 4-1 System POUs and PLC_PRG The PLC provides a number of system POUs.These POUs have defined features (see table) and are called only once per polling. POU name Program Feature POU starts, if ...

  • Page 138: Monitoring

    Show/Hide Bookmarks 9300 Servo PLC Appendix Monitoring System interfaces • System bus (CANopen) • Field buses • Digital frequency, Rectifier analog and digital I/O Memory (FLASH, EEPROM, RAM) Microcontroller • PLC application program to IEC 1131-3 (can be changed) Inverter...

  • Page 139: Reactions

    Show/Hide Bookmarks 9300 Servo PLC Appendix 4.3.1 Reactions Depending on the interference, one or more of the following reactions of the monitoring function are possible: • TRIP (highest priority) • Meldung • FAIL-QSP • Warning • OFF = no reaction (lowest priority) Tip! For some of the faults you can determine the reaction of the drive (see chapter 4.3.2)
  • Page 140 Show/Hide Bookmarks 9300 Servo PLC Appendix 4.3.2 Possible settings for error messages Overview of the fault sources detected by the controller, and the corresponding reactions current error number also displayed program variable DCTRL_wFaultNumber . Cause and remedy of a fault are described in Chapter 4.7, Troubleshooting and Fault elimination.
  • Page 141 Show/Hide Bookmarks 9300 Servo PLC Appendix Fault message Possible settings / Reaction Display Error Meaning TRIP Message Warning Fault/ Code á á float T Id2 Floating point error (REAL) in the task with Id2 á á float T Id3 Floating point error (REAL) in task with Id.3 á...

  • Page 142: Tripping (L_Fwm)

    Show/Hide Bookmarks 9300 Servo PLC Appendix Tripping (L_FWM) Tip! This function block is described in the function library LenzeDrive.lib. This FB is used to transmit error messages to the PLC.This means that TRIP , Fail-QSP , message or warning can be activated in the PLC while the PLC program is running. The transmitted error number is stored in the history buffer of the PLC (C0168/x).
  • Page 143 Show/Hide Bookmarks 9300 Servo PLC Appendix Display on the keypad Status messages in the display indicate the controller status. Display Controller status Check Controller ready for operation, controller can be inhibited C0183, C0168/1 Pulses at the power stage inhibited C0183, C0168/1 Max.

  • Page 144: Fault Analysis With The History Buffer

    Show/Hide Bookmarks 9300 Servo PLC Appendix Fault analysis with the history buffer • The history buffer is used to trace faults. • Fault messages are stored in the order of their occurrence. Double click ”Dialog Diagnostic” in the parameter menu of the GDC to open the dialog box...

  • Page 145: Working With The History Buffer

    Show/Hide Bookmarks 9300 Servo PLC Appendix 4.6.2 Working with the history buffer € ó ì ú ö Fault recognition and reaction € • Contains the fault recognition for every memory unit and the reaction to the fault. – e. g. ”OH3 TRIP”...

  • Page 146: Error Messages

    Show/Hide Bookmarks 9300 Servo PLC Appendix Error messages Tip! If the error message is requested by a fieldbus, the fault indication is represented by a fault number (C0168/x). See column 2and the footnote at the end of this table. Error no.:...
  • Page 147 Connect PTC or thermostat or switch off monitoring (C0585= 3). Program fault A fault in the program was detected. Send controller with data (on diskette) to Lenze. • Initializing error A fault was detected during transfer of parameter Correct parameter set.
  • Page 148 Show/Hide Bookmarks 9300 Servo PLC Appendix Error no.: - TRIP Display Error Cause Remedy - Message - Warning - FAIL-QSP Encoder fault Absolute encoder with RS485 interface does not Check supply cable. transmit data. Check encoder. Check voltage supply C0421.

  • Page 149: Reset Of Fault Messages

    Show/Hide Bookmarks 9300 Servo PLC Appendix Reset of fault messages Reaction on Measures for re-commissioning Danger notes operating errors • TRIP/ FAIL-QSP After the error has been eliminated, the drive can be restarted when an acknowledgement has been sent. •...

  • Page 150: Code Table

    Show/Hide Bookmarks 9300 Servo PLC Appendix Code table Special feature: Temporary codes The values written in the codes C2500 and C2501 will be deleted after the device is switched off. Temporary codes are suitable for those parameters to which access is made during one switch-on period only.
  • Page 151 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Possible settings IMPORTANT Lenze Choice C0002 Par load Load parameter set Load default Load factory setting into RAM Load PS1 Load parameter set 1 into the RAM and activate • Parameter set1 is loaded automatically after every mains connection.
  • Page 152 Lenze Choice [C0025] Feedback type 2-48 Selection of the feedback system • Input of the encoder specified on the nameplate of the Lenze motor: • C0025 automatically changes C0420, C0490, C0495 COMMON C0420, C0490 or C0495 was changed subsequently RSx (Resolver) The resolver is designated with RSxxxxxxxx.
  • Page 153 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0056 nMSetIn_a -100.00 {0.01 %} 100.00 Torque setpoint 2-48 (output of the speed controller) C0057 Max Torque {0.1 Nm} 500.0 Maximum possible torque of the drive...
  • Page 154 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice Å [C0086] Mot type 2-48 Selection motor type Å depending on the controller • Change of C0086 resets C0006, C0022, C0070,C0071, C0081, C0084,C0085, C0087, C0088,C0089, C0090, C0091 to the...
  • Page 155 Possible settings IMPORTANT IMPORTANT Lenze Choice • 2-48 [C0086] Mot type New generation Lenze asynchronous servo motors integrated temperature monitoring via resolver or encoder cable • The temperature monitoring via resolver or encoder cable is activated automatically, i.e.: C0583 = 0...
  • Page 156 Possible settings IMPORTANT IMPORTANT Lenze Choice • 2-48 [C0086] Mot type New generation Lenze synchronous servo motors integrated temperature monitoring via resolver or encoder cable • The temperature monitoring via resolver or encoder cable is activated automatically, i.e.: C0583 = 0...
  • Page 157 Possible settings IMPORTANT IMPORTANT Lenze Choice • 2-48 [C0086] Mot type Lenze inverter motor in delta connection The temperature monitoring via resolver or encoder cable is deactivated automatically, i.e.: C0583 = 3 C0584 = 3 C0594 = 3 DXRA071-12-87 DXRAXX071-12, f...
  • Page 158 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice [C0095] Rotor pos adj inactive Rotor position adjustment of a synchronous motor active • C0058 displays the zero angle of the rotor • C0095 = 1 starts position...
  • Page 159 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0142 Start options Start options 2-25 are executed: • After power-on • after message (t > 0.5 sec) • after trip Start lock 0 = Start protection...
  • Page 160 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0170 corresponding power switch-on time error frequency History buffer • List of how often the faults have occurred consecutively under C0168 Counter act now active Counter old1...
  • Page 161 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0183 Diagnostics Drive diagnostics • Indicates fault or status information • If several items or fault or status information are simultaneously present, the information with the...
  • Page 162 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0354 512 CAN bus IN/OUT node addresses 3-10 IN1 addr2 OUT1 addr2 IN2 addr2 OUT2 addr2 IN3 addr2 OUT3 addr2 C0355 2047 CAN bus identifier 3-10...
  • Page 163 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0362 Sync cycle {1 msec} 30 Time between two sync telegrams on 3-32 the system bus C0363 Sync corr 5 Sync correction C0365 CAN active 1 Input signal CAN active...
  • Page 164 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice inactive Deactivated CINH Controller inhibit Quick stop C0470 FCODE 8bit 1: FCODE Bit 0 - 7 2: FCODE Bit 8 - 15 3: FCODE Bit 16 - 23...
  • Page 165 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0517 199900 User menu with up to 32 entries • User menu 51.00 C0051/0 MCTRL-NACT The numbers of the desired codesare entered under the User menu 54.00...
  • Page 166 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0588 SensFaultTht/SensFaultTid Trip Configuration monitoring: temperature sensors (H10, H11) in drive controller Warning “SensFaultTht/SensFaultTid” (FWM H10/H11) C0591 CommErrCANIN1 Trip Configuration monitoring: CAN1_IN error “CommErrCANIN1” (CAN1 CE1)
  • Page 167 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0863 FFFF Process input words hexadecimal for 3-10 system bus (CAN) CAN1_BInB0_b CAN1_BInB15_b CAN1_BInB16_b CAN1_BInB31_b CAN2_BInB0_b CAN2_BInB15_b CAN2_BInB16_b CAN2_BInB31_b CAN3_BInB0_b CAN3_BInB15_b CAN3_BInB16_b CAN3_BInB31_b C0866 -199.99 {0.01 %} 199.99 Process input words for system bus...
  • Page 168 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C0906 -199.99 {0.01 %} 199.99 Analog input signals 2-48 MCTRL_nNSet_a MCTRL_nNAdd_a MCTRL_nLoMLim_a MCTRL_nHiMLim_a MCTRL_nPosLim_a MCTRL_nNStartMLim_a MCTRL_nFldWeak_a MCTRL_nISet_a C0907 Digital input signals 2-48 MCTRL_bPosOn_b MCTRL_bNMSwt_b MCTRL_bQspOut_b MCTRL_bILoad_b...
  • Page 169 C2353 CAN address sel1 CAN-Open, Node ID: DIP switch/C2350 LENZE, selective addr. C2354 1: XCAN IN1/OUT1 addr. LENZE, Node ID: DIP switch/C2350 2: XCAN IN2/OUT2 addr. 3: XCAN IN3/OUT3 addr. C2354 XCAN sel. addr 1: XCAN IN 1 selective addr.
  • Page 170 Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings IMPORTANT IMPORTANT Lenze Choice C2368 Sync Tx-Id [1 ms} 2047 C2373 Sync Rate IN C2374 Sync Rate OUT C2375 XCAN Tx.Mode Response to SYNC. No response to SYNC Action / cycle C2356...

  • Page 171: Index

    Show/Hide Bookmarks 9300 Servo PLC Appendix 4.10 Index CANopen Adressing the drives , 3-40 Communication profile of the system bus , 3-39 absolute addresses, 2-2 Data description , 3-39 Additional torque setpoint, 2-51 Identifier, 3-39 Selective identifier definition, 3-40 Addresses, absolute , 2-2...
  • Page 172 Keypad, Status messages, 4-8 Heatsink monitoring OH4 (adjustable), 2-63 History buffer, 4-9 Assembly, 4-9 LECOM, Status word C0150, 4-8 Working with the, 4-10 Lenze software guidelines, Hungarian Notation, 1-3 Host, 3-1 Limiting of speedsetpoint, 2-53 MCTRL_MotorControl, 2-48 Identifier, Explanation of, 1-4 MCTRL_nNmaxC11, 2-57...
  • Page 173 Show/Hide Bookmarks 9300 Servo PLC Appendix Monitoring functions Heatsink monitoring OH (fixed), 2-63 Rapid stop (Quickstop), 2-54 Heatsink monitoring OH4 (adjustable), 2-63 Plant speed monitoring NMax, 2-64 Reset, Fault message, 4-14 Motor control, 2-48 Safety information, Layout Other notes, 1-1...
  • Page 174 Variable names Programming, 3-6 Conventions, Hungarian Notation, 1-3 Parameter channels, 3-7 Process data channels, 3-8 Lenze software guidelines, Explanation of, 1-3 programming, Application example, 3-31 Variable type , Labelling, 1-4 Wiring, 3-3 Wiring complying to EMC, 3-4 System bus (CAN1_IO), 3-10...
  • Page 175 Show/Hide Bookmarks 9300 Servo PLC Appendix 4-40 9300ServoPLC EN 1.4...

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