Lenze i950 Commissioning Manual
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Lenze i950 Commissioning Manual

Servo inverters
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Summary of Contents for Lenze i950

  • Page 1 Commissioning EN Inverters i950 servo inverters...

  • Page 3: Table Of Contents

    Contents Contents 1 About this document Document description 1.1.1 Further documents Notations and conventions 2 Safety instructions Basic safety instructions Application as directed Residual hazards 3 Product information Identification of the products 3.1.1 Product codes 3.1.2 Nameplates Features 4 Commissioning Important notes Operating interfaces 4.2.1...
  • Page 4 Contents 6 Technology application (TA) basic settings Kinematic settings 6.1.1 Mass inertia (load/motor) 6.1.2 Torque feedforward control 6.1.3 Motor/encoder mounting direction 6.1.4 Motor/encoder gearbox ratio 6.1.5 Motor/encoder feed constant 6.1.6 Motor/encoder travel ranges and cycle length 6.1.7 Virtual mode Motion settings 6.2.1 Quick stop 6.2.2...
  • Page 5 Contents 7 Configuring the "Electronic Gearbox" TA Control settings Interface 7.2.1 Control signals 7.2.2 Status signals 7.2.3 Simulation of the interface 7.2.4 Assignment of control signals and status signals Master value sources 7.3.1 System bus 7.3.2 Feedback system for the technology application 7.3.3 Virtual master 7.3.3.1...
  • Page 6 Contents 10 Configure speed control 10.1 Basic setting 10.2 Operating mode "CiA 402 Velocity mode (vl)" 10.2.1 Default mapping 10.2.2 Signal flow (servo control) 10.2.3 Signal flow (V/f characteristic control) 10.3 Operating mode "CiA 402 Cyclic sync velocity mode (csv)" 10.3.1 Default mapping 10.3.2...
  • Page 7 Contents 12 Configuring the feedback system 12.1 Configure feedback system for motor control 12.1.1 General settings 12.1.2 Resolver settings 12.1.2.1 Resolver error compensation 12.1.3 Encoder settings 12.1.3.1 SinCos encoder 12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 12.1.3.3 SSI encoder 12.1.3.4 Evaluation of the signal quality 12.1.4...
  • Page 8 Contents 13 Configuring the motor control 13.1 Servo control for synchronous motor (SC-PSM) 13.1.1 Required commissioning steps 13.2 Servo control for asynchronous motor (SC-ASM) 13.2.1 Required commissioning steps 13.3 Sensorless control for synchronous motor (SL-PSM) 13.3.1 Required commissioning steps 13.4 V/f characteristic control for asynchronous motor (VFC open loop) 13.4.1 Required commissioning steps...
  • Page 9 Contents 13.7 Fine adjustment of the motor model 13.7.1 Correction of the stator leakage inductance (Lss)... 13.7.2 Synchronous motor (SM): Compensate temperature and current influences 13.7.3 Asynchronous motor (ASM): Identify Lh saturation characteristic 13.7.4 Estimate optimum magnetising current 13.8 Parameterise filter elements in the setpoint path 13.8.1 Jerk limitation 13.8.2...
  • Page 10 Contents 16 Configuring the network 16.1 Device profile CiA 402 16.1.1 Supported operating modes 16.1.2 Basic setting 16.1.3 Process input data 16.1.4 Process output data 16.1.5 Commands for device state control 16.1.5.1 Switch on 16.1.5.2 Enable operation 16.1.5.3 Activate quick stop 16.1.5.4 Pulse inhibit 16.1.5.5...
  • Page 11 Contents 16.3 PROFINET 16.3.1 Commissioning 16.3.1.1 Settings in the »EASY Starter« 16.3.1.2 Restarting or stopping the communication 16.3.1.3 Settings in the Siemens »TIA Portal« 16.3.1.4 Device description file 16.3.1.5 Establishing a connection to the »EASY Starter« via PROFINET 16.3.2 Basic setting and options 16.3.2.1 Station name and IP configuration 16.3.2.2...
  • Page 12 Contents 17 Device functions 17.1 Optical device identification 17.2 Reset parameters to default 17.3 Saving/loading the parameter settings 17.4 Enabling the device 17.5 Restart device 17.6 Restarting Extended Safety 17.7 Export logbook 17.8 Delete logbook files 17.9 Activate loaded application 17.10 Uploading the application 17.11 Inverter control word 17.12 Access protection...
  • Page 13 Contents 19 Safety functions 19.1 Safe Torque Off (STO) 19.2 Safe Emergency Stop (SSE) 19.3 Ramp monitoring 19.4 Safe Stop 1 (SS1) 19.5 Safe Stop 2 (SS2) 19.6 Safe Operating Stop (SOS) 19.7 Safe Maximum Speed (SMS) 19.8 Safely-Limited Speed (SLS) 19.9 Safe Speed Monitor (SSM) 19.10 Safely Limited Increment (SLI)
  • Page 14 Contents 20 Technical data 20.1 Standards and operating conditions 20.1.1 Conformities/approvals 20.1.2 Protection of persons and device protection 20.1.3 EMC data 20.1.4 Motor connection 20.1.5 Environmental conditions 20.1.6 Electrical supply conditions 20.2 3-phase mains connection 400 V 20.2.1 Rated data 20.3 3-phase mains connection 480 V 20.3.1...

  • Page 15: About This Document

    Exports in different formats EPLAN macros Project planning, documentation and management of projects for P8. • Data reference via Lenze or EPLAN data portal Information and tools with regard to the Lenze products can be found on the Internet: http://www.lenze.com à Download...

  • Page 16: Notations And Conventions

    About this document Notations and conventions Notations and conventions This document uses the following conventions to distinguish different types of information: Numeric notation Decimal separator Point The decimal point is always used. Example: 1 234.56 Warning UL warning Are used in English and French. UR warning Text Engineering tools...

  • Page 17: Safety Instructions

    The procedural notes and circuit details described are only proposals. It is up to the user to check whether they can be adapted to the particular applications. Lenze does not take any responsibility for the suitability of the procedures and circuit proposals described.

  • Page 18: Residual Hazards

    Safety instructions Residual hazards Residual hazards Product Observe the warning labels on the product! Icon Description Electrostatic sensitive devices: Before working on the product, the staff must ensure to be free of electrostatic charge! Dangerous electrical voltage Before working on the product, check if no voltage is applied to the power terminals! After mains disconnection, the power terminals carry the hazardous electrical voltage for the time given next to the symbol! High leakage current: Carry out fixed installation and PE connection in compliance with EN 61800−5−1 or EN 60204−1!

  • Page 19: Product Information

    Product codes I 9 5 A E □□□ F 1 □ □ □ 0 □□□□ Product type Inverter Product family i900 Product i950 Product generation Generation 1 Mounting type Control cabinet mounting Rated power [W] 0.55 kW 0.75 kW 2.2 KW 4.0 kW...

  • Page 20: Nameplates

    Product information Identification of the products Nameplates 3.1.2 Nameplates Position and meaning of the nameplates Complete inverter Component (options) ① ① ② ① ① Nameplate at front top: Technical data, type and serial Type and serial number of the component ①...

  • Page 21: Features

    Product information Features Features Power range 0.55 kW ... 4 kW PE connection X100 Mains connection DC bus X101 Option IT screw Shielding of control connections 24 V supply Option Control electronics X2x6 Network Network status LEDs Option X2x7 Network Option X236 System bus EtherCAT IN...
  • Page 22 Product information Features Power range 7.5 kW ... 15 kW X100 Mains connection X101 DC bus Option PE connection Shielding of control connections 24 V supply Option Control electronics Network status LEDs X2x6 Network Option X2x7 Network X236 System bus EtherCAT IN Option Inverter status LEDs X237...
  • Page 23 Product information Features Power range22 kW X100 Mains connection/DC bus PE connection Shielding of control connections 24 V supply Option Control electronics Network status LEDs X2x6 Network Option System bus EtherCAT X2x7 Network X236 Option X237 Inverter status LEDs Basic Safety - STO Control terminal SD card Option...
  • Page 24 Product information Features Power range 30 kW ... 45 kW Shielding of control X100 Mains connection connections 24 V supply PE connection Control electronics X2x6 Network Network status LEDs Option X2x7 Network System bus EtherCAT Option X236 Inverter status LEDs X237 Basic Safety - STO SD card...
  • Page 25 Product information Features Power range 55 kW ... 75 kW Shielding of X100 Mains connection/DC bus control connections Option PE connection IT screw 24 V supply X2x6 Network Control electronics Option Network status LEDs X2x7 Network Option System bus EtherCAT IN X236 Inverter status LEDs Basic Safety - STO...
  • Page 26 Product information Features Power range 90 kW ... 110 kW Mains connection/DC bus X100 Shielding of control connections PE connection Option IT screw 24 V supply Control electronics X2x6 Network Option Network status LEDs X2x7 Network Option System bus EtherCAT IN X236 Inverter status LEDs X237...

  • Page 27: Commissioning

    Commissioning Important notes Commissioning The purpose of commissioning is to adapt the inverter as part of a machine with a variable- speed drive system to its drive task. Important notes DANGER! Incorrect wiring can cause unexpected states during the commissioning phase. Possible consequences: death, severe injuries or damage to property Ensure the following before switching on the mains voltage: ▶...

  • Page 28: Operating Interfaces

    Depending on the inverter, there are one or several options for accessing the device parame- ters that are available for customising the drive task. Simple access to the device parameters is provided by the Lenze Engineering Tool »EASY Starter«. Connection X16 is used as an interface for an engineering PC in this case.

  • Page 29: Engineering Tool »Easy Starter

    Commissioning Operating interfaces Engineering tool »EASY Starter« 4.2.1 Engineering tool »EASY Starter« The »EASY Starter« is a PC software that is especially designed for the commissioning and diagnostics of the inverter. »EASY Starter« Download • Sample screenshot: The upper part of the Settings tab displays the sequence of five essential commissioning steps.

  • Page 30: Generate A Connection Between Inverter And »Easy Starter

    Commissioning Operating interfaces Engineering tool »EASY Starter« 4.2.1.1 Generate a connection between inverter and »EASY Starter« For commissioning the inverter with the »EASY Starter«, a communication link with the inver- ter is required. This can be established in a wired manner only. Additional information on network configuration: 4Configure engineering port ^ 288...

  • Page 31: General Information On Parameter Setting

    Commissioning General information on parameter setting Parameter overview lists General information on parameter setting Being part of a machine with a variable-speed drive system, the inverter must be adapted to its drive task. The inverter is adapted by changing parameters These parameters can be accessed by the »EASY Starter«.

  • Page 32: Favourites

    Commissioning General information on parameter setting Favourites 4.3.4 Favourites In order to gain quick access using the »EASY Starter«, frequently used parameters of the inverter can be defined as "Favorites". »EASY Starter« provides quick access to the "Favorites" via the Favorites tab. •...
  • Page 33 Commissioning General information on parameter setting Favourites Address Name / setting range / [default setting] Info 0x261C:010 Favorites settings: Parameter 10 0 ... [] ... 4294967295 0x261C:011 Favorites settings: Parameter 11 0 ... [] ... 4294967295 0x261C:012 Favorites settings: Parameter 12 0 ...
  • Page 34 Commissioning General information on parameter setting Favourites Address Name / setting range / [default setting] Info 0x261C:040 Favorites settings: Parameter 40 0 ... [] ... 4294967295 0x261C:041 Favorites settings: Parameter 41 0 ... [] ... 4294967295 0x261C:042 Favorites settings: Parameter 42 0 ...

  • Page 35: Commissioning

    Commissioning Commissioning Commissioning Prerequisites The mechanical and electrical installation of the inverter is complete. • If necessary, the motor is mechanically decoupled from the system. • Check whether the system can be mechanically damaged if the non-decoupled drive • makes uncontrolled movements. The connection between the inverter and the engineering PC with instal- •...

  • Page 36: Saving The Parameter Settings

    Commissioning Saving the parameter settings Save parameter settings with »EASY Starter« Saving the parameter settings During operation with the CiA 402 device profile, no settings are saved. The settings are trans- mitted when the master control is started. If applications are used, the SD card with the licence data also serves as storage medium.

  • Page 37: Basic Setting

    Basic setting Function assignment of the inputs and outputs (default setting) Basic setting This chapter contains the most frequently used functions and settings to adapt the inverter to a simple application based on the default setting. Device name Parameter Address Name / setting range / [default setting] Info 0x2001...

  • Page 38: Motor Data

    Possible settings If a Lenze motor is connected to the inverter, you can select the motor in the engineering tool from the "motor catalogue". For details see chapter "Select motor from motor...

  • Page 39: Select Motor From Motor Catalogue

    • Required steps 1. Open the Lenze engineering tool that provides for the functionality of a “Motor catalogue". 2. Click the Select motor... button. In case of the »EASY Starter«, you find the Select motor... button on the "settings". tab.
  • Page 40 Basic setting Motor data Select motor from motor catalogue Parameterisation sequence As soon as the parameterisation has been started, the following steps are initiated by the engineering tool: 1. The motor rating data and the motor equivalent circuit diagram data are loaded from the motor catalogue.

  • Page 41: Manual Setting Of The Motor Data

    Basic setting Motor data Manual setting of the motor data 5.4.2 Manual setting of the motor data There are two options to parameterise a motor. 1. Enter nameplate data Enter the following motor data: Number of pole pairs 40x2C01:001 Stator resistance 40x2C01:002 Stator leakage inductance 40x2C01:003...
  • Page 42 Basic setting Motor data Manual setting of the motor data Parameter Address Name / setting range / [default setting] Info 0x2C01:001 Motor parameters: Number of pole pairs Display of the number of pole pairs calculated from the rated speed and •...
  • Page 43 Basic setting Motor data Manual setting of the motor data Address Name / setting range / [default setting] Info 0x6073 Max current Maximum overload current of the inverter. 0.0 ... [150.0] ... 3276.7 % • 100 % ≡ Motor rated current (0x6075) •...

  • Page 44: Motor Control Mode

    Basic setting Motor control mode Motor control mode The inverter supports different modes for closed-loop/open-loop motor control. Parameter Address Name / setting range / [default setting] Info 0x2C00 Motor control mode Selection of the motor control type. • Setting can only be changed if the inverter is inhibi- ted.

  • Page 45: Technology Application (Ta) Basic Settings

    Technology application (TA) basic settings Technology application (TA) basic settings This chapter describes the basic functions of the technology application. Here you will find information on the following topics: 4Kinematic settings ^ 46 4Motion settings ^ 53 4Defining control sources ^ 80 4System bus communication ^ 84...

  • Page 46: Kinematic Settings

    Technology application (TA) basic settings Kinematic settings Motor/encoder mounting direction Kinematic settings The kinematic parameters describe, among other things, the motor end with regard to the mechanics used: 4Mass inertia (load/motor) ^ 46 4Torque feedforward control ^ 46 4Motor/encoder mounting direction ^ 46 4Motor/encoder gearbox ratio ^ 47...

  • Page 47: Motor/Encoder Gearbox Ratio

    Technology application (TA) basic settings Kinematic settings Motor/encoder gearbox ratio 6.1.4 Motor/encoder gearbox ratio The necessary data for configuring the gearbox ratio is listed in the gearbox cat- alog. For a precise specification of the gearbox ratio, the specified number of teeth z1 ...
  • Page 48 Technology application (TA) basic settings Kinematic settings Motor/encoder gearbox ratio Parameter Address Name / setting range / [default setting] Info 0x500A:025 Additional gearbox factor - numerator 1 ... [1] ... 4294967295 • Setting can only be changed if the inverter is inhibi- ted.

  • Page 49: Motor/Encoder Feed Constant

    Technology application (TA) basic settings Kinematic settings Motor/encoder feed constant 6.1.5 Motor/encoder feed constant The feed constant corresponds to the machine motion for one revolution of the gearbox out- put shaft. When a turntable is used, the feed constant is = 360°/revolution when defined as an angle. The feed constant of a conveyor drive results from the circumference of the drive roll.

  • Page 50: Motor/Encoder Travel Ranges And Cycle Length

    Technology application (TA) basic settings Kinematic settings Motor/encoder travel ranges and cycle length 6.1.6 Motor/encoder travel ranges and cycle length Linearly limited travel range The travel range in the positive and negative direction is limited mechanically and on the • software side by limit switches.
  • Page 51 Technology application (TA) basic settings Kinematic settings Motor/encoder travel ranges and cycle length ❶ ❶ ❷ ❸ Fig. 6: Position representation Position in the motor measuring sys- Cycle length 40x500A:031 Position in the machine measuring system The kinematic parameters for the second encoder serve to define the conversion of an impor- ted encoder position or encoder speed in machine units.

  • Page 52: Virtual Mode

    Technology application (TA) basic settings Kinematic settings Virtual mode 6.1.7 Virtual mode The application can be tested without a connected motor. For this purpose, the setpoint selec- tion for the drive can be interrupted. When the virtual mode is active, the setpoints generated in the application are not transmit- ted to the drive.

  • Page 53: Motion Settings

    Technology application (TA) basic settings Motion settings Quick stop Motion settings Motion settings can be made for the following functions: 4Quick stop ^ 53 4Halt ^ 54 4Following error monitoring ^ 54 4Target position detection ^ 55 4Motor/encoder standstill detection ^ 55 4Conditioning of the encoder signal ^ 55...

  • Page 54: Halt

    Technology application (TA) basic settings Motion settings Following error monitoring 6.2.2 Halt By triggering this function, the technology application enables the axis to be braked to stand- still with the values parameterised for deceleration and jerk based on the current setpoints. Parameter Address Name / setting range / [default setting]...

  • Page 55: Target Position Detection

    Technology application (TA) basic settings Motion settings Conditioning of the encoder signal 6.2.4 Target position detection The target position detection identifies whether the axis is in the symmetrical target position window after the dwell time has elapsed. The information is provided in the Status word parameter of the technology application. •...

  • Page 56: Behaviour In The Event Of Inverter Disable

    Technology application (TA) basic settings Motion settings Behaviour in the event of inverter disable 6.2.7 Behaviour in the event of inverter disable In standard cases, the setpoint position is compared against the actual position when the inverter is disabled. A position window can be used to control the automatic comparison between the setpoint position and actual position in the case of a disabled inverter.

  • Page 57: Control Modes

    Technology application (TA) basic settings Motion settings Control modes 6.2.8 Control modes With the default setting, the axis will always be operated with activated speed control unless the function used in the application requires a different control type. 40x500A:090 The speed control is used when no motor encoder is available. The speed control is used in the first phase of the reference run, during the search for the reference signal.

  • Page 58: Manual Jog (Inching Mode)

    Technology application (TA) basic settings Motion settings Manual jog (inching mode) 6.2.9 Manual jog (inching mode) The "manual jog" function enables manual traversing of the drive ("inching mode"). "Manual jog" can be activated via 2 control signals in the technology application. "Manual jog" is possible in the positive and negative directions.

  • Page 59: Homing

    Technology application (TA) basic settings Motion settings Homing 6.2.10 Homing Homing serves to define the zero point in the traversing range. The activation takes place by the control word of the technology application. The information that a home position has been recognised is provided in the Status word parameter of the technology application.
  • Page 60 Technology application (TA) basic settings Motion settings Homing Address Name / setting range / [default setting] Info 0x500A:080 Homing : Touch probe configuration 0 External source 1 TP1 - positive edge 2 TP1 - negative edge 3 TP1 - any edge 4 TP1 - zero pulse 11 TP2 - positive edge 12 TP2 - negative edge...

  • Page 61: Homing Modes

    Technology application (TA) basic settings Motion settings Homing 6.2.10.1 Homing modes Designation Initial value Evaluated signals/sensors TP sensor: encoder Travel range limit switch Reference switch zero pulse HomeAbsSwitch negative positive Set position directly Set reference directly CcwLimitSwitchCwTP CwLimitSwitchCcwTP CwRpCcwRnTP CcwRpCwRnTP CcwLimitSwitch CwLimitSwitch CwRpCcwRn...
  • Page 62 Technology application (TA) basic settings Motion settings Homing Homing mode 2: CwLimitSwitchCcwTP ① Fig. 8: Positive direction with reversing limit switch to touch probe Touch probe/zero pulse Positive travel range limit switch Sequence of case ① 1. The machine part moves in positive direction with profile data set 1. 2.
  • Page 63 Technology application (TA) basic settings Motion settings Homing Reference run 3: CwRpCcwRnTP ① ② Fig. 9: Positive direction with reversing limit switch and negative edge of the reference switch to touch probe Touch probe/zero pulse Reference switch Sequence of case ①...
  • Page 64 Technology application (TA) basic settings Motion settings Homing Homing mode 5: CcwRpCwRnTP ① ② Fig. 10: Negative direction with reversing reference switch and negative edge of the reference switch to touch probe Touch probe/zero pulse Reference switch Sequence of case ①...
  • Page 65 Technology application (TA) basic settings Motion settings Homing Homing mode 17: CcwLimitSwitch ① Fig. 11: Negative direction to limit switch Negative travel range limit switch Sequence of case ① 1. The machine part moves in negative direction with profile data set 1. 2.
  • Page 66 Technology application (TA) basic settings Motion settings Homing Homing mode 19: CwRpCcwRn ① ② Fig. 13: Sequence representation of case 1 and case 2 Reference switch Sequence of case ① The axis has not yet activated the reference switch: 1. The machine part moves in positive direction with profile data set 1. 2.
  • Page 67 Technology application (TA) basic settings Motion settings Homing Homing mode 21: CcwRpCwRn ① ② Fig. 14: Sequence representation of case 1 and case 2 Reference switch Sequence of case ① The axis has not yet activated the reference switch: 1. The machine part moves in negative direction with profile data set 1. 2.
  • Page 68 Technology application (TA) basic settings Motion settings Homing Homing mode 34: CwTP ① Fig. 16: Positive direction to touch probe Touch probe/zero pulse Sequence of case ① 1. The machine part moves to positive direction with profile data set 1 and activates the touch probe detection.
  • Page 69 Technology application (TA) basic settings Motion settings Homing Homing mode -2: CwTorqueLimit ① Fig. 18: Positive direction to torque limit Sequence of case ① 1. The machine part moves in positive direction with reduced torque and profile data set 1. 2.

  • Page 70: Digital Input For Reference Switch

    Technology application (TA) basic settings Motion settings Homing 6.2.10.2 Digital input for reference switch Parameter Address Name / setting range / [default setting] Info 0x5020:006 Source of homing switch for touch probe Selection of the signal source for activating the reference switch for touch probe evaluation.

  • Page 71: Limitations

    Technology application (TA) basic settings Motion settings Limitations 6.2.11 Limitations 6.2.11.1 Torque limits For the axis, static torque limits can be defined which are active in normal operation. They are defined via the parameters: Positive torque limit • 40x500A:128 • Negative torque limit 40x500A:129 The torque limits can be deactivated in the technology application and can be replaced by...

  • Page 72: Maximum Values For Travel Profiles

    Technology application (TA) basic settings Motion settings Limitations 6.2.11.2 Maximum values for travel profiles The following parameters can be used to set maximum values for velocity, acceleration and jerk. These parameters depend on the mechanics (e.g. the tool used). The respective limitation is only effective if a non-zero maximum value is set. If a generated setpoint exceeds the set maximum value (e.g.

  • Page 73: Hardware Limit Switches

    Technology application (TA) basic settings Motion settings Limitations 6.2.11.3 Hardware limit switches The resulting setpoint velocity Virtual Master: Set velocity is used for the continuous opera- tion or cyclic operation of the virtual master. 40x5047:001 AI1+ AI1- Fig. 19: Front view of the plug connector X3 with analog input 1 Master Value Source Source Master Values Source Master Values (0x5020:014) = Virtual Master...
  • Page 74 Technology application (TA) basic settings Motion settings Limitations Diagnostics Status word parameter bit 9 Bit 9 40x500A:005 Status word parameter bit 10 Bit 10 40x500A:005 Parameter Address Name / setting range / [default setting] Info 0x500A:104 Response to hardware limit switch error 19 Fault >...

  • Page 75: Software Limit Switches

    Technology application (TA) basic settings Motion settings Limitations 6.2.11.4 Software limit switches The parameterisable software end switches limit the traversing range set via the software. The software end switches are not active for the "Modulo" traversing range and when a reference run is active. In the following situations, the software end switches are evaluated, monitored, and shown in the status word when triggered: Bit 6...

  • Page 76: Safety Limits

    Technology application (TA) basic settings Motion settings Limitations 6.2.11.5 Safety limits The inverter has functions for supporting the safety technology. Depending on the required safety function, automatic intervention in the setpoint value generation of the axis takes place. When safety technology is used in coupled axes, it might be required that a requested safety function does not respond within the single axes but that the responses are recognised cen- trally.
  • Page 77 Technology application (TA) basic settings Motion settings Limitations Master-slave coupling In the event of an active master/slave coupling (e. g. synchronism or cam profiler application), the speed is not reduced automatically in the default setting. The automatic speed reduction is generally realised via the master axis. Automatic speed reduction is activated via the Follower - Response to SLS parameter.

  • Page 78: Status Signals

    Technology application (TA) basic settings Motion settings Status signals 6.2.12 Status signals Parameter Address Name / setting range / [default setting] Info 0x500A:004 PLCopen status • Read only 1 ErrorStop 2 Disabled 3 Standstill 4 Stopping 5 DiscMotion 6 SyncMotion 7 ContMotion 8 Homing 10 Service...
  • Page 79 Technology application (TA) basic settings Motion settings Status signals Address Name / setting range / [default setting] Info 0x500B:005 Status word • Read only Bit 1 Encoder ready Bit 3 Warning active Bit 4 Error active Bit 5 Home position detected Bit 22 Standstill active 0x500B:010 Actual position...

  • Page 80: Defining Control Sources

    Technology application (TA) basic settings Defining control sources Source of error reset Defining control sources This chapter describes the selection of the control source for various control signals. 4Source of quick stop ^ 80 4Source of error reset ^ 80 4Source of digital output 1 ^ 81 4Source of monitoring signal...

  • Page 81: Source Of Digital Output 1

    Technology application (TA) basic settings Defining control sources Source of digital output 1 6.3.3 Source of digital output 1 The signal for digital output 1 is selected via the Source for digital output 1 parameter. 40x5020:030 0x5020:030 (Source digital output 1) Ready to switch on Drive fault Homing done...

  • Page 82: Source Of Monitoring Signal

    Technology application (TA) basic settings Defining control sources Source of monitoring signal 6.3.4 Source of monitoring signal A monitoring signal can be selected for control word 6 and control word 7. The source for the monitoring signal to be output is selected via the Source for monitoring signal parameter.
  • Page 83 Technology application (TA) basic settings Defining control sources Source of monitoring signal Address Name / setting range / [default setting] Info 0x5040:007 Display value 2 0 None Signal selection for the monitoring of signal 1 to status word 6. 1 Actual motor temperature 2 Actual motor current 3 DC-bus voltage 4 Device utilisation...

  • Page 84: System Bus Communication

    Technology application (TA) basic settings System bus communication Inputs System bus communication The system bus serves to transfer cyclic-synchronous master values. For the transfer, 8 input words and 8 output words are available, with a data width of 32 bits each. The assignment of the double words is shown in the figure "Assignment of system bus input/output".

  • Page 85: Master Value Output

    Technology application (TA) basic settings System bus communication Outputs Address Name / setting range / [default setting] Info 0x5021:166 System bus diagnostics: Output data word 6 This system bus input word is currently not used, but can be connected • Read only in the technology application by the user.

  • Page 86: Source Of Touch Probe Time Stamp

    Technology application (TA) basic settings System bus communication Outputs 6.4.2.2 Source of touch probe time stamp The Touch probe system bus source parameter serves to set the source of the touch probe time stamp. 40x5020:011 Source TP 1 (0x5020:011) Time stamp TP: System bus in (0x5021:155) System bus outputs DigIn1 - Positive edge...

  • Page 87: Distribution Of The Master Values By The Master

    Technology application (TA) basic settings System bus communication Distribution of the master values by the master 6.4.3 Distribution of the master values by the master The parameter settings for distributing the master values must be configured in the system bus master. In standard cases, no additional configuration needs to be performed for the slaves.

  • Page 88: Example: System Bus Master Is Master Value Master

    Technology application (TA) basic settings System bus communication Distribution of the master values by the master 6.4.3.1 Example: System bus master is master value master Generally, the system bus master is the master value master. All other system bus nodes (slaves) receive an identical master value from the master.

  • Page 89: Example: System Bus Slave Is Master Value Master

    Technology application (TA) basic settings System bus communication Distribution of the master values by the master 6.4.3.2 Example: System bus slave is master value master If the system bus master is not simultaneously the master value master, the Parameter source for words 0 ...3 parameter must be set to the corresponding source.

  • Page 90: Example: Using Time Stamp Of Another Axis

    Technology application (TA) basic settings System bus communication Distribution of the master values by the master 6.4.3.3 Example: Using time stamp of another axis The touch probe timestamp of the technology application Sync and correction (S1) is to be used by the technology application Table Positioning (S2). The master value master is the vir- tual master in the system bus master.

  • Page 91: Configuring The "Electronic Gearbox" Ta

    Configuring the "Electronic Gearbox" TA Configuring the "Electronic Gearbox" TA The technology application Electronic Gearbox is used in the following application range: Slitters • Calender drives • Line drives • Transport belts • Vibrators • Roller plants • Stretching machines •...

  • Page 92: Control Settings

    Configuring the "Electronic Gearbox" TA Control settings Parameter Address Name / setting range / [default setting] Info 0x4000 Application selection • Setting can only be changed if the inverter is inhibi- ted. 0 "CiA 402" technology application 10 "Speed Control" technology application 20 "Table Positioning"...

  • Page 93: Interface

    Configuring the "Electronic Gearbox" TA Interface Interface The following interfaces are available for controlling a technology application: Fieldbus interface [0] • System bus interface [1] • The selection of the interface is performed in »EASY Starter«: Select the Settings tab, then the Technology application parameter dialog. •...

  • Page 94: Control Signals

    Configuring the "Electronic Gearbox" TA Interface Control signals 7.2.1 Control signals Parameter Address Name / setting range / [default setting] Info 0x5040:010 Control signals 0x00000000 ... [0x00000000] ... 0xFFFFFFFF Bit 0 Control signal bit 0 Optional functions can be assigned to this bit. Bit 1 Control signal bit 1 Bit 2 Activate application quick stop The QSP ramp stops the rotating drive.

  • Page 95: Status Signals

    Configuring the "Electronic Gearbox" TA Interface Status signals Address Name / setting range / [default setting] Info 0x5040:011 Control word 1 This word is not used in the application. 0 ... [0] ... 4294967295 0x5040:012 Control word 2 0 ... [0] ... 4294967295 0x5040:013 External velocity offset -214748.3648 ...

  • Page 96: Simulation Of The Interface

    Configuring the "Electronic Gearbox" TA Interface Simulation of the interface 7.2.3 Simulation of the interface The technology interface is operated via the following parameters: Simulation of control signals bit 0 ... 7 • 40x5040:001 Simulation of status signals bit 0 •...

  • Page 97: Assignment Of Control Signals And Status Signals

    Configuring the "Electronic Gearbox" TA Interface Simulation of the interface Parameter Address Name / setting range / [default setting] Info 0x5040:001 Simulation of control signals 0x00 ... [0x00] ... 0xFF Bit 0 Enable control signal simulation TRUE: Simulation of the control signals is activated. FALSE: The control signals are transmitted via the active network inter- face.
  • Page 98 Configuring the "Electronic Gearbox" TA Interface Assignment of control signals and status signals Address Designation Default setting Setting range 0x5040:017 External torque limit 0.00 % 0.00 ... 21474836.47 % 0x5040:111 Status signals limiter 0x00000000 0x00000000 ... 0xFFFFFFFF 0x5040:112 Actual velocity 0.0000 -214748.3648 ...

  • Page 99: Master Value Sources

    Configuring the "Electronic Gearbox" TA Master value sources Master value sources Source of the master value When changing the parameter, the inverter must be inhibited. The master values for the technology application come from a variety of sources. The source is selected via the Master value source parameter.

  • Page 100: System Bus

    Configuring the "Electronic Gearbox" TA Master value sources System bus 7.3.1 System bus If the setting system bus is selected as the master value source, the master value will be provi- ded by a system bus master. The system bus node can be configured via the system bus mas- ter.

  • Page 101: Feedback System For The Technology Application

    Configuring the "Electronic Gearbox" TA Master value sources Feedback system for the technology application 7.3.2 Feedback system for the technology application If the Actual velocity parameter is selected as the master value source, the master value will be provided by the optional slot (B) of the device. 40x500B:011 Fig.
  • Page 102 Configuring the "Electronic Gearbox" TA Master value sources Feedback system for the technology application The technology application responds to encoder errors on slot B (application feedback). The error response is configured in the Load encoder/master encoder error response parameter. 40x2C55 Master Value Source Source Master Values Source Master Values (0x5020:014) = Virtual Master...

  • Page 103: Virtual Master

    Configuring the "Electronic Gearbox" TA Master value sources Virtual master 7.3.3 Virtual master The technology application allows operation with a virtual master. In this case, a drive in the network takes on the role of the virtual master while at the same time serving as the first slave drive.
  • Page 104 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x4001 Interface selection Selecting the interface determines the interface that receives the signals. 0 Fieldbus network Control of the application via the fieldbus. 1 Systembus network Activation of the application via the system bus.
  • Page 105 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x5042:017 Set velocity of selected master value • Read only 0x5045:010 Virtual master control signals 0x00000000 ... [0x00000000] ... 0xFFFFFFFF Bit 0 Bit 1 Bit 2 Bit 3...
  • Page 106 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x5045:110 Virtual master status signals 0x00000000 ... [0x00000000] ... 0xFFFFFFFF Bit 0 Bit 1 Bit 2 Bit 3 Fault Bit 4 Bit 5 Bit 6 Manual jog active Manual operation is activated.
  • Page 107 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x5046:005 Virtual master jerk 0.00 ... [1000000.00] ... 21474836.47 0x5046:020 Virtual master clutch velocity 0.0000 ... [100.0000] ... 214748.3647 0x5047:001 Virtual Master: Set velocity •...
  • Page 108 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x500C:030 Traversing range Specification of the traversing range for the virtual master axis. • Setting can only be changed if the inverter is inhibi- •...
  • Page 109 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Name / setting range / [default setting] Info 0x500C:162 Deactivate safety interface 0x00000000 ... [0x00000000] ... 0xFFFFFFFF Bit 1 Ignore SS1 request Bit 2 Ignore SS2 request Bit 3 Ignore SLS1 - SLS4 request Bit 4 Ignore SDI request 0x500C:163 Limiter call...

  • Page 110: Simulation Of The Virtual Master

    Configuring the "Electronic Gearbox" TA Master value sources Virtual master 7.3.3.1 Simulation of the virtual master The technology interface is operated manually via the following parameters: • Simulation of control signals virtual master 40x5045:001 Simulation of status signals • 40x5045:101 Bit 0 of the Simulation of control signals virtual master parameter activates manual opera- tion of the technology function.

  • Page 111: Speed Via Analog Input 1

    Configuring the "Electronic Gearbox" TA Master value sources Virtual master 7.3.3.2 Speed via analog input 1 The speed source takes the form of a percentage value from analog input 1. The Diagnostics of analog input 1: Scaled percent value parameter refers to the Reference velocity for analog input 1 parameter.

  • Page 112: External Master Values

    Configuring the "Electronic Gearbox" TA Master value sources Virtual master 7.3.3.3 External master values The Virtual master control signals parameter can be used to switch over the master value source when the controller is enabled. Bit 31 40x5045:010 If bit 31 of the Virtual master control signals parameter is set to TRUE, the external master value sources are deselected.
  • Page 113 Configuring the "Electronic Gearbox" TA Master value sources Virtual master If bit 31 of the Virtual master control signals parameter is set to FALSE, the master value syn- chronises itself with the master value source selected in the Master value source parameter. •...
  • Page 114 Configuring the "Electronic Gearbox" TA Master value sources Virtual master Address Designation Default setting Setting range 0x5046:004 Virtual master deceleration 100000.00 0.00 ... 21474836.47 0x5046:005 Virtual master jerk 1000000.00 0.00 ... 21474836.47 0x5046:020 Virtual master clutch velocity 100.0000 0.0000 ... 214748.3647 0x5047:001 Virtual Master: Set velocity - (Read only)

  • Page 115: External Torque Limitation

    Configuring the "Electronic Gearbox" TA External torque limitation External torque limitation The external torque limit is defined via the External torque limit parameter. 40x5040:017 The external torque limit is activated with bit 22 of the Control signal parameter. 40x5040:010 Bit 22 of the Status signals parameter indicates whether the external torque limit is active. Bit 22 As long as the external torque limit remains inactive, the two parameters Positive torque limit and Negative torque limit define what torque limits apply.
  • Page 116 Configuring the "Electronic Gearbox" TA External torque limitation If no external torque limits are activated, the torque limits Positive torque limit and Negative torque limit are active. • Positive torque limit 40x500A:128 Negative torque limit • 40x500A:129 The external torque limits are configured via the External torque limit parameter and activa- ted via the Control signals parameter.

  • Page 117: Velocity Synchronization

    Configuring the "Electronic Gearbox" TA Velocity synchronization Velocity synchronization The synchronism of master value and drive axis is established via a coupling mode. The settings of the parameters Stretch factor numerator and Stretch factor denominator are only effective in Coupling mode = 0 effective. Coupling via units or cycle lengths can be selected as the coupling mode.
  • Page 118 Configuring the "Electronic Gearbox" TA Velocity synchronization The Setpoint velocity with offset velocity value includes the values: Set drive velocity • 40x5042:021 • Total velocity offset40x5042:030 Values to be set: Parameter name Parameter index Acceleration Clutching acceleration 0x5041:040 Clutching pressure Clutching jerk 0x5041:042 Engage clutch...

  • Page 119: Clutching

    Configuring the "Electronic Gearbox" TA Clutching (0x5040:010), Bit 16 (Clutch In) (0x5042:019) [units/s] (0x5042:040) [units/s] Fig. 53: Clutch engagement and disengagement process The graphics show the clutch engagement and disengagement process from standstill to the velocity 100 [unit/s] and back to standstill. Parameter Address Name / setting range / [default setting]...

  • Page 120: Clutching With Basic Speed

    Configuring the "Electronic Gearbox" TA Clutching with basic speed Clutching with basic speed There are two possibilities to take the basic velocity offset into consideration: 1. Via the Basic clutching velocity parameter with »EASY Starter«. 40x5041:043 2. Via the External basic velocity control word. 40x5040:016 The offset value is selected via control bit 24 of the control word 00.
  • Page 121 Configuring the "Electronic Gearbox" TA Clutching with basic speed Example The offset value is specified in the unit [units/s]. The offset value is resolved with 4 decimal places. If an offset value of 75 [units/s] is configured, the value 75,000 must be configured in the External offset control word.

  • Page 122: Connecting The Velocity Offset

    Configuring the "Electronic Gearbox" TA Connecting the velocity offset Connecting the velocity offset Setting a velocity offset is only possible when the clutch is engaged. The state is displayed in the parameter Status signals bit 16. There are two possibilities to take the velocity offset into consideration: 1.
  • Page 123 Configuring the "Electronic Gearbox" TA Connecting the velocity offset Example The offset value is specified in the unit [units/s]. The offset value is resolved with 4 decimal places. If an offset value of 75 [units/s] is configured, the value 75,0000 must be configured in the External velocity compensation control word.

  • Page 124: Position Trimming

    Configuring the "Electronic Gearbox" TA Position trimming Position trimming Position trimming is only possible when the clutch is engaged. The state is displayed in the parameter Status signals bit 16. Position trimming allows the position of the slave axis to be set compared to the master axis. The Position difference trimming parameter specifies the position difference to be set.
  • Page 125 Configuring the "Electronic Gearbox" TA Position trimming Parameter Address Name / setting range / [default setting] Info 0x5041:024 Trimming - position difference 0.0000 ... [1.0000] ... 214748.3647 0x5041:025 Trimming - velocity -214748.3648 ... [50.0000] ... 214748.3647 0x5041:026 Trimming - acceleration -21474836.48 ...
  • Page 126 Configuring the "Electronic Gearbox" TA Position trimming Trimming Trimming Positive Negative ∆ p ∆ p Fig. 61: Trimming in positive and negative direction by 90 [units] with a trimming velocity of 50 [units/s].

  • Page 127: Signal Flow

    Configuring the "Electronic Gearbox" TA Signal flow 7.10 Signal flow Trimming Trimming Trim position difference 0x5041:024 Offset Trim velocity 0x5041:025 Offset Trim acceleration 0x5041:026 ∆ p Offset Trim deceleration 0x5041:027 Offset Trim jerk 0x5041:028 Velocity offset trim Velocity Offset (0x5042:028) Set velocity offset (0x5042:023) Control Signals (0x5040:010), Bit 23...
  • Page 128 Configuring the "Electronic Gearbox" TA Signal flow Address Designation Default setting Setting range 0x5040:112 Actual velocity 0.0000 -214748.3648 ... 214748.3647 0x5040:113 Status word 3 0 ... 4294967295 0x5040:114 Error code 0 ... 4294967295 0x5040:115 Actual torque 0.00 Nm -21474836.48 ... 21474836.47 Nm 0x5040:116 Display value 1 0 ...

  • Page 129: Start, Stop And Rotating Direction Commands

    Start, stop and rotating direction commands Control selection Start, stop and rotating direction commands Control selection Parameter Address Name / setting range / [default setting] Info 0x2824 Control selection Selection of the type of inverter control. • Setting can only be changed if the inverter is inhibi- ted.

  • Page 130: Configure Position Control

    Configure position control Configure position control This operating mode provides a fast position follower with speed, torque and feed force feed- forward control. Typical applications for positioning are, for instance, transport facilities, feed drives and dos- ing systems. Preconditions A positioning control is parameterised in the servo control types to be set. 40x2C00 Configure one of these motor control types: 0x2C00...

  • Page 131: Basic Setting

    Configure position control Basic setting Basic setting In the following, the steps required for configuring the position control are described. 1. Set the manufacturer spanning operating mode according to CiA 402. 0x6060: " Cyclic sync position mode [8]" • • Detailed description in 4Operating mode "CiA 402 Cyclic sync position mode (csp)"...

  • Page 132: Following Error Detection And In-Position Detection

    Configure position control Basic setting Following error detection and in-position detection 9.1.1 Following error detection and in-position detection The "following error recognition" and "in-position recognition" are functions of the position control. All parameters correspond to the CiA 402 specification. Interpolation Set position (internal) Unit Position controller: Output signal...

  • Page 133: Interpolation

    Configure position control Basic setting Interpolation Address Name / setting range / [default setting] Info 0x6067 Position window Setting of the symmetrical tolerance window around the target position 0 ... [1000] ... 4294967295 pos. unit (0x607A) for the target position detection. If the actual position is within this tolerance window longer than the time defined in 0x6068...

  • Page 134: Operating Mode "Cia 402 Cyclic Sync Position Mode (Csp)

    Axis-->TPDO: cyclic sync position mode (csp) RECORD Data received from the Controller (RPDO) Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode: selection INTEGER_8 0x60B2 Torque: offset INTEGER_16 0x607A Position: setpoint position...

  • Page 135: Signal Flow

    Configure position control Operating mode "CiA 402 Cyclic sync position mode (csp)" Signal flow 9.2.2 Signal flow Positive torque limit value Negative torque limit value Speed ctrl.: Load I component Position Speed Speed controller controller limitation Interpolation Target position Torque Field-orientated Velocity offset limitation...
  • Page 136 Configure position control Operating mode "CiA 402 Cyclic sync position mode (csp)" Signal flow Overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA: Controlword 0x2830 Inverter control word 0x6060 Modes of operation 0x607A Target position 0x60B1 Velocity offset 0x60B2 Torque offset...

  • Page 137: Control Commands And Status Information

    Configure position control Operating mode "CiA 402 Cyclic sync position mode (csp)" Control commands and status information 9.2.3 Control commands and status information The following control commands can be executed via the CiA 402 control word 0x6040: Control word State Function Bit 4 0 reserved (bit must be set to "0".) Bit 5...

  • Page 138: Process Input Data (Cia 402 Objects)

    Configure position control Process input data (CiA 402 objects) Process input data (CiA 402 objects) Parameter Address Name / setting range / [default setting] Info 0x2830 Inverter control word The control word serves to influence the control functions. 0x0000 ... [0x0000] ... 0xFFFF Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded speed to the "flying restart"...

  • Page 139: Process Output Data (Cia 402 Objects)

    Configure position control Process output data (CiA 402 objects) Process output data (CiA 402 objects) Parameter Address Name / setting range / [default setting] Info 0x2831 Inverter-Statuswort Bit coded status word of the internal motor control. • Read only Bit 1 Speed setpoint 1 limited 1 ≡...

  • Page 140: Monitoring The Position Error

    Configure position control Monitoring the position error Address Name / setting range / [default setting] Info 0x606C Velocity actual value Display of the actual velocity. • Read only: rpm 0x6077 Torque actual value Display of the current torque. • Read only: x.x % •...

  • Page 141: Position Detection With Touch Probe (Tp)

    Configure position control Position detection with touch probe (TP) Default mapping Position detection with touch probe (TP) A "touch probe" (short: "TP") is an event that can be triggered, for instance via a digital input in an edge-controlled manner to detect and further process an actual value (which is changing fast) at the triggering time.

  • Page 142: General Mode Of Operation

    Configure position control Position detection with touch probe (TP) Filtering of the touch probe signal 9.6.2 General mode of operation If an event occurs at the configured touch probe source, a time stamp is detected in the servo inverter. The detected time stamp is related to the system time and can thus be divided into two parts: One part is the control cycle in which the of the event.

  • Page 143: Compensation Of Runtime Delays

    Configure position control Position detection with touch probe (TP) Compensation of runtime delays 9.6.4 Compensation of runtime delays In reality, both the input circuit in the servo inverter and the touch probe sensor have runtime delays (latencies) themselves. These can be taken into account in the calculation of the real trigger time and thus the real position at the trigger time.

  • Page 144: Touch Probe Control Word

    Configure position control Position detection with touch probe (TP) Touch probe status word 9.6.5 Touch probe control word Control word for configuring the touch probe functionality. Parameter Address Name / setting range / [default setting] Info 0x60B8 Touch probe function Control word for configuring the touch probe functionality.

  • Page 145: Extension For The Digital Inputs Di3 And Di4

    Configure position control Position detection with touch probe (TP) Extension for the digital inputs DI3 and DI4 9.6.7 Extension for the digital inputs DI3 and DI4 The content of this section is currently being processed. Parameter Address Name / setting range / [default setting] Info 0x2D02:001 Touch probe diagnostics: Touch probe 3/4 function...

  • Page 146: Setpoint Diagnostics

    Configure position control Setpoint diagnostics Address Name / setting range / [default setting] Info 0x2D01:003 Touch probe (TP) time stamp: Touch probe 2-rising Display of the time stamp of the rising edge for touch probe 2. edge time stamp • Read only: x ns 0x2D01:004 Touch probe (TP) time stamp: Touch probe 2-falling Display of the time stamp of the falling edge for touch probe 2.

  • Page 147: Configure Speed Control

    Configure speed control Basic setting Configure speed control Two operating modes are available for configuring the speed control: Operating mode "CiA 402 Velocity mode (vl)" • ^ 148 Here, a speed-controlled movement of the drive is realised by defining a speed setpoint. Operating mode "CiA 402 Cyclic sync velocity mode (csv)"...

  • Page 148: Operating Mode "Cia 402 Velocity Mode (Vl)

    Axis-->TPDO: Velocity mode (vl) RECORD Data received from the Controller (RPDO) Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode: selection INTEGER_8 0x6042 Velocity: setpoint velocity vl INTEGER_8 Data sent to the Controller (TPDO) Parameter...

  • Page 149: Signal Flow (Servo Control)

    Configure speed control Operating mode "CiA 402 Velocity mode (vl)" Signal flow (servo control) 10.2.2 Signal flow (servo control) Positive torque limit value Negative torque limit value Ramp Speed Speed function limitation controller vl target velocity Torque Field-orientated Interpolation limitation control vl velocity demand...
  • Page 150 Signal flow (servo control) Short overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA402 control word 0x2830 Lenze control word 0x6060 Operating mode: selection 0x6042 Velocity: setpoint velocity vl 0x60B2 Torque: offset 0x60E0 Torque: positive limit value...

  • Page 151: Signal Flow (V/F Characteristic Control)

    Configure speed control Operating mode "CiA 402 Velocity mode (vl)" Signal flow (V/f characteristic control) 10.2.3 Signal flow (V/f characteristic control) DC-injection braking Flying restart process Slip compensation Load adjustment characteristic Speed Frequency Ramp Current function limitation limitation limitation vl target velocity Current actual value Oscillation vl velocity demand...
  • Page 152 Signal flow (V/f characteristic control) Short overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA402 control word 0x2830 Lenze control word 0x6060 Operating mode: selection 0x6042 Velocity: setpoint velocity vl Output data 0x6041 CiA402 control word 0x2831...

  • Page 153: Operating Mode "Cia 402 Cyclic Sync Velocity Mode (Csv)

    Axis-->TPDO: cyclic sync velocity mode (csv) RECORD Data received from the Controller (RPDO) Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode: selection INTEGER_8 0x60B2 Torque: offset INTEGER_16 0x60FF Velocity: setpoint velocity...

  • Page 154: Signal Flow (Servo Control)

    Configure speed control Operating mode "CiA 402 Cyclic sync velocity mode (csv)" Signal flow (servo control) 10.3.2 Signal flow (servo control) Limit value: Positive torque Negative torque Speed Speed limitation controller Interpolation Velocity offset Torque Field-orientated Torque offset limitation control Position actual value Velocity actual value Torque actual value...
  • Page 155 Signal flow (servo control) Short overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA402 control word 0x2830 Lenze control word 0x6060 Operating mode: selection 0x60B1 Velocity: offset 0x60B2 Torque: offset 0x60E0 Torque: positive limit value 0x60E1...

  • Page 156: Signal Flow (V/F Characteristic Control)

    Configure speed control Operating mode "CiA 402 Cyclic sync velocity mode (csv)" Signal flow (V/f characteristic control) 10.3.3 Signal flow (V/f characteristic control) DC-injection braking Slip compensation Load adjustment characteristic Speed Current Frequency Interpolation limitation limitation limitation Target velocity Current actual value Oscillation Current demand value damping...
  • Page 157 Signal flow (V/f characteristic control) Short overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA402 control word 0x2830 Lenze control word 0x6060 Operating mode: selection 0x60FF Velocity: Setpoint velocity Output data 0x6041 CiA402 status word 0x2831...

  • Page 158: Control Commands And Status Information

    Configure speed control Operating mode "CiA 402 Cyclic sync velocity mode (csv)" Control commands and status information 10.3.4 Control commands and status information The following control commands can be executed in the "cyclic sync velocity mode" via the CiA402 control word (0x6040): Control word State Function...

  • Page 159: Process Input Data (Cia 402 Objects)

    Configure speed control Process input data (CiA 402 objects) 10.4 Process input data (CiA 402 objects) Parameter Address Name / setting range / [default setting] Info 0x2830 Inverter control word The control word serves to influence the control functions. 0x0000 ... [0x0000] ... 0xFFFF Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded speed to the "flying restart"...
  • Page 160 Configure speed control Process input data (CiA 402 objects) Address Name / setting range / [default setting] Info 0x6060 Modes of operation Selection of the operating mode. 0 No mode change/no mode assigned No operating mode (standstill) 2 CiA: Velocity mode CiA 402 velocity mode 4Operating mode "CiA 402 Velocity mode (vl)"...

  • Page 161: Process Output Data (Cia 402 Objects)

    Configure speed control Process output data (CiA 402 objects) 10.5 Process output data (CiA 402 objects) Parameter Address Name / setting range / [default setting] Info 0x2831 Inverter-Statuswort Bit coded status word of the internal motor control. • Read only Bit 1 Speed setpoint 1 limited 1 ≡...

  • Page 162: Monitoring The Speed Deviation

    Configure speed control Monitoring the speed deviation Address Name / setting range / [default setting] Info 0x6044 Velocity actual value Display of the actual speed (velocity mode). • Read only: x rpm 0x606C Velocity actual value Display of the actual velocity. •...

  • Page 163: Configuring The Torque Control

    Configuring the torque control Configuring the torque control This operating mode provides a fast torque follower with speed limitation. Typical applications are, for instance, winders or packaging machines. Preconditions The conditions are a correct entry of the motor data (Motor data) and the parameter setting of the motor control (Configuring the motor...

  • Page 164: Basic Setting

    Configuring the torque control Basic setting 11.1 Basic setting 1. Set the manufacturer spanning operating mode " Cyclic sync torque mode [10]" according to CiA402. A detailed description of this operating mode can be found in the "Operating mode • "CiA 402 Cyclic sync torque mode (cst)""...

  • Page 165: Torque Limits

    Configuring the torque control Basic setting Torque limits 11.1.1 Torque limits Details The positive and negative torque limit can be set independently of each other. The torque limit is to be configured to the maximum torque. 40x6072 pos torque limit (0x2949/1) torque Q2: Gen Q1: Mot...

  • Page 166: Speed Limitation

    -479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Upper speed limit [5]" in . • Entry via keypad and Lenze Tools is in rpm! • Via RPDO, the unit is vel. unit. and the scaling must be taken into account.

  • Page 167: Operating Mode "Cia 402 Cyclic Sync Torque Mode (Cst)

    Axis-->TPDO: cyclic sync torque mode (cst) RECORD Data received from the Controller (RPDO) Parameter Designation Data type 0x6040 CiA402 control word UNSIGNED_16 0x2830 Lenze control word UNSIGNED_16 0x6060 Operating mode: selection INTEGER_8 0x60B2 Torque: offset INTEGER_16 0x6071 Torque: setpoint torque...

  • Page 168: Signal Flow

    Configuring the torque control Operating mode "CiA 402 Cyclic sync torque mode (cst)" Signal flow 11.2.2 Signal flow Positive torque limit value Negative torque limit value Speed limitation: Upper speed limit Torque Field-orientated Speed Interpolation limitation limitation control Target torque Torque offset Velocity actual value Torque actual value...
  • Page 169 Signal flow Short overview of the most important parameters Function Parameter Designation Input data 0x6040 CiA402 control word 0x2830 Lenze control word 0x6060 Operating mode: selection 0x2946:001 Speed limitation: upper speed limit 0x60B2 Torque: offset 0x6071 Torque: setpoint torque 0x2946:002...

  • Page 170: Control Commands And Status Information

    Configuring the torque control Operating mode "CiA 402 Cyclic sync torque mode (cst)" Control commands and status information 11.2.3 Control commands and status information The following control commands can be executed in the "cyclically synchronous torque" oper- ating mode via the CiA402 control word 0x6040: Control word State Function Bit 4...

  • Page 171: Process Input Data (Cia 402 Objects)

    -479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Upper speed limit [5]" in . • Entry via keypad and Lenze Tools is in rpm! • Via RPDO, the unit is vel. unit. and the scaling must be taken into account.
  • Page 172 Configuring the torque control Process input data (CiA 402 objects) Address Name / setting range / [default setting] Info 0x6071 Target torque Setting of the setpoint torque for the torque operating modes. -3276.8 ... [0.0] ... 3276.7 % • 100 % ≡ Motor rated torque 0x6076 •...

  • Page 173: Process Output Data (Cia 402 Objects)

    Configuring the torque control Process output data (CiA 402 objects) 11.4 Process output data (CiA 402 objects) Parameter Address Name / setting range / [default setting] Info 0x2831 Inverter-Statuswort Bit coded status word of the internal motor control. • Read only Bit 1 Speed setpoint 1 limited 1 ≡...

  • Page 174: Setpoint Diagnostics

    Configuring the torque control Setpoint diagnostics Address Name / setting range / [default setting] Info 0x6074 Torque demand value Display of the setpoint torque. • Read only: x.x % • 100 % ≡ Motor rated torque 0x6076 0x6077 Torque actual value Display of the current torque.

  • Page 175: Configuring The Feedback System

    Configuring the feedback system Configuring the feedback system This chapter provides information on how to use feedback systems. The inverter can be equipped to allow the connection of up to two independent feedback sys- tems. Each of the two feedback systems Is placed in a designated slot in the lower part of the inverter •...

  • Page 176: Configure Feedback System For Motor Control

    Configuring the feedback system Configure feedback system for motor control 12.1 Configure feedback system for motor control The parameter settings for the motor feedback system are accessed in »EASY Starter« via the following path: Settings tab • Basic setting \ Motor feedback (A) •...

  • Page 177: General Settings

    Configuring the feedback system Configure feedback system for motor control General settings 12.1.1 General settings This chapter provides information on general settings of feedback systems for the motor con- trol. Pressing the Select resolver or Select encoder button displays a list of resolvers or encoders. If the displayed list contains the feedback system used, the data is applied automatically.

  • Page 178: Resolver Settings

    12.1.2 Resolver settings Resolvers with a number of pole pairs > 1 are not absolute value encoders. Bit 4 in (Lenze status word 2) therefore remains set to "0". The "distinguishable revolutions" specification in 0x2C46 is also set to "0".
  • Page 179 Configuring the feedback system Configure feedback system for motor control Resolver settings Address Name / setting range / [default setting] Info 0x2C43 Motor encoder resolver number of pole pairs Setting of the number of pole pairs. 1 ... [1] ... 10 •...

  • Page 180: Resolver Error Compensation

    In the event of an interruption, the identification run is stopped. An error mes- sage is displayed. If 0 % is set, the gain of the respective resolver track is only 95 % of the Lenze setting. The detected gain can assume values in the range of 0 ... 100 %.
  • Page 181 »EASY Starter« can be used to save the inverter parameter settings, see 4Saving the parame- settings. ^ 36 Deactivating the resolver error compensation For deactivating the resolver error compensation, the respective parameters must be reset again to the Lenze setting. Parameter Address Name / setting range / [default setting] Info 0x2C44:001 Motor encoder identification (Resolver): Angle Setting of the angle to the resolver error compensation.

  • Page 182: Encoder Settings

    Configuring the feedback system Configure feedback system for motor control Resolver settings Address Name / setting range / [default setting] Info 0x2C44:006 Motor encoder identification (Resolver): Identification Display of the resolver identification status. status • Read only Bit 0 Identification activated TRUE if: •...

  • Page 183: Sincos Encoder

    Configuring the feedback system Configure feedback system for motor control Encoder settings Address Name / setting range / [default setting] Info 0x2C42:002 Encoder settings: Supply voltage Setting of the supply voltage. 5.0 ... [5.0] ... 12.0 V • Setting can only be changed if the inverter is inhibi- ted.
  • Page 184 Configuring the feedback system Configure feedback system for motor control Encoder settings Address Name / setting range / [default setting] Info 0x2C41:003 Motor encoder settings (Hiperface): No. of periods Manual setting of the number of distinguishable revolutions. manual input 1 ... [1] ... 65535 •...

  • Page 185: Ssi Encoder

    Configuring the feedback system Configure feedback system for motor control Encoder settings 12.1.3.3 SSI encoder SSI absolute value encoders (Synchronous Serial Interface) generate the angle information via optical scanning of a code disc (e.g. Gray code). Every (absolute) angle position of the encoder corresponds to a uniquely identifiable code pattern.
  • Page 186 Configuring the feedback system Configure feedback system for motor control Encoder settings Address Name / setting range / [default setting] Info 0x2C4A:007 Protokoll-Parameter Motorgeber (SSI): Startbit Daten- Indicates the position in the telegram where data packet 3 begins. paket 3 0 ...

  • Page 187: Evaluation Of The Signal Quality

    Configuring the feedback system Configure feedback system for motor control Encoder settings 12.1.3.4 Evaluation of the signal quality Signal quality The signal quality is evaluated by the 0x2C42:004 parameter, which is used to monitor the initial read-out and setting of the position. If a transmission error should occur: The current angular drift is marked as invalid in parameter , bit 7 •...

  • Page 188: Detection Of Changed Settings Of The Feedback System

    Configuring the feedback system Configure feedback system for motor control Diagnostics 12.1.4 Detection of changed settings of the feedback system Bit 0 of status word 2 indicates whether the settings of the feedback system have been changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to value "1".

  • Page 189: Second Feedback System For The Techology Application

    Configuring the feedback system Second feedback system for the techology application General settings 12.2 Second feedback system for the techology application The parameter settings for the feedback system of the application are accessed in »EASY starter« via the following path: Settings tab •...

  • Page 190: Resolver Settings

    12.2.2 Resolver settings Resolvers with a number of pole pairs > 1 are not absolute value encoders. Bit 10 in (Lenze status word 2) therefore remains set to "0". The "distinguishable revolutions" specification in 0x2C56 is also set to "0".

  • Page 191: Resolver Error Compensation

    In the event of an interruption, the identification run is stopped. An error mes- sage is displayed. If 0 % is set, the gain of the respective resolver track is only 95 % of the Lenze setting. The detected gain can assume values in the range of 0 ... 100 %.
  • Page 192 »EASY Starter« can be used to save the inverter parameter settings, see 4Saving the parame- settings. ^ 36 Deactivating the resolver error compensation For deactivating the resolver error compensation, the respective parameters must be reset again to the Lenze setting. Parameter Address Name / setting range / [default setting] Info 0x2C54:001 Load encoder/master encoder identification Setting of the angle to the resolver error compensation.

  • Page 193: Encoder Settings

    Configuring the feedback system Second feedback system for the techology application Resolver settings Address Name / setting range / [default setting] Info 0x2C54:006 Load encoder/master encoder identification Display of the resolver identification status. (Resolver): Identification status • Read only Bit 0 Identification activated TRUE if: •...

  • Page 194: Sincos Encoder

    Configuring the feedback system Second feedback system for the techology application Encoder settings Address Name / setting range / [default setting] Info 0x2C52:002 Load encoder/master encoder settings (encoder): Setting of the supply voltage. Supply voltage 5.0 ... [5.0] ... 12.0 V •...
  • Page 195 Configuring the feedback system Second feedback system for the techology application Encoder settings Address Name / setting range / [default setting] Info 0x2C51:003 Hiperface load encoder/master encoder settings: No. Manual setting of the number of distinguishable revolutions. of periods manual input 1 ...

  • Page 196: Ssi Encoder

    Configuring the feedback system Second feedback system for the techology application Encoder settings 12.2.3.3 SSI encoder SSI absolute value encoders (Synchronous Serial Interface) generate the angle information via optical scanning of a code disc (e.g. Gray code). Every (absolute) angle position of the encoder corresponds to a uniquely identifiable code pattern.
  • Page 197 Configuring the feedback system Second feedback system for the techology application Encoder settings Address Name / setting range / [default setting] Info 0x2C5A:007 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Start- Indicates the position in the telegram where data packet 3 begins. bit Datenpaket 3 0 ...

  • Page 198: Evaluation Of The Signal Quality

    Configuring the feedback system Second feedback system for the techology application Encoder settings 12.2.3.4 Evaluation of the signal quality Signal quality The signal quality is evaluated by the parameter 0x2C52:004, which serves to monitor the ini- tial reading and setting of the position. If a transmission error occurs the current angular drift is marked as invalid in the parameter , bit 9.

  • Page 199: Detection Of Changed Settings Of The Feedback System

    Configuring the feedback system Second feedback system for the techology application Diagnostics 12.2.4 Detection of changed settings of the feedback system Bit 0 of status word 2 indicates whether the settings of the feedback system have been changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to value "1".

  • Page 200: Encoder: Evaluation Of Safely Speed And Position

    Configuring the feedback system Encoder: Evaluation of safely speed and position 12.3 Encoder: Evaluation of safely speed and position Parameter Address Name / setting range / [default setting] Info 0x2878:001 Motor encoder: Motor encoder system • Read only 0 No motor encoder 1 SinCos encoder 2 Resolver 0x2878:002...

  • Page 201: Synchronous Motor: Pole Position Identification (Ppi)

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

  • Page 202: Monitoring The Pole Position Identification

    Configuring the feedback system Synchronous motor: Pole position identification (PPI) Monitoring the pole position identification 12.4.1 Monitoring the pole position identification If an error occurs during the pole position identification or if the pulse inhibit gets active (e.g. due to a short-time undervoltage), the process is stopped with disabling the inverter without the settings being changed.

  • Page 203: Pole Position Identification (Ppi) 360

    Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) 360° 12.4.2 Pole position identification (PPI) 360° DANGER! Mechanical damage of the motor caused by hanging loads! The motor may be permanently damaged. ▶ The motor must not be braked or blocked during the pole position identification. Thus, this function must not be used for hanging loads! NOTICE Thermal overload of the motor!
  • Page 204 Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) 360° If the servo control is set for synchronous motor and no error is pending, the current is first raised in a ramp-shaped manner to 141 % of the rated motor current after the inverter is ena- bled.
  • Page 205 Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) 360° Adapt pole position identification PLI (360°) ① ② ③ ❶ ❷ ❸ ❹ t [s] Fig. 63: Chronological sequence of the pole position identification In case of drives with a high static friction, mass inertia or alternating load, an optimisation may be necessary: The amplitude of the current vector must be set so high that the motor with a high mass •...
  • Page 206 Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) 360° Parameter Subindex Value/unit INFO 0x2825 CiA402 mode active [0] Operating modes [5] for PLI 360° 0x2824 Activate [1] 0x6040 0x0000 Simulation of the CiA state machine 0x2823 Progress bar 0x2C61:001...

  • Page 207: Pole Position Identification (Ppi) With Minimum Movement

    The motion of the motor will maximally correspond to the set "Max. permissible motion" (Lenze setting: 20°). If a greater motion is detected via the encoder system, the pole position identification is cancelled and the parameterised error response (Lenze setting: Fault) is trig- gered.
  • Page 208 Pole position identification (min. movement) settings: Adaptation of the proportional PI controller gain. Gain With the Lenze setting "0 %",the PI controller works as an I controller. 0 ... [0] ... 1000 % 0x2C62:004 Pole position identification (min. movement) settings: Adaptation of the reset time of the PI controller.
  • Page 209 Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) with minimum movement Address Name / setting range / [default setting] Info 0x2C62:006 Pole position identification (min. movement) settings: Display of the absolute current amplitude. Absolute current amplitude •...

  • Page 210: Pole Position Identification (Ppi) Without Movement

    ▶ Each pole position identification causes an update of the pole position set in the device! Therefore, ensure that the response to open circuit in the feedback system is set to Lenze setting "1: Fault" in 0x2C45! Otherwise, the status of the feedback system in case of open circuit is undefined and the pole position can assume any value.
  • Page 211 Configuring the feedback system Synchronous motor: Pole position identification (PPI) Pole position identification (PPI) without movement Preconditions for the performance The wiring of the three motor phases and the feedback must be carried out in accordance • with the specifications from the hardware manual. The motor may be stalled.

  • Page 212: Configuring The Motor Control

    Whether a setting can be applied or not depends on the motor (Lenze motor yes/no) and the application. If possible, use the possible setting listed first in the following diagram since this one leads to the most accurate results.

  • Page 213: Servo Control For Synchronous Motor (Sc-Psm)

    Configuring the motor control Servo control for synchronous motor (SC-PSM) Required commissioning steps 13.1 Servo control for synchronous motor (SC-PSM) The motor control is based on a feedback, field-oriented and cascaded controller structure and enables a dynamic and stable operation in all four quadrants. Preconditions The servo control (SC-PSM) is only suitable for synchronous motors.

  • Page 214: Servo Control For Asynchronous Motor (Sc-Asm)

    Configuring the motor control Sensorless control for synchronous motor (SL-PSM) Required commissioning steps 13.2 Servo control for asynchronous motor (SC-ASM) The motor control is based on a feedback, field-oriented and cascaded controller structure and enables a dynamic and stable operation in all four quadrants. Preconditions The servo control (SC ASM) is only suitable for asynchronous motors.

  • Page 215: V/F Characteristic Control For Asynchronous Motor (Vfc Open Loop)

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Required commissioning steps 13.4 V/f characteristic control for asynchronous motor (VFC open loop) The V/f characteristic control is a motor control for conventional frequency inverter applica- tions. It is based on a simple and robust control mode for the operation of asynchronous motors with a linear or square-law load torque characteristic (e.g.

  • Page 216: Basic Setting

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Basic setting 13.4.2 Basic setting The base voltage and the base frequency define the ratio of the two variables and thus the gradient of the V/f characteristic. Spannung im Eckpunkt Spannung im Eckpunkt 0x2B01:1...

  • Page 217: Define V/F Characteristic Shape

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Define V/f characteristic shape 13.4.3 Define V/f characteristic shape For adaptation purposes to different load profiles, you can select the shape of the characteris- tic: Parameter Address Name / setting range / [default setting] Info 0x2B00...

  • Page 218: User-Definable V/F Characteristic

    The characteristic is defined by means of 11 parameterisable grid points (voltage/ • frequency values). In the Lenze setting the 11 grid points represent a linear characteristic: • U [V] f [Hz] 400 V...

  • Page 219: Activate Voltage Vector Control (Imin Controller)

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Define V/f characteristic shape Address Name / setting range / [default setting] Info 0x2B03:001 Voltage grid points (y) user V/f characteristic: y1 = U01 Freely parameterisable V/f characteristic (values for Y axis). (x = f01) 0.00 ...
  • Page 220 Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Activate voltage vector control (Imin controller) Address Name / setting range / [default setting] Info 0x2B05:001 V/f boost controller settings: Gain Setting of the gain for the voltage vector control. 0.00 ...

  • Page 221: Set Voltage Boost

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Set voltage boost 13.4.5 Set voltage boost As an alternative for the "Activate voltage vector control (Imin controller)" function, a con- stant, load independent voltage boost can be specified for low speeds (below the V/f rated frequency) or for a motor standstill in order to optimise the starting performance.

  • Page 222: Set Load Adjustment

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Set slip compensation 13.4.6 Set load adjustment CAUTION! If the load adjustment is too high, the motor current may increase in idle state and the motor may overheat! Parameter Address Name / setting range / [default setting]...

  • Page 223: Set Oscillation Damping

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Set oscillation damping 13.4.8 Set oscillation damping The oscillation damping serves to reduce the oscillations during no-load operation which are caused by energy oscillating between the mechanical system (mass inertia) and the electrical system (DC bus).

  • Page 224: Optimising The Stalling Behaviour

    Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Optimising the stalling behaviour Parameter Address Name / setting range / [default setting] Info 0x2B0A:001 Oscillation damping: Gain Gain of the oscillation signal. -100 ... [20] ... 100 % •...

  • Page 225: Flying Restart Circuit

    1. The inverter reports the started flying restart process to the Controller via bit 8 in the Lenze status word0x2831. 2. If a speed is found, it is reported to the Controller via bit 9 in the Lenze status word. 3. The Controller reports to the inverter via bit 0 in the Lenze control word...
  • Page 226 Configuring the motor control V/f characteristic control for asynchronous motor (VFC open loop) Flying restart circuit Parameter Address Name / setting range / [default setting] Info 0x2BA0 Activate flying restart Activation of the additional "flying restart" function. If the "flying restart" function is activated ("1: on") and the inverter disa- ble is deactivated, a flying restart process is automatically started for determining the current motor speed if the following conditions are met:...

  • Page 227: Parameterisable Motor Functions

    Details The function can be used as follows: 1. "DC braking" can be parameterised via bit 6 in the Lenze control word 0x2830. In this case, the motor system itself can be used as an energy converter. This option is useful if the system is not provided with a brake resistor required for absorbing the braking •...

  • Page 228: Short-Circuit Braking

    For this purpose, short-circuit braking can be triggered in the application via bit 6 in the Lenze control word 0x2830. The oscilloscope function of the engineering tool (e.g. »EASY Starter«) serves to record the following important...

  • Page 229: Holding Brake Control

    Configuring the motor control Parameterisable motor functions Holding brake control 13.5.3 Holding brake control This device function is used for low-wear control of the motor holding brake connected to the inverter with a supply voltage of 24 V. The motor holding brake is connected to X106. It is supplied with 24 V via X107.

  • Page 230: Basic Setting

    Configuring the motor control Parameterisable motor functions Holding brake control 13.5.3.1 Basic setting The following parameters must be set for the activation and basic setting of the holding brake control. Details The following settings are possible: Brake mode • ① For the automatic operation: •...

  • Page 231: Brake Holding Load

    Configuring the motor control Parameterisable motor functions Holding brake control Brake polarity The control logic of the holding brake can be inverted. Parameter Address Name / setting range / [default setting] Info 0x2820:001 Holding brake control: Brake mode Selecting how the "Release holding brake" command is to be triggered. 0 Automatically (via device state) Automatic operation: depending on the device state, the "Release hold- ing brake"...

  • Page 232: Torque Feedforward Control

    Configuring the motor control Parameterisable motor functions Holding brake control 13.5.3.3 Torque feedforward control Parameter Address Name / setting range / [default setting] Info 0x2820:009 Holding brake control: Starting torque source Setting of the source for the holding brake starting torque. 0 Last torque saved The stopping value saved automatically during the last closing operation is used as starting torque.

  • Page 233: Options For Optimising The Control Loops

    Configuring the motor control Options for optimising the control loops Automatic motor identification (energized) 13.6 Options for optimising the control loops The option to be selected depends on the respective application. Depending on the selected option, different procedures become active and thus different parameter groups are influ- enced: Rated motor data •...

  • Page 234: Tuning Of The Motor And The Speed Controller

    Configuring the motor control Options for optimising the control loops Tuning of the motor and the speed controller 13.6.2 Tuning of the motor and the speed controller The following describes in general how to optimise the speed controller. This may be required if some parameters have on the load side of the drive system have changed or have not been set yet, such as: Motor moment of inertia...
  • Page 235 Configuring the motor control Options for optimising the control loops Tuning of the motor and the speed controller Parameter Address Name / setting range / [default setting] Info 0x2910:001 Inertia settings: Motor moment of inertia Setting of the moment of inertia of the motor, relating to the motor. 0.00 ...

  • Page 236: Inverter Characteristic

    Configuring the motor control Options for optimising the control loops Inverter characteristic 13.6.3 Inverter characteristic The settings made can be seen if required, but should not be changed. A wrong setting may influence the control negatively!

  • Page 237: Compensating For Inverter Influence

    Compensating for inverter influence Conditions for the execution The motor may be stalled. • The i950 servo inverter is error-free and switched on. • Response of the motor during performance If the motor is not braked, the motor will move slightly Disabling the inverter serves to abort the started procedure any time if required.

  • Page 238: Extended Settings For Identification

    Configuring the motor control Options for optimising the control loops Inverter characteristic Address Name / setting range / [default setting] Info 0x2947:016 Inverter characteristic: Value y16 0.00 ... [0.00] ... 20.00 V 0x2947:017 Inverter characteristic: Value y17 0.00 ... [0.00] ... 20.00 V In the event of an error If an error occurs during the procedure or the pulse inhibit gets active (e.g.

  • Page 239: Motor Equivalent Circuit Diagram Data

    Configuring the motor control Options for optimising the control loops Motor equivalent circuit diagram data 13.6.4 Motor equivalent circuit diagram data The motor equivalent circuit diagram data is automatically set when the motor is selected from the motor catalogue: 4Select motor from motor catalogue ^ 39 If you use a motor of a different manufacturer, you must adapt the data, e.

  • Page 240: Motor Control Settings

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5 Motor control settings 13.6.5.1 Speed controller The speed controller is automatically set when the motor has been selected from the motor catalogue: 4Select motor from motor catalogue ^ 39 The automatically calculated settings for the speed controller enable an optimal control behaviour for typical load requirements.
  • Page 241 Configuring the motor control Options for optimising the control loops Motor control settings Equation for calculating the reset time × Filter Stromregler Parameter Symbol Description Dimension unit 0x2900:001 Speed controller gain Nm / rpm Moment of inertia = J motor sum (J load Measure for the phase reserve...
  • Page 242 Configuring the motor control Options for optimising the control loops Motor control settings Address Name / setting range / [default setting] Info 0x2902 I component load value Setting of the load value. -1000.0 ... [0.0] ... 1000.0 % 0x2903 Speed setpoint filter time Time constant for the speed setpoint filter.

  • Page 243: Current Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.2 Current controller The current controller consists of a direct-axis current controller and a cross current controller which are both parameterised identically. The direct-axis current controller controls the field- producing current (D current).
  • Page 244 Configuring the motor control Options for optimising the control loops Motor control settings Equation for calculating the reset time of the asynchronous motor s × × » Parameter Symbol Description Dimension unit 0x2942:001 Current controller gain σ Leakage Motor stator inductance 0x2C01:003 Motor stator leakage inductance Equivalent time constant for the...

  • Page 245: Asm Field Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.3 ASM field controller For motors with great rotor time constants or small rotor resistances, very high gain factors are calculated. Since the setting range of the field controller is limited to the double rated magnetising current, the field control loop in the case of these motors tends to a two-point response when the values calculated are entered.

  • Page 246: Asm Field Weakening Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.4 ASM field weakening controller Since the controlled system gain changes with the speed, the field weakening controller is cor- rected via the speed. The automatic calculation is made via the parameter 0x2822:017 = 1. Calculation of the gain = ×...

  • Page 247: Psm Field Weakening Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.6 PSM field weakening controller The inverter control enables a synchronous motor to be operated outside the voltage range. If a motor is selected in the »EASY Starter«, the control is parameterised automatically. Improve the transition from the base speed range to field weakening by activating the current controller: feedforward control parameter.

  • Page 248: Imax Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.7 Imax controller Defining the behaviour at the current limit (Imax controller) The maximum output current or the current limit is defined by the 0x6073 "max. current" parameter.

  • Page 249: Position Controller

    Configuring the motor control Options for optimising the control loops Motor control settings 13.6.5.9 Position controller Equation for calculating the gain The automatic calculation is made via the parameter 0x2822:015 = 1. Summe Filter Stromregler × 32 T Summe Parameter Symbol Description Dimension unit...

  • Page 250: Fine Adjustment Of The Motor Model

    During the commissioning process of Lenze motors, typical values for the relevant parameters are provided. For motors of other manufacturers, these values are to be requested from the motor manufacturer, or they have...

  • Page 251: Correction Of The Stator Leakage Inductance (Lss)

    The saturation characteristic represents the change in inductance (L/Ln) as a function of the motor current (I/Imax). The variables of both axes which were scaled to a reference value are represented as percentages. When a Lenze motor is selected, the saturation characteristic is already filled with values • typical of the series.
  • Page 252 Configuring the motor control Fine adjustment of the motor model Correction of the stator leakage inductance (Lss)... Distribution of the grid points The saturation characteristic is represented by 17 grid points. • The 17 grid points are spaced on the X axis at equal intervals (equidistantly) in a range of •...
  • Page 253 Configuring the motor control Fine adjustment of the motor model Correction of the stator leakage inductance (Lss)... Proceeding 1. Deactivate correction: Set all subindices (0x2C04:001 ... 0x2C04:017) to 100 %. 2. Use 0x2C05 to set the maximum current up to which the motor is to be operated in the process (in this example "15 A").
  • Page 254 Configuring the motor control Fine adjustment of the motor model Correction of the stator leakage inductance (Lss)... Vp [%] º Vp = "3.8 V/A" 100 % 6.25 12.5 18.75 31.25 37.5 43.75 56.25 62.5 68.75 81.25 87.5 93.75 3.75 A 7.5 A 11.25 A 12.38 A...
  • Page 255 Configuring the motor control Fine adjustment of the motor model Correction of the stator leakage inductance (Lss)... Parameter Address Name / setting range / [default setting] Info 0x2C04:001 Inductance grid points (y) Lss saturation characteris- Saturation characteristic of the leakage inductance. tic: y1 = L01 (x = 0.00 %) The linear distribution via the current results from the maximum motor 0 ...

  • Page 256: Synchronous Motor (Sm): Compensate Temperature And Current Influences

    Configuring the motor control Fine adjustment of the motor model Synchronous motor (SM): Compensate temperature and current influences 13.7.2 Synchronous motor (SM): Compensate temperature and current influences The properties of the permanent magnets of permanently excited synchronous motors depend on the temperature and the amperage. The relationship between motor current and resulting torque changes correspondingly.

  • Page 257: Asynchronous Motor (Asm): Identify Lh Saturation Characteristic

    Configuring the motor control Fine adjustment of the motor model Asynchronous motor (ASM): Identify Lh saturation characteristic 13.7.3 Asynchronous motor (ASM): Identify Lh saturation characteristic In case of an asynchronous motor, the relationship between current and torque is basically determined by the saturation behaviour of the mutual inductance. If the achieved torque accuracy, especially in the field weakening range should not be sufficient, the accuracy can be increased by the individual identification of the saturation characteristic.
  • Page 258 Configuring the motor control Fine adjustment of the motor model Asynchronous motor (ASM): Identify Lh saturation characteristic Parameter Address Name / setting range / [default setting] Info 0x2822:021 Axis commands: Load default Lh saturation character- Parameters for interaction with engineering tools. istic 0 Off/Ready Obtain Hiperface information from the encoder for application feedback.

  • Page 259: Estimate Optimum Magnetising Current

    Configuring the motor control Fine adjustment of the motor model Estimate optimum magnetising current 13.7.4 Estimate optimum magnetising current In case of the given L saturation behaviour, there is (usually) a magnetising current where the torque efficiency is highest. This magnetising current can be determined by the servo inverter. Executing this function also compresses or extends the L saturation characteristic (inter- •...

  • Page 260: Parameterise Filter Elements In The Setpoint Path

    Configuring the motor control Parameterise filter elements in the setpoint path Jerk limitation 13.8 Parameterise filter elements in the setpoint path 13.8.1 Jerk limitation Via the max. acceleration change that can be set in parameter 0x2945 C00274, the change of the setpoint torque can be limited for jerk limitation.

  • Page 261: Notch Filter (Band-Stop Filter)

    To mask out or at least damp these resonant frequencies, two notch filters are integrated in the speed control loop of the inverter. In the Lenze setting, these filters are switched off: 0x2944:1 0x2944:4...
  • Page 262 Configuring the motor control Parameterise filter elements in the setpoint path Notch filter (band-stop filter) Setting the notch filters Since the exact frequency response of the speed control path in most cases is not known beforehand, an experimental procedure for setting the notch filters is described in the follow- ing.
  • Page 263 Configuring the motor control Parameterise filter elements in the setpoint path Notch filter (band-stop filter) Address Name / setting range / [default setting] Info 0x2944:005 Torque setpoint notch filter: Bandwidth notch filter 2 Setting of the bandwidth for notch filter 2. 0.0 ...

  • Page 264: Motor Protection

    Configuring the motor control Motor protection Motor overload monitoring (i²*t) 13.9 Motor protection Many monitoring functions integrated in the inverter can detect errors and thus protect the device or motor from being destroyed or overloaded. 13.9.1 Motor overload monitoring (i²*t) This function monitors the thermal utilisation of the motor, taking the motor currents recor- ded and a mathematical model as a basis.
  • Page 265 Configuring the motor control Motor protection Motor overload monitoring (i²*t) Address Name / setting range / [default setting] Info 0x2D50:002 Motor utilisation (i²xt) - monitoring: Error threshold Setting of the error threshold for motor overload monitoring. 0 ... [105] ... 250 %...

  • Page 266: Parameters For The Thermal Model

    For determining the values for the thermal time constant, try to get the data from the motor manufacturer. If this is not possible, you can use the data of a comparable Lenze motor. Conditions for comparability are similar values in case of the following motor features: Square dimensions of the motor (active part) •...
  • Page 267 Configuring the motor control Motor protection Motor overload monitoring (i²*t) Parameter Address Name / setting range / [default setting] Info 0x2D4C:001 Thermisches Modell Motorauslastung (i²xt): Motor Setting of the time constant for the winding. utilisation (i²xt) 1 ... [60] ... 36000 s 0x2D4C:002 Thermisches Modell Motorauslastung (i²xt): Thermal Setting of the time constant for the laminated core.

  • Page 268: Speed-Dependent Evaluation Of The Motor Current

    DC current load. (It is called DC current load as the field frequency amounts to 0 Hz at standstill.) When you select a Lenze motor from the catalogue and transfer its parameters into the i700 servo inverter a typical characteristic is automatically set for the selected motor.
  • Page 269 Configuring the motor control Motor protection Motor overload monitoring (i²*t) Example of how to enter the characteristic for standard and servo motors The required data of the operating points result from the S1 characteristic of the prevailing motor: Examples of S1 characteristics Standard motor I/I ·...
  • Page 270 Configuring the motor control Motor protection Motor overload monitoring (i²*t) Parameter Address Name / setting range / [default setting] Info 0x2D4D:001 Motor utilisation (i²xt) - specific characteristic: x1 = User-definable characteristic for speed-dependent evaluation of the n01/nN (n01 ~ 0) motor current.

  • Page 271: Ul 508-Compliant Motor Overload Monitoring

    Configuring the motor control Motor protection Motor overload monitoring (i²*t) 13.9.1.3 UL 508-compliant motor overload monitoring If the operation of the motor requires the compliance with the UL Standard 508, and the UL 508-compliant motor overload monitoring is realised by the mathematical model of the I²xt monitoring, the following conditions must be observed.

  • Page 272: Motor Temperature Monitoring

    Configuring the motor control Motor protection Motor temperature monitoring 13.9.2 Motor temperature monitoring In order to record and monitor the motor temperature, a PTC thermistor (single sensor according to DIN 44081 or triple sensor according to DIN 44082) or thermal contact (normally- closed contact) can be connected to the terminals T1 and T2.

  • Page 273: Individual Characteristic For Motor Temperature Sensor

    Configuring the motor control Motor protection Motor temperature monitoring Address Name / setting range / [default setting] Info 0x2D49:003 Motor temperature monitoring: Warning threshold Setting of the warning threshold for motor temperature monitoring. -3276.8 ... [145.0] ... 3276.7 °C The warning threshold is reset with a hysteresis of 5 °C. 0x2D49:004 Motor temperature monitoring: Error threshold Setting of the error threshold for motor temperature monitoring...

  • Page 274: Overcurrent Monitoring

    Motor phase failure detection The motor phase failure detection function can be activated for both synchronous and asyn- chronous motors. In the Lenze setting, monitoring is not activated! Preconditions Motor phase failure detection during operation is suitable for applications which are operated with a constant load and speed.

  • Page 275: Motor Speed Monitoring

    Configuring the motor control Motor protection Motor speed monitoring Address Name / setting range / [default setting] Info 0x2D45:002 Motor phase failure detection: Current threshold • 100 % ≡ Maximum current 1.0 ... [5.0] ... 10.0 % • Background: in order to be able to reliably detect the failure of a motor phase, first a certain must flow for the current sensor system.

  • Page 276: Frequency And Speed Limitations

    • Frequency setpoint If V/f characteristic control is used, the frequency setpoint is limited in addition to the speed setpoint. If the frequency setpoint is limited, bit 10 ("Output frequency limited") is set in the Lenze • status word 0x2831.

  • Page 277: Testing The Motor Control

    Configuring the motor control Testing the motor control General settings for test modes 13.11 Testing the motor control Parameter Address Name / setting range / [default setting] Info 0x2825 Drive mode selection Internal service parameter • Setting can only be changed if the inverter is inhibi- ted.
  • Page 278 Configuring the motor control Testing the motor control General settings for test modes Address Name / setting range / [default setting] Info 0x2835:003 Manual test mode: Starting angle Setting of the starting angle for the test mode. -1000.0 ... [0.0] ... 1000.0 ° Note! After the inverter has been enabled, the synchronous motor makes a jerky compensating movement if its pole position does not correspond...

  • Page 279: Manual "Tension/Frequency" Test Mode

    Configuring the motor control Testing the motor control Manual "tension/frequency" test mode 13.11.2 Manual "tension/frequency" test mode Functional description In case of devices that correspond to the "dual use regulation" (EC 428/2009), values higher than + 599 Hz up to lower than - 599 Hz do not increase the out- put frequency.

  • Page 280: Manual "Current/Frequency" Test Mode

    Configuring the motor control Testing the motor control Manual "current/frequency" test mode 13.11.3 Manual "current/frequency" test mode Preconditions for the performance The motor must rotate freely. • The inverter is error-free and in "Switched on" device state. • Functional description In this test mode, three phase currents are injected into the connected motor after the inver- ter is enabled.

  • Page 281: Manual "Current Pulse" Test Mode

    Configuring the motor control Testing the motor control Manual "current pulse" test mode 13.11.4 Manual "current pulse" test mode The stator resistance and the stator inductance of the inverter must be adapted to the electri- cal characteristics of the motor. For an experimental adjustment, the manual "Current pulse" test mode can be used.
  • Page 282 Configuring the motor control Testing the motor control Manual "current pulse" test mode Responses of the motor during performance Remove the mechanical fixation after the current controller has been adjusted! The motor usually aligns itself only once with the first controller enable. How to adjust the current controller by means of the manual test mode "current pulse": Disable inverter.

  • Page 283: O Extensions And Control Connections

    I/O extensions and control connections I/O extensions and control connections 14.1 Configure digital inputs Settings for digital input 1 ... 4. Details The digital inputs are used for control tasks. For this purpose, the digital inputs are available as selectable triggers for functions. The following settings are possible for the digital inputs: Debounce time •...
  • Page 284 I/O extensions and control connections Configure digital inputs Address Name / setting range / [default setting] Info 0x2632:003 Inversion of digital inputs: Digital input 3 Inversion of digital input 3 0 Not inverted 1 Inverted 0x2632:004 Inversion of digital inputs: Digital input 4 Inversion of digital input 4 0 Not inverted 1 Inverted...

  • Page 285: Configure Analog Inputs

    I/O extensions and control connections Configure analog inputs Analog input 1 14.2 Configure analog inputs 14.2.1 Analog input 1 Settings for analog input 1. Details The analog input 1 can be used as setpoint source. The following settings are possible for the analog input: Definition of the input range •...
  • Page 286 I/O extensions and control connections Configure analog inputs Analog input 1 Address Name / setting range / [default setting] Info 0x2636:007 Analog input 1: Dead band Optional setting of a dead band that is placed symmetrically around the 0.0 ... [0.0] ... 100.0 % frequency zero point.

  • Page 287: Configure Digital Outputs

    I/O extensions and control connections Configure digital outputs Digital output 1 14.3 Configure digital outputs 14.3.1 Digital output 1 Settings for digital output 1. Details The digital output 1 is controlled with the trigger selected in . The following settings are possible for the digital output: Inversion •...

  • Page 288: Configure Engineering Port

    Configure engineering port Configure engineering port The given path leads you to the engineering port.

  • Page 289: Basic Setting

    Configure engineering port Basic setting 15.1 Basic setting Preconditions The wired communication with the inverter has been established. • If this condition is not met, read more detailed notes in section "Generate a connec- • tion between inverter and »EASY Starter«".

  • Page 290: Ntp Server Addresses

    Configure engineering port Diagnostics Address Name / setting range / [default setting] Info 0x2451:003 Engineering port settings: Gateway Setting of the gateway address. 0.0.0.0 ... [0.0.0.0] ... 255.255.255.255 Example: The setting 276344004 corresponds to the gateway address 196.172.120.16. • 276344004 = 0x1078ACC4 à 0xC4.0xAC.0x78.0x10 = 196.172.120.16 0x2451:004 Engineering port settings: DHCP Use (enable) of the Dynamic Host Configuration Protocol (DHCP).

  • Page 291: Configuring The Network

    Configuring the network Configuring the network The inverter supports the Device profile CiA 402. ^ 292 The following network options are available for the inverter: 4PROFINET ^ 330 4EtherCAT system bus (on board) ^ 342...

  • Page 292: Device Profile Cia

    Configuring the network Device profile CiA 402 Supported operating modes 16.1 Device profile CiA 402 The CiA® 402 device profile defines the functional behaviour of stepping motors, servo drives, and frequency inverters. In order to be able to describe the different drive types, various oper- ating modes and device parameters are specified in the device profile.

  • Page 293: Basic Setting

    Configuring the network Device profile CiA 402 Process output data 16.1.2 Basic setting Set the following parameters. Parameter Address Name / setting range / [default setting] Info 0x605A Quick stop option code Device status after exiting the quick stop ramp. •...

  • Page 294: Commands For Device State Control

    Pulse inhibit ^ 298 Reset fault 0↗1 ^ 299 X = state is not relevant More Lenze-specific control bits (bit 8 ... 15) Command Bit pattern in the CiA 402 control word (0x6040) Bit 15 Bit 14 Bit 13 Bit 12...

  • Page 295: Switch On

    Configuring the network Device profile CiA 402 Commands for device state control 16.1.5.1 Switch on This command serves to deactivate the switch on inhibit which is active after switch on or after the reset (acknowledgement) of an error. A changeover to the "Switched on"...

  • Page 296: Enable Operation

    Configuring the network Device profile CiA 402 Commands for device state control 16.1.5.2 Enable operation This command enables the operation and stop an active quick stop again. A changeover to the "Operation enabled" device status takes place. • The output stages of the inverter become active. •...

  • Page 297: Activate Quick Stop

    Configuring the network Device profile CiA 402 Commands for device state control 16.1.5.3 Activate quick stop This command activates quick stop when the operation is enabled. The drive is brought to a standstill irrespective of the setpoint specified with the decelera- •...

  • Page 298: Pulse Inhibit

    Configuring the network Device profile CiA 402 Commands for device state control 16.1.5.4 Pulse inhibit This command disables the output stages of the inverter. The pulse inhibit is activated (pulses of the inverter are inhibited) if not already active. • The motor becomes torqueless.

  • Page 299: Reset Fault

    Configuring the network Device profile CiA 402 Commands for device state control 16.1.5.5 Reset fault This command resets a pending fault if the cause of the fault has been eliminated. The pulse inhibit remains active (pulses of the inverter are inhibited). •...

  • Page 300: Device States

    A warning does not cause a state change. • Warnings do not need to be reset. • More Lenze-specific status bits (bit 8 ... 15) Device status Bit pattern in the CiA 402 status word (0x6041) Bit 15 Bit 14...
  • Page 301 Configuring the network Device profile CiA 402 Device states Parameter Address Name / setting range / [default setting] Info 0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device • Read only profile CiA 402. Bit 0 Ready to switch on 1 ≡...

  • Page 302: Not Ready To Switch On

    Configuring the network Device profile CiA 402 Device states 16.1.6.1 Not ready to switch on This is the device state of the inverter directly after switching on the supply voltage. In this device status, the device is initialised. • Communication is not possible yet. •...

  • Page 303: Switch-On Inhibited

    Configuring the network Device profile CiA 402 Device states 16.1.6.2 Switch-on inhibited This is the device state of the inverter after the device has been initialised successfully. A change to this state also takes place when the EtherCAT bus is in "Operational" state or the PDO communication via 0x2824 (Control selection) is deactivated.

  • Page 304: Ready To Switch On

    Configuring the network Device profile CiA 402 Device states 16.1.6.3 Ready to switch on This is the device state of the inverter after the device has been initialised successfully and after the command has been triggered. A change to this device state also takes place if the "" command was triggered in the states "Switched on"...

  • Page 305: Switched On

    Configuring the network Device profile CiA 402 Device states 16.1.6.4 Switched on This is the device state of the inverter after the "Switch on" command has been triggered in "Ready to switch on" device state. Process data monitoring is active. •...

  • Page 306: Operation Enabled

    Configuring the network Device profile CiA 402 Device states 16.1.6.5 Operation enabled This device state represents normal operation. Operation in the selected operating mode is enabled and no errors have occurred. Only the parameters of the inverter can be changed that do not require an inverter disa- •...

  • Page 307: Quick Stop Active

    Configuring the network Device profile CiA 402 Device states 16.1.6.6 Quick stop active This device state is active if quick stop is executed or active. Only the parameters of the inverter can be changed that do not require an inverter disa- •...

  • Page 308: Fault Reaction Active

    Configuring the network Device profile CiA 402 Device states 16.1.6.7 Fault reaction active This device state becomes active if a minor fault occurs. This means that the inverter is still able to drive the motor in a controlled way. The inverter is brought to a standstill irrespective of the setpoint specified with the decel- •...

  • Page 309: Trouble

    Configuring the network Device profile CiA 402 Device states 16.1.6.8 Trouble This device state becomes active if a serious system fault occurs. This means that the inverter is no longer able to drive the motor in a controlled way. The inverter is switched off immedi- ately.

  • Page 310: Ethercat

    • For commissioning, the »PLC Designer« and current device description files for EtherCAT • are available: Download »PLC Designer« • Download XML/ESI files for Lenze devices • Preconditions The inverter is equipped with the "EtherCAT" network option. Typical topology Line...

  • Page 311: Commissioning

    Download »PLC Designer« • A »PLC Designer« project with current device description files for EtherCAT is available. • Download XML/ESI files for Lenze devices • The files are installed via the device repository of the »PLC Designer« (menu command •...
  • Page 312 Configuring the network EtherCAT Commissioning Commissioning steps How to configure the network: In the default setting, the digital input DI1 is assigned the "Run" function. If the network control is activated, this function serves as "start enable" for start com- mands via network.
  • Page 313 Configuring the network EtherCAT Commissioning 10. To the frame visualisation, add the function block L_MC1P_BasicActuatingSpeed and close the dialogue box by clicking the OK button. 11. Under Properties, select the reference of the function block with which the visualisation should be linked. Fig.

  • Page 314: Basic Setting And Options

    -479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Upper speed limit [5]" in . • Entry via keypad and Lenze Tools is in rpm! • Via RPDO, the unit is vel. unit. and the scaling must be taken into account.
  • Page 315 Configuring the network EtherCAT Basic setting and options Address Name / setting range / [default setting] Info 0x6040 CiA: Controlword Mappable CiA 402 control word with bit assignment according to device 0x0000 ... [0x0000] ... 0xFFFF profile CiA 402. Bit 0 Switch on 1 = switch-on Bit 1 Enable voltage 1 = DC bus: Establish readiness for operation...
  • Page 316 Configuring the network EtherCAT Basic setting and options Address Name / setting range / [default setting] Info 0x6049:002 Velocity deceleration : Delta time Deceleration: time interval 0 ... [10] ... 65535 s 0x605A Quick stop option code Device status after exiting the quick stop ramp. •...

  • Page 317: Process Data Transfer

    Configuring the network EtherCAT Process data transfer 16.2.3 Process data transfer Process data is cyclically transferred between the EtherCAT master and the slaves (perma- • nent exchange of current input and output data). The transfer of process data is time-critical. •...

  • Page 318: Parameter Data Transfer

    Configuring the network EtherCAT Parameter data transfer 16.2.4 Parameter data transfer For configuring and diagnosing the EtherCAT devices, the parameters are accessed by • means of acyclic communication. Parameter data is transferred as SDOs (Service Data Objects). • The SDO services enable the writing and reading access to parameters, EtherCAT objects •...

  • Page 319: Diagnostics

    Configuring the network EtherCAT Monitoring Address Name / setting range / [default setting] Info 0x10F3:001 History buffer : Max. number of messages Maximum number of messages that can be stored in the history buffer • Read only (from subindex 6). 0x10F3:002 History buffer : Latest message Subindex of the latest message.
  • Page 320 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5851:002 EtherCAT master diagnosis: EtherCAT master state Display of the EtherCAT master state overview. summary • Read only Bit 0 Master OK Bit 4 Init Bit 5 Pre-Operational Bit 6 Safe-Operational Bit 7 Operational Bit 8 Slaves in requested state...
  • Page 321 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5860:002 EtherCAT slaves station addresses: Station address slave 2 • Read only 0x5860:003 EtherCAT slaves station addresses: Station address slave 3 • Read only 0x5860:004 EtherCAT slaves station addresses: Station address slave 4 •...
  • Page 322 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5861:002 EtherCAT slaves device names: Device name slave 2 • Read only 0x5861:003 EtherCAT slaves device names: Device name slave 3 • Read only 0x5861:004 EtherCAT slaves device names: Device name slave 4 •...
  • Page 323 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5862:016 EtherCAT slaves device types: Device type slave 16 • Read only 0x5863:001 Mandatory EtherCAT slaves: Slave 1 is mandatory • Read only 0 FALSE 1 TRUE 0x5863:002 Mandatory EtherCAT slaves: Slave 2 is mandatory •...
  • Page 324 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5863:014 Mandatory EtherCAT slaves: Slave 14 is mandatory • Read only 0 FALSE 1 TRUE 0x5863:015 Mandatory EtherCAT slaves: Slave 15 is mandatory • Read only 0 FALSE 1 TRUE 0x5863:016...
  • Page 325 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5864:006 EtherCAT slaves initialisation status: Initalisation sta- tus slave 6 • Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864:007 EtherCAT slaves initialisation status: Initalisation sta-...
  • Page 326 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5864:013 EtherCAT slaves initialisation status: Initalisation sta- tus slave 13 • Read only 0 No Error 1 No access 2 Vendor ID check failed 3 Product code check failed 4 Revision check failed 0x5864:014 EtherCAT slaves initialisation status: Initalisation sta-...
  • Page 327 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5865:003 EtherCAT slaves device status: Device status slave 3 • Read only 0 Unknown 1 Init 2 Pre-Operational 3 Bootstrap 4 Safe-Operational 8 Operational 65519 Not Present 0x5865:004 EtherCAT slaves device status: Device status slave 4 •...
  • Page 328 Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5865:009 EtherCAT slaves device status: Device status slave 9 • Read only 0 Unknown 1 Init 2 Pre-Operational 3 Bootstrap 4 Safe-Operational 8 Operational 65519 Not Present 0x5865:010 EtherCAT slaves device status: Device status slave 10 •...

  • Page 329: Error History Buffer

    Configuring the network EtherCAT Diagnostics Address Name / setting range / [default setting] Info 0x5865:015 EtherCAT slaves device status: Device status slave 15 • Read only 0 Unknown 1 Init 2 Pre-Operational 3 Bootstrap 4 Safe-Operational 8 Operational 65519 Not Present 0x5865:016 EtherCAT slaves device status: Device status slave 16 •...

  • Page 330: Profinet

    Configuring the network PROFINET 16.3 PROFINET PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet. PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS & • PROFINET International (PI) user organisation. Detailed information on PROFINET can be found on the web page of the user organisation: •...

  • Page 331: Commissioning

    Configuring the network PROFINET Commissioning 16.3.1 Commissioning In the following chapters, the steps required for controlling the inverter with a IO-Controller via PROFINET are described. Preconditions As an IO-Device, the inverter is connected to an IO-Controller and further PROFINET nodes •...

  • Page 332: Restarting Or Stopping The Communication

    Here, commissioning with the Siemens »TIA Portal« is described. Please note that in the standard setting of the Siemens »TIA Portal« changes of network parameters carried out by a Lenze engineering tool (e. g. »EASY Starter«) may be overwritten. 1. Go to the device configuration and open the "net view" to drag the inverter from the cata- log to the net view of the PROFINET.

  • Page 333: Device Description File

    (e. g. Siemens »TIA Portal«). Download of GSDML files • The name of the device description file is as follows: "GSDML-V<x>.<zz>-Lenze-I<NNN>PN<Version>-<yyyy><mm><dd>.xml". Wildcard Info Major version of the used GSDML scheme One-digit or two-digit minor version of the used GSDML scheme Specifying the inverter name, e.

  • Page 334: Basic Setting And Options

    Configuring the network PROFINET Basic setting and options 16.3.2 Basic setting and options 16.3.2.1 Station name and IP configuration The station name and the IP configuration can be assigned via the IO-Controller. These set- tings enable the IO-Controller to identify the inverter in the network and manage the data exchange.

  • Page 335: Suppress Diagnostic Messages To The Io Controller

    Configuring the network PROFINET Process data transfer 16.3.2.2 Suppress diagnostic messages to the IO controller 0x285A:001 serves to set which error response in the inverter suppresses the alarm message to the IO-Controller. Parameter Address Name / setting range / [default setting] Info 0x285A:001 Diagnostic settings: Alarm supression...

  • Page 336: Parameter Data Transfer

    Configuring the network PROFINET Parameter data transfer 16.3.4 Parameter data transfer Data communication with PROFINET is characterised by the simultaneous operation of cyclic and acyclic services in the network. As an optional extension, the parameter data transfer belongs to the acyclic services, which provides access to all device parameters. Details The access to the device data depends on the PROFIdrive profile.

  • Page 337: Monitoring

    Configuring the network PROFINET Parameter data transfer Assignment of the user data depending on the data type Depending on the data type used, the user data is assigned as follows: Data type Length User data assignment Byte 1 Byte 2 Byte 3 Byte 4 Byte ...
  • Page 338 Configuring the network PROFINET Monitoring Address Name / setting range / [default setting] Info 0x2859:005 PROFINET monitoring: Invalid process data Selection of the response triggered by the reception of invalid process data. Process data marked as invalid (IOPS is "BAD") are received by the IO Controller.

  • Page 339: Diagnostics

    Configuring the network PROFINET Diagnostics 16.3.6 Diagnostics 16.3.6.1 LED status display Notes on the connection status to the IO-Controller can be obtained via the LEDs "BUS RDY" and "BUS ERR" of the PROFINET option (on the front of the inverter). In addition, the LEDs "Link"...
  • Page 340 Configuring the network PROFINET Diagnostics Address Name / setting range / [default setting] Info 0x2388 PROFINET status Bit coded display of the current Bus status. • Read only Bit 0 Initialized The network component is initialised. Bit 1 Online The network component has established a cyclic I/O communication relationship to a communication partner.

  • Page 341: Profisafe

    Configuring the network PROFINET PROFIenergy 16.3.7 PROFIsafe PROFIsafe via PROFINET enables the transfer of safe information via the PROFIsafe protocol according to the specification "PROFIsafe - Profile for Safety Technology", version 2.0. The PROFIsafe data is transmitted in the second slot of a PROFINET telegram. •...

  • Page 342: Ethercat System Bus

    If further EtherCAT-compliant devices are to be used in addition to the inverters, the bus • configuration must be adapted to the »PLC Designer«. Download »PLC Designer« • Download XML/ESI files for Lenze devices • Detailed information regarding the adaptation of the EtherCAT configuration with • the »PLC Designer« can be found here: Online help »EASY Starter«/»PLC Designer«, topic "Controller-based Automation Ether-...
  • Page 343 Configuring the network EtherCAT system bus System bus topology X246 System bus interface EtherCAT IN x247 System bus interface EtherCAT OUT Ethernet NRT interface EtherCAT system bus Engineering PC System bus master S1 ... 15 System bus slaves 1 ... 15...

  • Page 344: Commissioning

    Configuring the network EtherCAT system bus Commissioning 16.4.1 Commissioning Commissioning can be subdivided as follows: Initial commissioning in which at least the system bus master must be determined. • System bus change, in which slave devices are added or removed subsequently. •...

  • Page 345: Basic Setting And Options

    Configuring the network EtherCAT system bus Basic setting and options 16.4.2 Basic setting and options Addressing the system bus nodes The first device in the system bus network is always active as EtherCAT master. In addition, this device is also an internal EtherCAT slave, which e. g. provides a DC master (Distributed Clocks).

  • Page 346: Process Data Transfer

    Data mapping All inverter i950 slave devices have a fixed generic data mapping. This data mapping enables the use of the slave devices with an i950 inverter as system bus master and with other Ether- CAT-based master control systems (PLC).

  • Page 347: Standard Mapping

    Configuring the network EtherCAT system bus Process data transfer 16.4.3.1 Standard mapping 16.4.3.2 Process output data Parameter Address Name / setting range / [default setting] Info 0xA200:001 Systembus output data: Systembus data output 1 Generic system bus output data from the PLC to the inverter. •...

  • Page 348: Monitoring

    Configuring the network EtherCAT system bus Monitoring Address Name / setting range / [default setting] Info 0xA680:009 Systembus input data: Systembus data input 9 0 ... [0] ... 4294967295 0xA680:010 Systembus input data: Systembus data input 10 0 ... [0] ... 4294967295 0xA680:011 Systembus input data: Systembus data input 11 0 ...

  • Page 349: Diagnostics

    Configuring the network EtherCAT system bus Diagnostics 16.4.5 Diagnostics For diagnostic purposes, the system bus interfaces X246 and X247 provide LED status displays and diagnostic parameters for the EtherCAT system bus. The diagnostic parameters are divided according to the interface role (master or slave) set in 0x2371:009.
  • Page 350 Configuring the network EtherCAT system bus Diagnostics Address Name / setting range / [default setting] Info 0x5851:003 EtherCAT master diagnosis: EtherCAT error Display whether an EtherCAT network error has occurred. • Read only 0x5851:004 EtherCAT master diagnosis: Bus scan match Display whether a "Bus Scan Match"...

  • Page 351: Device Identification

    Configuring the network EtherCAT system bus Diagnostics Address Name / setting range / [default setting] Info 0x5863:011 Mandatory EtherCAT slaves: Slave 11 is mandatory • Read only 0 FALSE 1 TRUE 0x5863:012 Mandatory EtherCAT slaves: Slave 12 is mandatory • Read only 0 FALSE 1 TRUE 0x5863:013...
  • Page 352 Configuring the network EtherCAT system bus Diagnostics Address Name / setting range / [default setting] Info 0x1018:003 Identity object : Revision number Display of the main and subversion of the firmware. • Read only 0x1018:004 Identity object : Serial number Display of the serial number of the inverter.

  • Page 353: Device Functions

    Device functions Optical device identification Device functions 17.1 Optical device identification For applications including several interconnected inverters it may be difficult to locate a device that has been connected online. The "Optical device identification" function serves to locate the inverter by means of blinking LEDs. Details In order to start the visual tracking, click the button in the toolbar of the »EASY Starter«...

  • Page 354: Reset Parameters To Default

    Device functions Reset parameters to default 17.2 Reset parameters to default Parameter Address Name / setting range / [default setting] Info 0x2022:001 Device commands: Load default settings 1 ≡ reset all parameters in the RAM memory of the inverter to the default setting that is stored in the inverter firmware.

  • Page 355: Saving/Loading The Parameter Settings

    Device functions Saving/loading the parameter settings 17.3 Saving/loading the parameter settings If parameter settings of the inverter are changed, these changes at first are only made in the RAM memory of the inverter. In order to save the parameter settings with mains failure pro- tection, the inverter is provided with the corresponding device command in the parameter.

  • Page 356: Enabling The Device

    Device functions Export logbook 17.4 Enabling the device Parameter Address Name / setting range / [default setting] Info 0x2822:001 Axis commands: Enable inverter Parameters for interaction with engineering tools. 0 Inverter inhibited 1 Inverter enabled 17.5 Restart device If the inverter communicates with the master as network node via EtherCAT: executing the device command may cause an interruption of the EtherCAT com- munication with the master and a standstill of the drive.

  • Page 357: Delete Logbook Files

    Device functions Uploading the application 17.8 Delete logbook files The logbook files can be deleted with the parameter. Parameter Address Name / setting range / [default setting] Info 0x2022:037 Device commands: Delete Logfiles Deletion of log files on the device that were exported in an earlier step 0x2022:036 (Export Logbook).

  • Page 358: Inverter Control Word

    Device functions Switching frequency changeover 17.11 Inverter control word Parameter Address Name / setting range / [default setting] Info 0x2830 Inverter control word The control word serves to influence the control functions. 0x0000 ... [0x0000] ... 0xFFFF Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded speed to the "flying restart"...

  • Page 359: Device Overload Monitoring (I*T)

    Device functions Device overload monitoring (i*t) 17.14 Device overload monitoring (i*t) The inverter calculates the i*t utilisation in order to protect itself against thermal overload. In simple terms: a higher current or an overcurrent that continues for a longer time causes a higher i*t utilisation.

  • Page 360: Heatsink Temperature Monitoring

    Device functions Update device firmware Manual firmware download with »EASY Starter (firmware loader)« 17.15 Heatsink temperature monitoring In order to avoid an impermissible heating of the servo inverter, the temperature of the heat- sink is detected and monitored. The temperature of the heatsink is measured in the temperature range of 0 ... 80 °C with a tolerance of -2 ...

  • Page 361: Additional Functions

    Additional functions Additional functions 18.1 Brake energy management When braking electrical motors, the kinetic energy of the drive train is fed back regeneratively to the DC bus. This energy causes a DC-bus voltage boost. If the energy fed back is too high, the inverter reports an error.

  • Page 362: Manual Jog Parameters

    Additional functions Manual jog parameters Address Name / setting range / [default setting] Info 0x2550:008 Brake resistor: Warning threshold Warning threshold for brake resistor monitoring. 50.0 ... [90.0] ... 150.0 % • If the utilisation shown in reaches the threshold set, the response selected in 0x2550:010 is effected.

  • Page 363: Mains Failure Control

    Additional functions Mains failure control 18.3 Mains failure control Parameter Address Name / setting range / [default setting] Info 0x2D66:001 Mains failure control: Enable function 1 = enable mains failure control. 0 Disabled 2 Enabled 0x2D66:002 Mains failure control: DC-bus activation level Threshold below which the mains failure control is activated if it is ena- 60 ...

  • Page 364: Oscilloscope Function

    User interface In the Lenze engineering tool used, set the trigger condition and the sample rate via the oscil- loscope user interface when an online connection to the inverter has been established and select the parameters to be recorded.
  • Page 365 Additional functions Oscilloscope function Toolbar Icon Function Load oscillogram / configuration from file Load recorded oscillogram from the device Save oscillogram in file Copy oscillogram to the clipboard Print oscillogram Display cursor Centre cursor Scale curve automatically Activate zoom function "Time base:"...
  • Page 366 Additional functions Oscilloscope function Selecting parameters to be recorded The oscilloscope supports up to eight channels, thus maximally eight parameters can be recor- ded in an oscillogram. The Channels list field serves to configure the parameters to be recor- ded as signal sources: Col- Name Meaning...
  • Page 367 Additional functions Oscilloscope function How to define the duration and sample rate for recording: 1. Select the desired time base in the time base list field. a) The current setting of the time base multiplied by 10 results in the recording time. b) As the size of the measured data memory in the inverter is limited, a compromise is usu- ally made between sample rate and recording time.
  • Page 368 Additional functions Oscilloscope function Starting recording Press the button , "Start recording" In order to obtain a sample rate as high as possible when the parameter values are recorded, the data is first saved in the measured data memory of the inverter and then transmitted to the Engineering PC as oscillogram.
  • Page 369 Additional functions Oscilloscope function Zoom function The zoom function will be activated by selecting the in the toolbar. When the function is activated, the button is highlighted. Zoom function Proceeding Zoom selection Hold down the left mouse button and draw the section to be zoomed: •...
  • Page 370 Additional functions Oscilloscope function The cursor function In addition to the zoom and scaling function, there is the cursor function which is called by double-clicking the Channels list field. The double-click opens a list of all signal sources with the following options: Display of individual measured values of a selectable channel •...
  • Page 371 Saving oscillogram in file The reuse of a saved configuration is only reasonable for inverters of the same type (e. g. i950 inverters), as otherwise due to a scaling of the oscilloscope chan- nels that is not adapted, incorrect values are displayed!
  • Page 372 Additional functions Oscilloscope function Copying an oscillogram to the clipboard For documentation purposes, it is possible to copy the measured data of an oscillogram as a table or, alternatively, the oscilloscope user interface as a picture, to the clipboard for use in other programs.

  • Page 373: Safety Functions

    Safety functions Safety functions Supported safety functions for "Basic Safety-STO" 4Safe Torque Off (STO) ^ 374...

  • Page 374: Safe Torque Off (Sto)

    Safety functions Safe Torque Off (STO) 19.1 Safe Torque Off (STO) The motor cannot generate torque and movements of the drive. DANGER! Automatic restart if the request of the safety function is deactivated. Possible consequences: Death or severe injuries ▶ You must provide external measures according to EN ISO 13849−1 which ensure that the drive only restarts after a confirmation.
  • Page 375 Safety functions Safe Torque Off (STO) Fig. 68: Safety function STO Functional sequence and error response have no adjustable parameters. Via a safe input, if the corresponding parameter is assigned to the safe input. Activation of the function A data telegram is sent to the inverter via the safety bus. See chapter "Safe network interfa- ces".

  • Page 376: Safe Emergency Stop (Sse)

    Safety functions Safe Emergency Stop (SSE) 19.2 Safe Emergency Stop (SSE) The SSE safety function has the highest priority. The SSE safety function is primarily triggered from all states, operating modes or safety functions. Depending on the parameter setting in 0x28A3:0010x28A3:001, the emergency stop function activates one of the functions: 4Safe Torque Off (STO) 4Safe Stop 1 (SS1)

  • Page 377: Ramp Monitoring

    The following parameter defines whether the relative or absolute offset value is used. 0x2894:004 40x2894:004 The Lenze setting of the start offset considers the tolerance window (n=0) as offset. 0x2894:005 40x2894:005 The monitoring ramp starts after an internal deceleration time has elapsed. The internal deceleration time depends on "SS1, SS2: smoothing time"...
  • Page 378 Safety functions Ramp monitoring Activation If the stop functions SS1/SS2 are requested, a monitoring ramp is calculated and placed • over the current speed characteristic. Normal behaviour While the stopping time elapses or before the tolerance window (n = 0) is reached, the para- meterised speed ramp is not exceeded.

  • Page 379: Safe Stop 1 (Ss1)

    Safety functions Safe Stop 1 (SS1) 19.4 Safe Stop 1 (SS1) The safety function monitors the parameterised stopping time of the drive (n = 0). The drive switches to torqueless operation via the parameterised mode in the function SS1 (0x2897:0010x2897:001). Preconditions The drive is brought to standstill via the application.
  • Page 380 Safety functions Safe Stop 1 (SS1) Via a safe input, if the corresponding parameter is assigned to the safe input. Activation of the function A data telegram is sent to the inverter via the safety bus. See chapter "Safe network interfa- ces".
  • Page 381 Safety functions Safe Stop 1 (SS1) Address Name / setting range / [default setting] Info 0x2896 SS1: Source S-Bus • Read only 0 Deactivated 1 Activated 0x2897:001 SS1: SS1: Mode • Read only 0 STO after stop time 1 STO at n=0 0x2897:002 SS1: SS1: Deceleration STO after n=0 •...

  • Page 382: Safe Stop 2 (Ss2)

    Safety functions Safe Stop 2 (SS2) 19.5 Safe Stop 2 (SS2) The safety function monitors whether the drive has reached the set tolerance window (n = 0) within the parameterised stopping time. After the stopping time has elapsed or the value has fallen below the tolerance window, the monitoring function switches to safe operational stop (SOS) or activates the safety function (STO).
  • Page 383 Safety functions Safe Stop 2 (SS2) Behaviour of the function under normal circumstances When the stopping time (0x2894:001C2894/1)) has elapsed or the value has fallen below the tolerance window (0x287B:001C287B/1), the safety function is activated. ^ 385 Behaviour of the function in the event of an error An error message and an error stop are triggered if: standstill is not reached after the stopping time (0x2894:001) has elapsed.
  • Page 384 Safety functions Safe Stop 2 (SS2) Parameter Address Name / setting range / [default setting] Info 0x2878:004 Motor encoder: Encoder monitoring response time • Read only: ms 12 12 ms 50 50 ms 100 100 ms 0x287B:001 Velocity monitoring: Tolerance window (n=0) •...

  • Page 385: Safe Operating Stop (Sos)

    Safety functions Safe Operating Stop (SOS) 19.6 Safe Operating Stop (SOS) In the safe operational stop, the drive is not switched to torque-free operation. All control functions are maintained. The reached position remains active. WARNING! A safety-rated encoder system must be used. Without an encoder, this safety function cannot be used.
  • Page 386 Safety functions Safe Operating Stop (SOS) Parameter Address Name / setting range / [default setting] Info 0x2875:019 S bus control bits: SOS • Read only 0x289D SOS: Source SD-In • Read only 0 Deactivated 1 SD-In1 2 SD-In2 3 SD-In3 4 SD-In4 0x28A0 SOS monitored: Output...

  • Page 387: Safe Maximum Speed (Sms)

    Safety functions Safe Maximum Speed (SMS) 19.7 Safe Maximum Speed (SMS) The safety function monitors the compliance with the safe maximum motor speed set. WARNING! A safety-rated encoder system must be used. Without an encoder, this safety function cannot be used. ▶...

  • Page 388: Safely-Limited Speed (Sls)

    Safety functions Safely-Limited Speed (SLS) 19.8 Safely-Limited Speed (SLS) The safety function monitors the speed Nlim parameterised, if the following states have occur- red: the speed parameterised is not reached. • the braking time set has elapsed. • WARNING! A safety-rated encoder system must be used. Without an encoder, this safety function cannot be used.
  • Page 389 Safety functions Safely-Limited Speed (SLS) Parameter Address Name / setting range / [default setting] Info 0x2870:002 SafetyInterface: SafetyInterface State • Read only Bit 0 SLS1 monitored Bit 1 SLS2 monitored Bit 2 SLS3 monitored Bit 3 SLS4 monitored Bit 4 SMS monitored Bit 5 SSM within limits Bit 6 SDI positive monitored Bit 7 SDI negative monitored...
  • Page 390 Safety functions Safely-Limited Speed (SLS) Address Name / setting range / [default setting] Info 0x28C0:004 SLS: Source SD-In: SLS4: Source SD-In • Read only 0 Deactivated 1 SD-In1 2 SD-In2 3 SD-In3 4 SD-In4 0x28C1:001 SLS: Source S-Bus: SLS1: Source S-Bus •...
  • Page 391 Safety functions Safely-Limited Speed (SLS) Address Name / setting range / [default setting] Info 0x28C4:004 SLS: Permitted direction: SLS4: Permitted direction • Read only 0 Both directions enabled 1 Positive direction enabled 2 Negative direction enabled 0x28C5:001 SLS: Reaction (n>Nlim): SLS1: Reaction (n>Nlim1) •...
  • Page 392 Safety functions Safely-Limited Speed (SLS) Address Name / setting range / [default setting] Info 0x28C7:003 SLS Monitored: Output: SLS3 Monitored: Output • Read only 0 Deactivated 1 SD-Out1 positive logic 2 SD-Out1 negative logic 0x28C7:004 SLS Monitored: Output: SLS4 Monitored: Output •...

  • Page 393: Safe Speed Monitor (Ssm)

    Safety functions Safe Speed Monitor (SSM) 19.9 Safe Speed Monitor (SSM) The function monitors the limited speed set. The function is activated if: the monitoring limits are parameterised, or • the values are non-zero. • WARNING! A safety-rated encoder system must be used. Without an encoder, this safety function cannot be used.

  • Page 394: Safely Limited Increment (Sli)

    Safety functions Safely Limited Increment (SLI) 19.10 Safely Limited Increment (SLI) With this function, a maximum permissible position change [incr] can be set. Within the position window, the increments parameterised can be traversed in positive and negative directions. There is no time limit for executing this function. If the increment limits parameterised are exceeded, an error stop is initiated.
  • Page 395 Safety functions Safely Limited Increment (SLI) Behaviour of the function in the event of an error If the maximum permissible position change is exceeded, an error stop is initiated. The follow- ing functions can be set as safe stop: 4Safe Torque Off (STO) ^ 374 4Safe Stop 1 (SS1) ^ 379...

  • Page 396: Safe Direction (Sdi)

    Safety functions Safe Direction (SDI) 19.11 Safe Direction (SDI) The function monitors the direction of rotation of the motor. A parameterisable tolerance threshold ensures that the drive does not change the permissible direction of rotation. Within the limits parameterised, the drive can rotate in the impermissible direction of rotation. NOTICE The delay in 0x28BA:0020x28BA:002...
  • Page 397 Safety functions Safe Direction (SDI) Parameter Address Name / setting range / [default setting] Info 0x28B8:001 SDI: Source SD-In: SDIpos: Source SD-In • Read only 0 Deactivated 1 SD-In1 2 SD-In2 3 SD-In3 4 SD-In4 0x28B8:002 SDI: Source SD-In: SDIneg: Source SD-In •...

  • Page 398: Safely-Limited Position (Slp)

    Safety functions Safely-Limited Position (SLP) 19.12 Safely-Limited Position (SLP) The function monitors the lower and upper position limit. Preconditions The following function must be executed: Set upper position value. • Set lower position value. • Safe homing (SHOM) • Functional description SLP observed 0x28D3:001 0x28D3:004...
  • Page 399 Safety functions Safely-Limited Position (SLP) Parameter Address Name / setting range / [default setting] Info 0x28D0:001 SLP: Source SD-In: SLP1: Source SD-In • Read only 0 Deactivated 1 SD-In1 2 SD-In2 3 SD-In3 4 SD-In4 0x28D0:002 SLP: Source SD-In: SLP2: Source SD-In •...
  • Page 400 Safety functions Safely-Limited Position (SLP) Address Name / setting range / [default setting] Info 0x28D3:003 SLP: Upper Postion limit: SLP3: Upper Postion limit • Read only 0x28D3:004 SLP: Upper Postion limit: SLP4: Upper Postion limit • Read only 0x28D4:001 SLP: Error reaction: SLP1: Error reaction •...

  • Page 401: Position-Dependent Safe Speed (Pdss)

    Safety functions Position-dependent Safe Speed (PDSS) 19.13 Position-dependent Safe Speed (PDSS) The function monitors the speed of a drive as a function of of the absolute position along a motion • range. allows for the utilisation of a physically limited motion range without the use of mechani- •...
  • Page 402 Safety functions Position-dependent Safe Speed (PDSS) Activation of the function A data telegram is sent to the inverter via the safety bus. See chapter "Safe network interfa- ces". ^ 417 Error behaviour If the envelope curve is exceeded or when the absolute position limits are exited, an error message is triggered and an error stop with the function set in the 0x28DE:011 0x28DE:011...

  • Page 403: Mini-Homing

    Safety functions Mini-homing Address Name / setting range / [default setting] Info 0x28E0 PDSS: PDSSneg monitored output • Read only 0 Deactivated 1 SD-Out1 positive logic 2 SD-Out1 negative logic 19.14 Mini-homing The process of mini-homing serves to verify plausibility of the absolute position values of the safety function.

  • Page 404: Safe Homing (Shom)

    Safety functions Safe homing (SHOM) 19.15 Safe homing (SHOM) This function supplements the position evaluation of the encoder systems used. See . WARNING! In the switched-off state, the motor position must not be changed by external forces. A change in the motor position causes injuries and may even result in death. ▶...
  • Page 405 Safety functions Safe homing (SHOM) Functional description The start of the homing process does not cause the drive to execute a homing process. The initialisation and motion control are both executed autonomously by the drive. Referenzieren abgeschlossen SHOM start 0x2880:001 0x2880:001 Timeout SHOM load...
  • Page 406 Safety functions Safe homing (SHOM) The home position parameterised is the absolute reference point for these safety functions: Safely-Limited Position (SLP) • ^ 398 Position-dependent Safe Speed (PDSS) • ^ 401 Safe Cam (SCA) • ^ 408 The following states are shown: The "SHOM active"...
  • Page 407 Safety functions Safe homing (SHOM) Address Name / setting range / [default setting] Info 0x2884:001 SHOM diagnostic positions: SHOM: Detection diag position • Read only 0 LOW level 1 HIGH level 0x2884:002 SHOM diagnostic positions: SHOM: Lower diagnostic position • Read only 0x2884:003 SHOM diagnostic positions: SHOM: Upper diagnostic position...

  • Page 408: Safe Cam (Sca)

    Safety functions Safe Cam (SCA) 19.16 Safe Cam (SCA) The function monitors the lower and upper position limit. Preconditions The following function must be executed: Set upper position value. • Set lower position value. • Safe homing (SHOM) • Functional description In connection with this function, please also observe the information with regard to safe homing in chapter Safe homing...
  • Page 409 Safety functions Safe Cam (SCA) Parameter Address Name / setting range / [default setting] Info 0x28D8:001 SCA: Lower Postion limit: SCA1: Lower Postion limit • Read only 0x28D8:002 SCA: Lower Postion limit: SCA2: Lower Postion limit • Read only 0x28D8:003 SCA: Lower Postion limit: SCA3: Lower Postion limit •...

  • Page 410: Operation Mode Selector (Oms)

    Safety functions Operation mode selector (OMS) 19.17 Operation mode selector (OMS) This function serves to switch between normal operation and special operation of the drive. If the OMS safety function is requested via a HIGH signal, the safety function is switched off in the case of an open circuit.
  • Page 411 Safety functions Operation mode selector (OMS) Normalbetrieb Sonderbetrieb Aktivierung OMS Stopp-Funktion Bestätigung (AIS) Deaktivierung OMS für Wiederanlauf Zustimmtaster (ES) aktiv Bewegungsfunktion Zustimmtaster (ES) inaktiv Fig. 78: OMS function Special operation (OMS) provides for overwriting a normal stop STO, SS1 and SS2 by activating the enable switch (ES), see Enable Switch (ES) function.
  • Page 412 Safety functions Operation mode selector (OMS) Behaviour of the function in the event of an error The monitoring functions Safe Maximum Speed (SMS) Safely-Limited Speed (SLS) • be activated in both operating modes (normal operation / special operation). In the event of an error, the stop function paramterised (STO, SS1 or SS2) is triggered.

  • Page 413: Enable Switch (Es)

    Safety functions Enable Switch (ES) 19.18 Enable Switch (ES) This function makes it possible to override the normal stop functions Safe Torque Off (STO), • Safe Stop 1 (SS1) • Safe Stop 2 (SS2) • in special operation. Preconditions A safe input or the safety bus can be used for connecting an enable switch. If the safe input is used, the ES bit of the safety bus must be deactivated.

  • Page 414: Repair Mode Select (Rms)

    Safety functions Repair mode select (RMS) 19.19 Repair mode select (RMS) This function moves the drive from a situation that is blocking it ("Deadlock"). In the safety concept, this state is taken into consideration as a special case for actuating an axis connected.
  • Page 415 Safety functions Repair mode select (RMS) Behaviour of the function in the event of an error If the position values of the motor encoder and the load encoder do not comply after the repair mode has been exited, the following error states are displayed if absolute position mon- itoring is active: Exit position window •...

  • Page 416: Cascading (Cas)

    (OMS). The STO stop function will trigger the "Cascading" function. Activation by means of the enable switch (ES) is not possible. Description of the principle i950 #1 i950 #2 i950 #n SD-Out1...

  • Page 417: Safe Network Interfaces

    Safety functions Safe network interfaces FSoE connection 19.21 Safe network interfaces Parameter Address Name / setting range / [default setting] Info 0x2128 S-bus: Configuration • Read only 0 No safety bus 4 PROFIsafe/PROFINET 8 words 19.21.1 FSoE connection Parameter Address Name / setting range / [default setting] Info 0xE901:002...

  • Page 418: Connection To The Applications

    Safety functions Connection to the applications Inputs 19.22 Connection to the applications 19.22.1 Inputs Parameter Address Name / setting range / [default setting] Info 0x2118:001 SD-In: Sensor type: SD-In1: Sensor type • Read only 0 Input disabled 1 Passive sensor 2 Active sensor 0x2118:002 SD-In: Sensor type: SD-In2: Sensor type...

  • Page 419: Outputs

    Safety functions Connection to the applications Internal communication 19.22.2 Outputs Parameter Address Name / setting range / [default setting] Info 0x2120:001 SD-Out: Source S-Bus: SD-Out1: Source S-Bus • Read only 0 Deactivated 1 Activated 0x2121:001 SD-Out logic function: SD-Out1 logic function •...
  • Page 420 Safety functions Connection to the applications Control signals Address Name / setting range / [default setting] Info 0x2874 S bus: Display of control data • Read only Bit 0 STO Bit 1 SS1 Bit 2 SS2 Bit 3 SLS1 Bit 4 SLS2 Bit 5 SLS3 Bit 6 SLS4 Bit 7 SDIpos...

  • Page 421: Status Signals

    Safety functions Connection to the applications Control signals Address Name / setting range / [default setting] Info 0x2875:018 S bus control bits: AIE • Read only 0x2875:021 S bus control bits: SHOM_Start • Read only 0x2875:022 S bus control bits: SHOM_Load •...
  • Page 422 Safety functions Connection to the applications Status signals Address Name / setting range / [default setting] Info 0x2870:002 SafetyInterface: SafetyInterface State • Read only Bit 0 SLS1 monitored Bit 1 SLS2 monitored Bit 2 SLS3 monitored Bit 3 SLS4 monitored Bit 4 SMS monitored Bit 5 SSM within limits Bit 6 SDI positive monitored...
  • Page 423 Safety functions Connection to the applications Status signals Address Name / setting range / [default setting] Info 0x2870:003 SafetyInterface: SafetyInterface IOState • Read only Bit 0 SD-In1 Bit 1 SD-In2 Bit 2 SD-In3 Bit 3 SD-In4 Bit 4 AIS SD-In Bit 5 AIE SD-In Bit 6 IRS SD-In Bit 7 IRL SD-In...
  • Page 424 Safety functions Connection to the applications Status signals Address Name / setting range / [default setting] Info 0x2871:033 SafetyInterface bits: SLS1 observed • Read only 0x2871:034 SafetyInterface bits: SLS2 observed • Read only 0x2871:035 SafetyInterface bits: SLS3 observed • Read only 0x2871:036 SafetyInterface bits: SLS4 observed •...

  • Page 425: Safe Parameter Setting

    Name / setting range / [default setting] Info 0x2114:001 Parameter set Identification: Parameter set version • Read only 1003 i950 (Extended Safety) V1.0 0x2114:002 Parameter set Identification: Parameter set CRC 0 ... [0] ... 4294967295 0x2115:001 Parameter set information: Parameter set status •...

  • Page 426: Response Times

    Safety functions Response times 19.24 Response times The overall system must be taken into account when determining the response time following a safety function request. Parameter set acceptance from the SD card Safe parameter set acceptance is supported by means of a safe parameter set saved in the device.
  • Page 427 Safety functions Response times Response time of the safety bus Response time when reacting to an event in the safety sensor technology (input data) [ms] Response time of the safety sensor technology See manufacturer information Input delay of safe inputs 0x211A:002 0...100 Input filter...
  • Page 428 Safety functions Response times Acknowledging the parameter set or the safety address The parameter set and the safety address are acknowledged by the same procedure. The parameter set transfer is aborted if the response time of 2.5 seconds is exceeded. The parameter set transfer must be repeated.

  • Page 429: Diagnostics

    Safety functions Diagnostics LED status display 19.25 Diagnostics 19.25.1 LED status display On its front, the inverter indicates the "STO active" device state via the right "RDY" LED. You can gather the meaning of the "RDY" and "ERR" LEDs (left side) from the following two tables: LED "RDY"...
  • Page 430 Safety functions Diagnostics Error history buffer Address Name / setting range / [default setting] Info 0x2130:002 Fault history: Fault history 1 • Read only Bit 0 0x2130:003 Fault history: Fault history 2 • Read only Bit 0 0x2130:004 Fault history: Fault history 3 •...

  • Page 431: Diagnostic Parameters

    Safety functions Diagnostics Diagnostic parameters 19.25.3 Diagnostic parameters Parameter Address Name / setting range / [default setting] Info 0x212C:001 Safety: Software: Safety: Software version • Read only 0x212D:001 Safety: Hardware: Safety: Hardware version • Read only 0x212D:002 Safety: Hardware: Safety: Type •...

  • Page 432: Technical Data

    Technical data EMC data Technical data 20.1 Standards and operating conditions 20.1.1 Conformities/approvals Conformity 2006/42/EC Machinery Directive 2014/30/EU EMC Directive (reference: CE-typical drive system) Restrictions for the use of specific hazardous materials in electric RoHS 2011/65/EU and electronic devices Approval for USA and Canada (requirements of the CSA 22.2 No.

  • Page 433: Motor Connection

    Technical data Standards and operating conditions Electrical supply conditions 20.1.4 Motor connection Requirements to the shielded motor cable Capacitance per unit length C-core-core/C-core-shield < 75/150 pF/m ≤ 2.5 mm² / AWG 14 C-core-core/C-core-shield < 150/300 pF/m ≥ 4 mm² / AWG 12 Electric strength Uo = r.m.s.

  • Page 434: 3-Phase Mains Connection

    Technical data 3-phase mains connection 400 V Rated data 20.2 3-phase mains connection 400 V 20.2.1 Rated data Inverters I95AE155F I95AE175F I95AE222F I95AE240F I95AE275F I95AE311F I95AE315F Rated power 0.55 0.75 Rated power 0.75 Mains voltage range 3/PE AC 340 V ... 528 V, 45 Hz ... 65 Hz Output voltage 3 AC 0-400 V Rated mains current...
  • Page 435 Technical data 3-phase mains connection 400 V Rated data Inverters I95AE322F I95AE330F I95AE345F I95AE355F I95AE375F I95AE390F I95AE411F Rated power Rated power Mains voltage range 3/PE AC 340 V ... 528 V, 45 Hz ... 65 Hz Output voltage 3 AC 0-400 V Rated mains current without mains choke with mains choke...

  • Page 436: 3-Phase Mains Connection 480 V

    Technical data 3-phase mains connection 480 V Rated data 20.3 3-phase mains connection 480 V 20.3.1 Rated data Inverters I95AE155F I95AE175F I95AE222F I95AE240F I95AE275F I95AE311F I95AE315F Rated power 0.55 0.75 Rated power 0.75 Mains voltage range 3/PE AC 340 V ... 528 V, 45 Hz ... 65 Hz Output voltage 3 AC 0-480 V Rated mains current...
  • Page 437 Technical data 3-phase mains connection 480 V Rated data Inverters I95AE322F I95AE330F I95AE345F I95AE355F I95AE375F I95AE390F I95AE411F Rated power Rated power Mains voltage range 3/PE AC 340 V ... 528 V, 45 Hz ... 65 Hz Output voltage 3 AC 0-480 V Rated mains current without mains choke 47.4...

  • Page 438: Appendix

    Appendix Appendix 21.1 Parameter attribute list The parameter attribute list in particular contains some information required for reading and writing parameters via network. The parameter attribute list contains all parameters of the inverter. • The parameter attribute list is sorted by addresses (index:subindex) in ascending order. •...
  • Page 439 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x1018:003 Identity object : Revision number - (Read only) 0x1018:004 Identity object : Serial number - (Read only) 0x10F1:001 Error settings: Local error reaction Device specific state [2] 0x10F1:002 Error settings: Sync error counter limit 0x10F3:001 History buffer : Max.
  • Page 440 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2022:035 Device commands: Restart Device Off / ready [0] 0x2022:036 Device commands: Export Logbook Off / ready [0] 0x2022:037 Device commands: Delete Logfiles Off / ready [0] 0x2022:038 Device commands: Activate loaded application Off / ready [0] 0x2022:039 Device commands: Load TA default settings...
  • Page 441 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2128 S-bus: Configuration - (Read only) 0x2129:001 S-bus: Control bits: SD-Out1 - (Read only) BOOLEAN ● 0x212C:001 Safety: Software: Safety: Software version - (Read only) STRING[50] 0x212D:001 Safety: Hardware: Safety: Hardware version - (Read only) STRING[50] 0x212D:002...
  • Page 442 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x243C:001 Device: Ethernet commands: Device: Start firmware Off/Ready [0] update 0x2450 Engineering port control No action/No error [0] 0x2451:001 Engineering port settings: IP address 0.0.0.0 0x2451:002 Engineering port settings: Subnet 0.0.0.0 0x2451:003 Engineering port settings: Gateway...
  • Page 443 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x261C:010 Favorites settings: Parameter 10 0x261C:011 Favorites settings: Parameter 11 0x261C:012 Favorites settings: Parameter 12 0x261C:013 Favorites settings: Parameter 13 0x261C:014 Favorites settings: Parameter 14 0x261C:015 Favorites settings: Parameter 15 0x261C:016 Favorites settings: Parameter 16 0x261C:017...
  • Page 444 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2636:013 Analog input 1: Minimum value for scaling 0.0 % 0x2636:014 Analog input 1: Maximum value for scaling 100.0 % 0x263B:001 Digital inputs internal control: Activation Aus [0] 0x263B:002 Digital inputs internal control: DI1 internal control Aus [0] 0x263B:003...
  • Page 445 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2835:001 Manual test mode: Current setpoint ● 0x2835:002 Manual test mode: Frequency 0.0 Hz ● 0x2835:003 Manual test mode: Starting angle 0.0 ° 0x2836:001 Manual control mode: Current setpoint 30 % ●...
  • Page 446 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2871:045 SafetyInterface bits: SCA1 within limits - (Read only) BOOLEAN ● 0x2871:046 SafetyInterface bits: SCA2 within limits - (Read only) BOOLEAN ● 0x2871:047 SafetyInterface bits: SCA3 within limits - (Read only) BOOLEAN ●...
  • Page 447 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x287A:003 Load encoder: Load encoder gearbox factor numer- - (Read only) ator 0x287A:004 Load encoder: Load encoder gearbox factor denomi- - (Read only) nator 0x287A:005 Load encoder: Load encoder mounting direction - (Read only) 0x287A:006 Load encoder: Load encoder position...
  • Page 448 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2894:002 SS1, SS2: SS1, SS2: Ramp Monitoring - (Read only) 0x2894:003 SS1, SS2: SS1, SS2: Ramp smoothing time x % (Read only) 0x2894:004 SS1, SS2: SS1, SS2: Ramp Offset Mode - (Read only) 0x2894:005 SS1, SS2: SS1, SS2: Ramp Start Offset relative...
  • Page 449 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x28C0:003 SLS: Source SD-In: SLS3: Source SD-In - (Read only) 0x28C0:004 SLS: Source SD-In: SLS4: Source SD-In - (Read only) 0x28C1:001 SLS: Source S-Bus: SLS1: Source S-Bus - (Read only) 0x28C1:002 SLS: Source S-Bus: SLS2: Source S-Bus - (Read only)
  • Page 450 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x28D4:002 SLP: Error reaction: SLP2: Error reaction - (Read only) 0x28D4:003 SLP: Error reaction: SLP3: Error reaction - (Read only) 0x28D4:004 SLP: Error reaction: SLP4: Error reaction - (Read only) 0x28D5:001 SLP monitored: Output: SLP1 monitored: Output - (Read only)
  • Page 451 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2910:001 Inertia settings: Motor moment of inertia 0.14 kg cm² 0x2910:002 Inertia settings: Load moment of inertia 0.00 kg cm² 0x2910:003 Inertia settings: Coupling Stiff [0] 0x2910:004 Inertia settings: Mechanical natural frequency 0.0 Hz 0x2910:005 Inertia settings: Load moment of inertia (elastic cou-...
  • Page 452 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x29E0:002 Field weakening controller settings: Reset time 2000.0 ms (ASM) 0x29E1 Field weakening controller Field limitation 100.00 % ● 0x29E2 DC-bus filter time 25.0 ms 0x29E3 Motor voltage filter time 25.0 ms 0x29E4 Voltage reserve range...
  • Page 453 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2B07:002 Load adaption: Load adaption value 20.00 % 0x2B08:001 V/f Imax controller: Gain 0.001 Hz/A 1000 0x2B08:002 V/f Imax controller: Reset time 100.0 ms 0x2B09:001 Slip compensation: Gain 0.00 % 0x2B09:002 Slip compensation: Filter time 2000 ms...
  • Page 454 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2C04:008 Inductance grid points (y) Lss saturation characteris- 62 % tic: y8 = L08 (x = 42.75 %) 0x2C04:009 Inductance grid points (y) Lss saturation characteris- 55 % tic: y9 = L09 (x = 50.00 %) 0x2C04:010 Inductance grid points (y) Lss saturation characteris- 50 %...
  • Page 455 Inductance grid points (y) Lh saturation characteris- 42 % tic: y17 = L17 (x = 100.00 %) 0x2C08 Method for setting motor parameters Select from catalogue (Lenze motors) [1] U8 0x2C40 Motor encoder type SinCos encoder [1] 0x2C41:001 Motor encoder settings (Hiperface): Type code...
  • Page 456 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2C4A:004 Protokoll-Parameter Motorgeber (SSI): Startbit Posi- tionsdaten 0x2C4A:005 Protokoll-Parameter Motorgeber (SSI): Startbit Datenpaket 1 0x2C4A:006 Protokoll-Parameter Motorgeber (SSI): Startbit Datenpaket 2 0x2C4A:007 Protokoll-Parameter Motorgeber (SSI): Startbit Datenpaket 3 0x2C4A:008 Protokoll-Parameter Motorgeber (SSI): Länge Posi- tionsdaten 0x2C4A:009...
  • Page 457 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2C52:003 Load encoder/master encoder settings (encoder): x.x ° (Read only) ● Angle drift 0x2C52:004 Load encoder/master encoder settings (encoder): x % (Read only) Actual amplitude signal quality 0x2C53 Load encoder/master encoder resolver number of pole pairs 0x2C54:001 Load encoder/master encoder identification...
  • Page 458 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2C61:001 Pole position identification (360°) settings: Current 100 % amplitude 0x2C61:002 Pole position identification (360°) settings: Ramp 40 s time 0x2C61:003 Pole position identification (360°) settings: Direction CW [0] of rotation 0x2C61:004 Pole position identification (360°) settings: Error tol-...
  • Page 459 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2D40:003 Device utilisation ixt: Power unit error threshold x % (Read only) 0x2D40:004 Device utilisation ixt: Device actual utilisation x % (Read only) ● 0x2D40:005 Device utilisation ixt: Device warning threshold 95 % 0x2D40:006 Device utilisation ixt: Device error threshold...
  • Page 460 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2D4D:006 Motor utilisation (i²xt) - specific characteristic: y3 = 100 % i03/iN (x3) 0x2D4D:007 Motor utilisation (i²xt) - specific characteristic: x4 = 100 % n04/nN (n04 = limit field weakening) 0x2D4D:008 Motor utilisation (i²xt) - specific characteristic: y4 = 100 %...
  • Page 461 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x2DD2 Target position interpolated x pos. unit (Read only) ● 0x2DD3:001 Speed setpoints: Speed setpoint x rpm (Read only) ● 0x2DD3:002 Speed setpoints: Speed setpoint 2 x rpm (Read only) ●...
  • Page 462 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x500A:031 Cycle length 360.0000 10000 0x500A:032 Feed constant 360.0000 10000 0x500A:033 Gearbox factor - nominator 0x500A:034 Gearbox factor - denominator 0x500A:035 Motor mounting direction BOOLEAN 0x500A:037 Load moment of inertia 0.00 kg cm²...
  • Page 463 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x500A:136 Tolerance window actual position=set position 0.0000 10000 upper limit 0x500A:137 Tolerance window actual position=set position 0.0000 10000 lower limit 0x500A:150 SLS1 0.0000 10000 0x500A:151 SLS1 - deceleration time 0.000 s 1000 0x500A:152...
  • Page 464 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x500C:051 Software limit switch positive 0.0000 10000 0x500C:052 Software limit switch negative 0.0000 10000 0x500C:053 Action after "software limit switch reached" Stop at software limit switch [1] 0x500C:105 Action after "software limit switch reached" Fault >...
  • Page 465 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x5040:014 Control word 4 0x5040:015 Control word 5 0x5040:016 External base velocity 0.0000 10000 0x5040:017 External torque limit 0.00 % 0x5040:101 Simulation of status signals 0x00 0x5040:110 Status signals 0x00000000 0x5040:111 Status signals limiter...
  • Page 466 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x5850:001 Kommandos für Systembus EtherCAT-Master: Kom- No action/no error [0] munikation neu starten 0x5851:001 EtherCAT master diagnosis: EtherCAT master state - (Read only) 0x5851:002 EtherCAT master diagnosis: EtherCAT master state - (Read only) summary 0x5851:003...
  • Page 467 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x5861:013 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] 0x5861:014 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] 0x5861:015 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] 0x5861:016...
  • Page 468 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x5864:009 EtherCAT slaves initialisation status: Initalisation sta- - (Read only) tus slave 9 0x5864:010 EtherCAT slaves initialisation status: Initalisation sta- - (Read only) tus slave 10 0x5864:011 EtherCAT slaves initialisation status: Initalisation sta- - (Read only) tus slave 11 0x5864:012...
  • Page 469 Appendix Parameter attribute list Address Designation Default setting Data type Factor 0x6067 Position window 1000 pos. unit 0x6068 Position window time 0 ms 0x606C Velocity actual value rpm (Read only) 480000 ● 0x6071 Target torque 0.0 % ● 0x6072 Max torque 250.0 % ●...
  • Page 470 Default setting Data type Factor 0x60FF Target velocity 0.00 rpm 480000 ● 0x6404 Motor manufacturer "Lenze" STRING[50] 0x6502 Supported drive modes - (Read only) 0x67FF Device profile number - (Read only) 0xA200:001 Systembus output data: Systembus data output 1 - (Read only) ●...

  • Page 471: Glossary

    Appendix Glossary 21.2 Glossary Abbreviation Meaning Acknowledge In Error, error acknowledgement Acknowledge In Stop, restart acknowledgement OFF state Triggered signal status of the safety sensors Common Cause Error (also β-value) EC_FS Error Class Fail Safe EC_SS1 Error-Class Safe Stop 1 EC_SS2 Error-Class Safe Stop 2 EC_STO...
  • Page 472 © 12/2018 | | 1.0 Ö Lenze Automation GmbH Postfach 10 13 52, D-31763 Hameln Hans-Lenze-Str. 1, D-31855 Aerzen Germany HR Hannover B 205381 +49 5154 82-0 Ü Ø +49 5154 82-2800 sales.de@lenze.com Ù www.lenze.com Ú Û Lenze Service GmbH Breslauer Straße 3, D-32699 Extertal...

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