Lenze 931M Series Hardware Manual
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Lenze 931M Series Hardware Manual

Lenze 931M Series Hardware Manual

Servo drives 930 fluxxtorque, servo inverter
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GHB 13.0002-EN
./$P
efesotomasyon.com - Lenze
L-force |
Servo Drives 930 fluxxtorque
931M/W
Servo inverter
Hardware Manual

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Summary of Contents for Lenze 931M Series

  • Page 1 - Lenze GHB 13.0002-EN ./$P Hardware Manual L-force | Servo Drives 930 fluxxtorque 931M/W Servo inverter ...
  • Page 2 - Lenze  Please read these Instructions before you start working! Follow the enclosed safety instructions. This documentation is valid for 931M/W servo inverters using the following type code: The devices of the 931 M/W series use two type codes. The type code for the 931M/W servo inverters describes the electronic characteristics of the drive system and specifies the power features.
  • Page 3 - Lenze Type code for 931Mservo drives Type  Type of current  Cooling  Housing  Motor  Built-on accessories  Frame size following IEC  Motor length  Number of pole pairs  Legend for the 931M servo drive type code (931M servo inverter and SDSmotor) Lenze small drives ...
  • Page 4 © 2006 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32 699 Extertal No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH & Co KG Kleinantriebe. All information given in this documentation has been selected carefully and complies with the hardware and software described.

  • Page 5: Table Of Contents

    ........General safety and application notes for Lenze controllers .
  • Page 6 - Lenze Contents Commissioning ............

  • Page 7: Preface And General Information

    Via the contents and index, you quickly find the information regarding a specific ƒ problem. Descriptions and data with regard to other Lenze products can be gathered from the ƒ respective catalogues, Operating Instructions and Manuals. ( 49) You can request Lenze documentation from your responsible Lenze sales partner, or ƒ...

  • Page 8: Scope Of Supply

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

  • Page 9: Safety Instructions

    General safety and application notes for Lenze controllers (According to: Low-Voltage Directive 73/23/EEC) General Lenze controllers (frequency inverters, servo inverters, DC controllers) and the accessory components can include live and rotating parts - depending on their type of protection - during operation. Surfaces can be hot.
  • Page 10 - Lenze Safety instructions General safety and application notes for Lenze controllers Application as directed Drive controllers are components designed for installation into electrical systems or machines. They are not household appliances, but are only designed as components for industrial or professional purposes in terms of EN 61000-3-2.

  • Page 11: General Safety Information

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

  • Page 12: Residual Hazards

    - Lenze Safety instructions Residual hazards Residual hazards Protection of persons After power-off, pins of the connection X2 (320 V DC, 230 V AC L1, N or 0 V DC), UL, BR and GND still carry hazardous voltages for at least 3 minutes! Before working on the controller, check that no voltage is applied to the power ƒ...

  • Page 13: Definition Of Notes Used

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

  • Page 14: Technical Data

    - Lenze Technical data Features Technical data Features The 931M servo inverter is a synchronous motor with integrated busable servo inverter. The difference between the 931W and the 931M servo inverters is the separate design of motor and servo inverter.

  • Page 15: Supply

    - Lenze Technical data Design Type Supply voltage Bus system/interface Inputs/outputs 24V DC 42V DC 230V AC 320V DC Profibus CAN bus Local CAN RS232 931 MPN2_ • • • • 931 MPN1_ • • • • 931 MCN2_ •...

  • Page 16: Rated Data

    - Lenze Technical data Rated data General data and operating conditions Rated data 3.3.1 General data and operating conditions The following standards and operating conditions are generally valid for 931M and 931W servo inverters: Conformity Low-Voltage Directive 73/23/EEC Regulations...

  • Page 17: Internal Brake Resistor

    Digital inputs - local CAN, optional In connection with a function module only (projected;  61). More details can be obtained on request from Lenze GmbH & Co KG, Kleinantriebe. Cycle time of digital I/Os Adjustable via the scanning time (min. 500 μs). When using the local CAN option, the cycle time <...

  • Page 18: Rated Data Of The Extra-Low Voltage Version (24 Or 42 V Dc)

    - Lenze Technical data Rated data Rated data of the extra-low voltage version (24 or 42 V DC) 3.3.3 Rated data of the extra-low voltage version (24 or 42 V DC) The extra-low voltage version of the drives has been designed for operation on 24/42 V DC.

  • Page 19: Rated Data Of The Drive Systems

    - Lenze Technical data Rated data Rated data of the drive systems 3.3.5 Rated data of the drive systems Type SDSGSSR35 SDSGSSR47 SDSGSSR56 Input data Power supply Voltage (all details +/- 10%) 24 V 42 V 42 V 230 V...

  • Page 20: Supply

    - Lenze Technical data Rated data Rated data of the drive systems Type SDSGSSR35 SDSGSSR47 SDSGSSR56 Motor data Flange to IEC Shaft end to IEC 72 9 x 20 11 x 23 Locating bearing at the output end 6000...

  • Page 21: Rated Data For S3 Operation/Overload Capacity

    - Lenze Technical data Rated data Rated data for S3 operation/overload capacity 3.3.6 Rated data for S3 operation/overload capacity For the dimensioning of a drive system which is operated in S3 operation, the effective motor torque is to be calculated. The effective torque results from the kinematics (travel profile) and the time-dependent load profile in consideration of the gearbox ratio, efficiency, friction lossses, etc..

  • Page 22: Connection Cables

    - Lenze Technical data Connection cables System cable for 931M/W voltage supply Connection cables 3.4.1 System cable for 931M/W voltage supply In general, the cable length for the connection, motor and resolver cables should not be longer than 5 m; in exceptional cases, however, the maximum cable length may be 10 m.

  • Page 23: Connection Cables For Bus Systems

    - Lenze Technical data Connection cables Connection cables for bus systems 3.4.2 Connection cables for bus systems  For more information on the connection cables, please see chapter 10. 3.4.2.1 Connection cables for Profibus The connection cables for CAN and Profibus have individual codes and cannot be interchanged.

  • Page 24: Connecting Cables

    - Lenze Technical data Connection cables Connecting cables 3.4.3 Connecting cables 3.4.3.1 Connecting cables for RS232 Length Controller end X1 PC end Designation M8 socket; 3-pole Sub D; 9-pole 491 791 3.4.3.2 Connecting cable for local CAN and I/O...

  • Page 25: Mechanical Installation

    - Lenze Mechanical installation Important notes Mechanical installation  Stop! Ensure that the 931M/W servo inverters are securely connected using the screw connections provided and prevent excessive mechanical stress on the screw connections. Important notes For polluted cooling air (dust, lints, greases, aggressive gases): ƒ...

  • Page 26: Mechanical Installation Of 931M

    - Lenze Mechanical installation Mechanical installation of 931M Mechanical installation of 931M  Note! The 931 M servo inverters are directly mounted on the motor. Small installation spaces can thus be ideally used. The axial servo inverter connection leads to a mean integrated design. For more details, please see the technical drawings in chapter 10.1.

  • Page 27: Mounting Plate For 931W

    - Lenze Mechanical installation Mounting plate for 931W Mounting plate for 931W M13.1003 Fig. 4 Dimensions in mm  GHB 13.0002-EN...

  • Page 28: Electrical Installation

    - Lenze Electrical installation Important notes Electrical installation Important notes  Stop! The drive controller contains electrostatically sensitive components. The personnel must be free of electrostatic charge prior to assembly and service operations.  Danger! The connection of all pluggable terminals has to be effected in a ƒ...

  • Page 29: Installation According To Emc (Installation Of A Ce-Typical Drive System)

    - Lenze Electrical installation Installation according to EMC (installation of a CE-typical drive system) Installation according to EMC (installation of a CE-typical drive system) Important notes The electromagnetic compatibility of a machine depends on the type of installation and on the care that is taken.

  • Page 30: Electrical Connections Of 931M, 24 V Dc / 42 V Dc

    - Lenze Electrical installation Electrical connections of 931M, 24 V DC / 42 V DC Electrical connections of 931M, 24 V DC / 42 V DC X4.2 X4.1 X4.2  X4.1  X4.2  X4.2  M13.1013 / M13.1023 Profibus - socket (female) ...

  • Page 31: Supply

    - Lenze Electrical installation Electrical connections of 931M, 24 V DC / 42 V DC Pin No. Description (CAN_SHLD) optional CAN Shield NC/optional/(CAN_V+) for supply optoc. if galv. isolation CAN_GND Ground/OV/V- CAN_H bus line (dominant high) CAN_L bus line (dominant low) X2 voltage supply Pin No.

  • Page 32: Electrical Connections Of 931M, 230 V Ac / 320 V Dc

    - Lenze Electrical installation Electrical connections of 931M, 230 V AC / 320 V DC Electrical connections of 931M, 230 V AC / 320 V DC X4.1  X4.2  X4.2  X4.1  M13.1012 / M13.1023 Profibus - socket (female) ...

  • Page 33: Supply

    - Lenze Electrical installation Electrical connections of 931M, 230 V AC / 320 V DC X4.2 option Profibus (output) Pin No. Description VP Power supply plus (P5V) RxD/TxD-N Receive / Transmit Data -N A-Line DGND Data Ground (reference potential to VP)

  • Page 34: Electrical Connections Of 931W, 230V Ac / 320V Dc

    - Lenze Electrical installation Electrical connections of 931W, 230V AC / 320V DC Electrical connections of 931W, 230V AC / 320V DC X4.1  X4.2  X4.2  X4.1  M13.1019 / M13.1023 Profibus - socket (female)  Profibus - plug (male) ...

  • Page 35: Supply

    - Lenze Electrical installation Electrical connections of 931W, 230V AC / 320V DC RxD/TxD-N Receive / Transmit Data -N A-Line DGND Data Ground (reference potential to VP) RxD/TxD-P Receive / Transmit Data -plus B-Line Shield or PE X4.2 option CAN (output) Pin No.
  • Page 36 - Lenze Electrical installation Electrical connections of 931W, 230V AC / 320V DC COS + COS - SIN + SIN - KTY + KTY -  GHB 13.0002-EN 4.0...

  • Page 37: Commissioning

    DC-bus supply) are separately connected. When the supply is mixed up, the servo inverter may be destroyed. 6.1.2 Motor connection For trouble-free operation, we recommend to use Lenze standard cables. ƒ Ensure a proper shielding of the motor and feedback cable to avoid interferences. ƒ...

  • Page 38: External Inputs And Outputs / Connection With Local Can Devices

    In general, the cables should not be longer than 5 m. In exceptional cases, the ƒ maximum cable length may be 10 m. 6.1.4 Bus cable connections Use Lenze standard cables (see chapter 5). ƒ Bus cables should always be shielded. ƒ Check the screw connections of the bus cables.

  • Page 39: Application Example

    - Lenze Application examples Preconditions Application example Preconditions  Stop! Before the first commissioning, the motor of the drive system or the integrated servo inverter should be placed on a level surface. The motor shaft should be freely movable and protected against contact. Ensure that the key is secured (if accessible).

  • Page 40: Setup Menu Page

    - Lenze Application examples Menu pages Setup menu page 7.3.1 Setup menu page Use the Setup menu page to define the access permissions, operating mode and the parameters of the RS232 interface. The other menu pages can only be used when communication with the motor has been built-up via the Setup menu page.

  • Page 41: Supply

    On the lower edge of the operating program on the left next to the Lenze icon, the connection status is also displayed. If you have established the connection to the drive, the message ”Online”...

  • Page 42: Status Menu Page

    - Lenze Application examples Menu pages Status menu page 7.3.2 Status menu page This menu page shows: Warnings not leading to the disconnection of the amplifier power stage; ƒ Fault messages leading to the disconnection of the amplifier power stage;...

  • Page 43: Driving Program Menu Page

    - Lenze Application examples Menu pages Driving program menu page 7.3.3 Driving program menu page On this menu page, you can edit the ”driving programs”. Each ”driving program” contains the control mode (contouring error, speed, torque or position control), setpoint, different ramps, acceleration values and specific waiting times.
  • Page 44 - Lenze Application examples Menu pages Driving program menu page Fig. 9 Saving the settings Click ”Yes” to confirm the settings. After this, the settings will be saved in the flash memory and can be converted into motion. Sending another start command slowly starts operation of the drive. To stop the motion process, send a ”Stop”...

  • Page 45: Troubleshooting And Fault Elimination

    - Lenze Troubleshooting and fault elimination Fault elimination for general errors Troubleshooting and fault elimination Fault elimination for general errors Error Cause Remedy No communication with drive possible Supply voltage error Check connections and supply of the control and power voltage.

  • Page 46: Fault Elimination For Known Error Message (See Fluxx, "Status" Tab)

    - Lenze Troubleshooting and fault elimination Fault elimination for known error message (see Fluxx, ”Status” tab) Fault elimination for known error message (see Fluxx, ”Status” tab) Error message Cause Remedy DC-bus voltage under-run DC-bus voltage too low Check supply voltage.
  • Page 47 - Lenze Troubleshooting and fault elimination Fault elimination for known error message (see Fluxx, ”Status” tab) Error message Cause Remedy Definition of software limit switch Error concerning the definition of the Check on whether left software limit software limit switch switch <...

  • Page 48: Fault Elimination For Errors / Problems With Regard To The Handling Of Bus Systems

    - Lenze Troubleshooting and fault elimination Fault elimination for errors / problems with regard to the handling of bus systems Fault elimination for errors / problems with regard to the handling of bus systems In order to be able to search for and eliminate errors and faults with regard to installation and commissioning more easily, the display window ”Display fieldbus”...

  • Page 49: Accessories

    - Lenze Accessories Technical documentation Accessories Technical documentation Accessories Designation Order No. Profibus German English French On request German English French  Further information on motors and gearboxes can be gathered from the respective catalogue. Power supply units Technical data of the power supply units...

  • Page 50: Function Modules For 930 Series (M/W)

    - e.g. for evaluating analog signals or for master frequency coupling - are projected. Further details on this can be received from your Lenze sales department. For using function modules with a greater number of digital inputs and outputs, servo inverters are to be used with a local CAN interface.
  • Page 51 - Lenze Accessories Function modules for 930 series (M/W) Technical data of the 930FI020000 Y-distributor Digital inputs 2 (24 V) Digital outputs Type of protection IP64 Special function None General 2 3-pole M8 sockets for sensors Recommended cable for local CAN connection...

  • Page 52: Appendix

    - Lenze Appendix Dimensions of 931M 24 V or 42 V DC, simple mounting (resolver) Appendix 10.1 Dimensions of 931M 24 V or 42 V DC, simple mounting (resolver) M13.1044 Motor frame size Frame size SDSGSSR035-22 IEC56C80 305.5 SDSGSSR047-22 IEC63C80 325.5...

  • Page 53: Dimensions Of 931M 230 V Ac Or 320 V Dc, Simple Mounting (Resolver)

    - Lenze Appendix Dimensions of 931M 230 V AC or 320 V DC, simple mounting (resolver) 10.2 Dimensions of 931M 230 V AC or 320 V DC, simple mounting (resolver) M13.1045 Motor frame size Frame size SDSGSSR047-22 IEC56C80 189.5...

  • Page 54: Dimensions Of 931M 24 V Or 42 V Dc, Double Mounting (Resolver + Brake)

    - Lenze Appendix Dimensions of 931M 24 V or 42 V DC, double mounting (resolver + brake) 10.3 Dimensions of 931M 24 V or 42 V DC, double mounting (resolver + brake) M13.1066 Motor frame size Frame size SDSGSSR035-22 IEC58C80 329.5...

  • Page 55: Dimensions Of 931M 230 V Ac Or 320 V Dc, Double Mounting (Resolver + Brake)

    - Lenze Appendix Dimensions of 931M 230 V AC or 320 V DC, double mounting (resolver + brake) 10.4 Dimensions of 931M 230 V AC or 320 V DC, double mounting (resolver + brake) M13.1167 Motor frame size Frame size...

  • Page 56: Voltage Supply For Type 931M 24 V Or 42 V

    - Lenze Appendix Voltage supply for type 931M 24 V or 42 V 10.5 Voltage supply for type 931M 24 V or 42 V T13.0053 length x red + black   blue red + white   white ...

  • Page 57: Voltage Supply For Type 931M 230 V Or 320

    - Lenze Appendix Voltage supply for type 931M 230 V or 320 V 10.6 Voltage supply for type 931M 230 V or 320 V T13.0052 length x black 1   black 5 black 2   black 6 black 3 ...

  • Page 58: Profibus Connection

    - Lenze Appendix Profibus connection 10.7 Profibus connection T13.0057 length x  green   shield  5-pole Profibus connection cable Pin assignment Conductor cross section Core identification Signal designation 0.21 mm / AWG24 A-cable 0.21 mm / AWG24 B-cable 0.65 mm...

  • Page 59: Can Connection

    - Lenze Appendix CAN connection 10.8 CAN connection T13.0058 length x white   shield blue   shield   black  5-pole CAN connection cable Pin assignment Conductor cross section Core identification Signal designation 0.50 mm shield shield 0.32 mm...

  • Page 60: Rs232 Connection

    - Lenze Appendix RS232 connection 10.9 RS232 connection T13.0060 length x  brown  black  blue  RS232 connection cable 3-pole socket 9-pole socket Conductor cross Core identification Signal designation assignment assignment section 0.25 mm / AWG23 0.25 mm / AWG23 0.25 mm...

  • Page 61: Local Can Or Digital I/O Connection

    - Lenze Appendix Local CAN or digital I/O connection 10.10 Local CAN or digital I/O connection T13.0059 length x black   brown  white  blue  4-pole local CAN or digital I/O connection cable Pin assignment Conductor cross...

  • Page 62: Index

    - Lenze Index Index  GHB 13.0002-EN 4.0...
  • Page 63 - Lenze Notes  GHB 13.0002-EN...
  • Page 64 - Lenze Notes  GHB 13.0002-EN 4.0...
  • Page 65 - Lenze  Lenze GmbH & Co KG Kleinantriebe GHB 13.0002-EN 4.0 05/2006 Hans-Lenze-Straße 1 © 2006 D-32 699 Extertal TD00 Germany +49 (0) 51 54 82-0 Service 00 80 00 24 4 68 77 (24 h helpline) Service...

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