Lenze 931M Series Communications Manual
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Lenze 931M Series Communications Manual

Lenze 931M Series Communications Manual

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KHB 13.0003-EN
.4&ö
L-force
Drives
Servo Drives 930
931M/W
CANopen
Communication Manual

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Summary of Contents for Lenze 931M Series

  • Page 1 L-force Drives KHB 13.0003-EN .4&ö Communication Manual Servo Drives 930 931M/W CANopen ...
  • Page 2 All trade names listed in this documentation are trademarks of their respective owners. © 2007 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH & Co KG Kleinantriebe.

  • Page 3: Table Of Contents

    Contents Preface ..............Introduction .
  • Page 4 Contents Emergency telegram ..........5.6.1 Telegram structure .
  • Page 5 Contents Digital inputs and outputs ..........7.7.1 Overview .
  • Page 6 Contents Appendix ..............10.1 Index table .

  • Page 7: Preface

    Lenze fieldbus systems in industrial applications For an optimal communication between the single modules of a system, fieldbus systems are increasingly used for process automation. Lenze offers the following communication modules for the standard fieldbus systems: PROFIBUS-DP ƒ...

  • Page 8: About This Communication Manual

    The table of contents and the index help you to find all information about a certain ƒ topic. Descriptions and data on other Lenze products can be found in the corresponding ƒ catalogues, operating instructions and manuals. You can request Lenze documents from your responsible Lenze sales partner or ƒ...

  • Page 9: Safety Instructions

    Safety instructions Persons responsible for safety Safety instructions Persons responsible for safety Operator An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used. The operator or his safety officer is obliged to ensure the compliance with all relevant regulations, instructions and legislation.

  • Page 10: General Safety Instructions

    Operate the drive system only when it is in a proper state. ƒ Retrofittings, modifications or redesigns of the drive controller are basically ƒ prohibited. Lenze must be contacted in all cases.  KHB 13.0003-EN 2.0...

  • Page 11: Definition Of Notes Used

    Safety instructions Definition of notes used Definition of notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information: Safety instructions Structure of safety instructions:  Danger! (characterises the type and severity of danger) Note (describes the danger and gives information about how to prevent dangerous situations)

  • Page 12: Technical Data

    Technical data Communication data Technical data Communication data Communication Communication profile DS 301, DSP 402 Network topology without repeater: line / with repeaters: line or tree CAN devices Slave Number of CAN devices Baud rate (in kbits/s) 10, 20, 50, 100, 125, 250, 500, 800, 1000 Max.

  • Page 13: Electrical Installation

    Electrical installation CAN bus wiring Electrical installation CAN bus wiring X4.1 X4.2 120 W 120 W 7 8 9 CAN_SHLD CAN-GND CAN_H CAN_L 931m_050 Fig. 1 Basic wiring of CANopen with Sub-D connector to the master Node 1 - master (e.g. PLC) Node 2 - slave (e.g.

  • Page 14: Connection Of Can Bus Slave

    Electrical installation Connection of CAN bus slave Connection of CAN bus slave X4.1 / X4.2 Input contact Output contact Signal Explanation pattern pattern CAN_SHLD CAN_Shield — Reserved CAN_GND CAN_Ground CAN_H CAN_HIGH (high is dominant) CAN_L CAN_LOW (low is dominant) Connection of CAN bus master Below, you can find the assignment of a 9-pole Sub-D socket used by most CAN masters for the connection of fieldbus devices.

  • Page 15: Canopen Communication

    CANopen communication About CANopen Structure of the CAN data telegram CANopen communication About CANopen The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based on the CAN application layer (CAL), which has been developed as a universal protocol. In practice, however, it became clear that applications with CAL were too complex for the user.

  • Page 16: Identifier

    CANopen communication About CANopen Identifier 5.1.2 Identifier The principle of the CAN communication is based on a message-oriented data exchange between a sender and many receivers. All nodes can send and receive quasi-simultaneously. The identifier in the CAN telegram - also called COB-ID (Communication Object Identifier) - is used to control which node is to receive a sent message.

  • Page 17: User Data

    CANopen communication About CANopen User data 5.1.4 User data The master and the drive controller communicate with each other by exchanging data telegrams via the CAN bus. The user data range of the CAN telegram contains network management data, parameter data or process data: Network management data (NMT data) ƒ...

  • Page 18: Parameter Data Transfer (Sdo Transfer)

    CANopen communication Parameter data transfer (SDO transfer) Telegram structure Parameter data transfer (SDO transfer) 5.2.1 Telegram structure The telegram for parameter data has the following structure: 11 bits 4 bits User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte...
  • Page 19 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Command code 11 bits 4 bits User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Data 1 Data 2 Data 3 Data 4 Data...
  • Page 20 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Index low byte / index high byte 11 bits 4 bits User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Data Command...
  • Page 21 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Error code (F0 ... F3) 11 bits 4 bits User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Data Command Index...

  • Page 22: Reading Parameters (Example)

    CANopen communication Parameter data transfer (SDO transfer) Reading parameters (example) 5.2.2 Reading parameters (example) Problem The operating mode (object 6060_00) of the controller with node address 1 is to be read via the parameter channel. Telegram to the drive controller Value Info Identifier...

  • Page 23: Writing Parameters (Example)

    CANopen communication Parameter data transfer (SDO transfer) Writing parameters (example) 5.2.3 Writing parameters (example) Problem The operating mode (object 6060_00) of the controller with node address 1 is to be set to 03 (speed) via the SDO (parameter data channel). Telegram to the drive controller Value Info...

  • Page 24: Process Data Transfer (Pdo Transfer)

    CANopen communication Process data transfer (PDO transfer) Process data transfer (PDO transfer) Process data objects (PDOs) can be used, for instance, for the fast event-controlled transfer of data. The PDO transfers one or several parameters specified in advance. Unlike with an SDO, the transfer of a PDO is not acknowledged.

  • Page 25: Telegram Structure

    CANopen communication Process data transfer (PDO transfer) Telegram structure 5.3.1 Telegram structure The telegram for process data has the following structure: 11 bits 4 bits User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte...
  • Page 26 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Transmit PDO Index Name Possible settings Characteristics Lenze Selection Description 1800 Transmit PDO1 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported.
  • Page 27 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1A00 Transmit PDO1 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60410010 —...
  • Page 28 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Transmit PDO Index Name Possible settings Characteristics Lenze Selection Description 1801 Transmit PDO2 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported.
  • Page 29 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1A01 Transmit PDO2 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60410010 —...
  • Page 30 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 3. Transmit PDO Index Name Possible settings Characteristics Lenze Selection Description 1802 Transmit PDO3 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported.
  • Page 31 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1A02 Transmit PDO3 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60410010 —...
  • Page 32 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Receive PDO Index Name Possible settings Characteristics Lenze Selection Description 1400 Receive PDO1 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported.
  • Page 33 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1600 Receive PDO1 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 —...
  • Page 34 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Receive PDO Index Name Possible settings Characteristics Lenze Selection Description 1401 Receive PDO2 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported.
  • Page 35 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1601 Receive PDO2 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 —...
  • Page 36 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 3. Receive PDO Index Name Possible settings Characteristics Lenze Selection Description 1402 Receive PDO3 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported.
  • Page 37 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1602 Receive PDO3 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 —...
  • Page 38 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 4. Receive PDO Index Name Possible settings Characteristics Lenze Selection Description 1403 Receive PDO4 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported.
  • Page 39 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1603 Receive PDO4 mapping parameters 0 number_of_ h REC UINT32 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 —...

  • Page 40: Description Of The Objects

    CANopen communication Process data transfer (PDO transfer) Description of the objects 5.3.4 Description of the objects Identifier of the PDO (COB_ID_used_by_PDO) Enter the identifier to be used to transmit or receive the PDO in the object COB_ID-used_by_PDO. If bit 31 is set, the PDO is deactivated. This is the default setting for all PDOs.
  • Page 41 CANopen communication Process data transfer (PDO transfer) Description of the objects Objects to be transferred (first_mapped_object ... fourth_mapped_object) For every object to be contained in the PDO, the drive controller must know the corresponding index, subindex and length. The specified length must be identical to the length specified in the object dictionary.

  • Page 42: Example Of A Process Data Telegram

    CANopen communication Process data transfer (PDO transfer) Example of a process data telegram 5.3.5 Example of a process data telegram The following objects are to be transferred together in a PDO: Status word, index 6041_00 ƒ Modes_of_operation_display, index 6061_00 (operating mode) ƒ...

  • Page 43: Activation Of The Pdos

    CANopen communication Process data transfer (PDO transfer) Activation of the PDOs 5.3.6 Activation of the PDOs The following criteria must be met to enable the drive controller to send or receive PDOs: The number_of_mapped_objects object must be non-zero. ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted. ƒ...

  • Page 44: Sync Telegram

    CANopen communication Sync telegram Telegram structure Sync telegram It is possible to synchronise several controllers of a plant with each other. For this, the master usually periodically sends synchronisation messages. All controllers connected receive these messages and use them for PDO processing. 5.4.1 Telegram structure 11 bits...

  • Page 45: Description Of The Objects

    CANopen communication Sync telegram Description of the objects 5.4.3 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1005 0 COB-ID_sync_ 00000080 00000080 80000080 h VAR UINT32 — message The identifier of the synchronisation object is 80...

  • Page 46: Network Management (Nmt)

    CANopen communication Network management (NMT) Communication phases of the CAN network (NMT) Network management (NMT) Via the network management, the master can carry out state changes for the entire CAN network. For this purpose, the identifier with the highest priority (000 ) is reserved.

  • Page 47: Telegram Structure

    CANopen communication Network management (NMT) Telegram structure 5.5.2 Telegram structure 11 bits 4 bits User data (2 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Data Identifier length Via the NMT, commands can be sent to one or all drive controllers. Each command consists of two bytes.
  • Page 48 CANopen communication Network management (NMT) Telegram structure State transitions Initialisation (14) (11) Pre-Operational (10) (13) Stopped (12) Operational E82ZAFU004 Fig. 4 Network management state transitions State Command Network state after Effect on process and parameter data after state change transition change (hex) At power-on the initialisation is started automatically.

  • Page 49: Emergency Telegram

    CANopen communication Emergency telegram Telegram structure Emergency telegram The controller monitors the functioning of its main components, e. g. voltage supply and power stage. In addition, the motor (temperature, phase-angle encoder) and the limit switches are checked continuously. Incorrect parameter settings can also lead to error messages (division by zero, etc.).
  • Page 50 CANopen communication Emergency telegram Telegram structure Error cause Display 2nd byte 1st byte 3rd byte 4th ... 8th byte CAN communication error during receiving E12 3 00 ... 00 Division by 0 E15 0 00 ... 00 Overrange (overflow/underflow) E15 1 00 ...

  • Page 51: Description Of The Objects

    CANopen communication Emergency telegram Description of the objects 5.6.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1001 0 error_register UINT8 Here, you can read the value of the error_register contained in the emergency telegram. Bit No.
  • Page 52 CANopen communication Emergency telegram Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1014 0 COB-ID_emergency_ 00000081 00000000 00000081 h VAR UINT32 RW — message Identifier emergency object, + node address Bit No. Value 0 - 10...

  • Page 53: Heartbeat Telegram

    CANopen communication Heartbeat telegram Telegram structure Heartbeat telegram The heartbeat telegram in implemented to monitor the communication between the drive controller and the master. For this purpose, the controller cyclically sends messages to the master. The master can check the cyclic transmission of these messages and initiate corresponding measures if they are missing.
  • Page 54 CANopen communication Heartbeat telegram Telegram structure Heartbeat COB-ID = 1792 + Node-ID Heartbeat Producer Consumer request indication 6 … 0 indication Heartbeat indication Producer indication Time request indication 6 … 0 Heartbeat indication Consumer indication Time indication Heartbeat Consumer Time Heartbeat Event epm-t134 Fig.

  • Page 55: Description Of The Objects

    CANopen communication Heartbeat telegram Description of the objects 5.7.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1016 Consumer_ heartbeat_time 0 number_of_entries h VAR UINT8 — Maximally supported subindices. 1 subindex is supported. 1 consumer_ {1 ms}...

  • Page 56: Boot-Up Telegram

    CANopen communication Heartbeat telegram Boot-up telegram Boot-up telegram After the supply voltage has been switched on or after a reset, the drive controller sends the boot-up telegram indicating that the initialisation phase is completed. The controller then is in the NMT state pre-operational. 5.8.1 Telegram structure 11 bits...

  • Page 57: Node Guarding

    CANopen communication Node Guarding Node Guarding NMT-Master COB-ID = 700 + Node-ID NMT-Slave request Remote transmit request indication response confirm 6 … 0 Node Guard COB-ID = 700 + Node-ID time Node request Remote transmit request indication Time Life response confirm 6 …...

  • Page 58: Description Of The Objects

    CANopen communication Node Guarding Description of the objects 5.9.1 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 100C 0 guard_time {1 ms} 65535 UINT16 — Setting the cyclic monitoring time in which the master queries the status of the slaves.

  • Page 59: Commissioning

    Commissioning Activation of CANopen Commissioning Activation of CANopen The controllers are default set to CAN bus communication. 931m_100 In the CAN Bus field, three parameters must be set: Node ID ƒ For an unambiguous identification in the network, a node address must be assigned to each node.

  • Page 60: Speed Control

    Commissioning Speed control Parameterising of a process data object (TPDO and RPDO) Speed control The purpose of this example is to show how a speed control can be commissioned via the CAN bus. 1. Use/activation of the transmit PDO1 (transmission of actual speed and status word) and of the receive PDO1 (setpoint speed) 2.
  • Page 61 Commissioning Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identifier Control Command Index Subindex Data 1 Data 2 Data 3 Data 4 field code Data High length byte byte Network management (NMT) For parameterising the PDO, the network management is set to Pre-operational (80 Deactivating the TPDO...
  • Page 62 Commissioning Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identifier Control Command Index Subindex Data 1 Data 2 Data 3 Data 4 field code Data High length byte byte Network management (NMT) For parameterising the PDO, the network management is set to Pre-operational (80 Deactivating the RPDO...

  • Page 63: Parameterising Of The Speed Control

    Commissioning Speed control Parameterising of the speed control 6.2.2 Parameterising of the speed control Before starting a control mode, the controller parameters often have to be adapted to ensure a dynamic and adequately damped operating behaviour. Before this, the controller parameters have to be selected depending on the system and the corresponding process.

  • Page 64: Running Through The State Machine

    Commissioning Speed control Running through the state machine 6.2.3 Running through the state machine After having defined all control parameters required, the drive can be commissioned via the status machine. First, a speed setpoint is defined and sent once via SDOaccess and once via the RPDO.
  • Page 65 Commissioning Speed control Running through the state machine Switched on disabled Controlword 601h 2Bh 40h 60h 00h 06h 80h 00h 00h Shut down Ready to switch on Controlword 601h 07h 40h 60h 00h 07h 80h 00h 00h Switch on Switched Controlword 601h 0Fh 40h 60h 00h 0Fh 80h 00h 00h...

  • Page 66: Position Control

    Commissioning Position control Parameterising of the homing run Position control The following example describes the parameterisation and execution of homing. A controller with node address 1 is used as communication device. In addition, the commissioning of a position control will be explained. Select the settings for the lower-level speed control as described in chapter 6.2.2.
  • Page 67 Commissioning Position control Parameterising of the homing run No. Description Identifier Control Command Index Subindex Data 1 Data 2 Data 3 Data 4 field code Data High length byte byte Status check (reading) Every status change must be carried out depending on the basic status.

  • Page 68: Running Through The State Machine

    Commissioning Position control Running through the state machine 6.3.2 Running through the state machine After homing, the position control can be started. In addition to the definition of the target position, the required control accuracy and the ramps and speed for the profile generator must be defined.
  • Page 69 Commissioning Position control Running through the state machine As in all other operating modes, a position change is made by changing the status machine. No. Description Identifier Control Command Index Subindex Data 1 Data 2 Data 3 Data 4 field code Data High...
  • Page 70 Commissioning Position control Running through the state machine In Fig. 8, the state changes and the corresponding states are represented graphically. The process of running through the state machine is independent of the selected operating mode (torque, speed or position control). Switched on disabled Controlword...

  • Page 71: Parameter Setting

    Parameter setting Loading and saving of parameter sets Overview Parameter setting Before the drive controller can perform the required task (torque or speed control or positioning), several controller parameters have to be adapted to the motor used and to the specific application. For this purpose you should keep to the sequence given in the following chapters.
  • Page 72 Parameter setting Loading and saving of parameter sets Overview You can choose between two different parameter set management variants: 1. The parameter set is created by using the »fluxx« parameterisation program and transferred to the individual controllers. In this case, you only have to set the objects which can only be accessed via CANopen via the CAN bus.

  • Page 73: Description Of The Objects

    Parameter setting Loading and saving of parameter sets Description of the objects 7.1.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1010 Store_parameters 0 largest_supported_ UINT8 — subindex 1 save_all_ 00000001 00000000 65766173 h — UINT32 RW —...

  • Page 74: Conversion Factors (Factor Group)

    (gearbox ratio and polarity) between the physical units and the internal controller units. 7.2.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6091 Gear_ratio 0 number_of_ h VAR UINT8 —...

  • Page 75: Power Stage Parameters

    Power stage activation via the »fluxx« software ƒ Power stage activation via the digital input (start/stop) ƒ 7.3.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6079 0 DC_link_circuit_ {1 mV} UINT32 voltage Reading the DC-bus voltage. ...

  • Page 76: Motor Adaptation

    Offset angle: Depending on the motor and the phase sequence in the motor and ƒ phase-angle encoder cable The controllers are default set by Lenze. For more detailed information, please see the Software Manual.  KHB 13.0003-EN 2.0...

  • Page 77: Description Of The Objects

    Parameter setting Motor adaptation Description of the objects 7.4.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6075 0 motor_rated_ {1 mA} UINT32 — current Reading the rated current for The default value depends on the size of the drive.

  • Page 78: Speed Controller

    Parameter setting Speed controller Overview Speed controller 7.5.1 Overview The controller parameter set must be adapted to your application. Especially the gain strongly depends on the masses possibly connected to the motor. The data must be optimally determined when commissioning the system with the »fluxx« software. ...

  • Page 79: Description Of The Objects

    Parameter setting Speed controller Description of the objects 7.5.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60F9 Velocity_control_ parameter_set 1 velocity_control_ 1920 0.01 × 128 {128} 100 × 128 UINT16 — gain Setting the speed controller gain.

  • Page 80: Position Controller (Position Control Function)

    Parameter setting Position controller (position control function) Overview Position controller (position control function) 7.6.1 Overview This chapter describes all parameters that are required for the position controller. The position setpoint (position_demand_value) of the driving profile generator is assigned to the position controller input. In addition, the actual position value (position_actual_value) is sent by the phase-angle encoder (resolver, incremental encoder, etc.).

  • Page 81: Description Of The Objects

    Parameter setting Position controller (position control function) Description of the objects position x x - x x + x 931e_419 Fig. 11 Position reached The position limit values which must not be exceeded both by the position_actual_value and the position_demand_value are the limit values for positioning. They are defined in the software_position_limit object.
  • Page 82 Parameter setting Position controller (position control function) Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60FB Position_control_ parameter_set 1 position_control_ {16384} UINT16 — gain Setting the position controller gain. = 1 (corresponds to 16384). The position controller...
  • Page 83 Parameter setting Position controller (position control function) Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6065 0 following_error_ 9102 00000000 {1 inc} 7FFFFFFF UINT32 window Symmetrical range around the position setpoint. If the actual position value is...
  • Page 84 Parameter setting Position controller (position control function) Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 607D Software_position_ limit 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Two subindices are supported. 1 min_position_limit {1 inc} INT32 —...

  • Page 85: Digital Inputs And Outputs

    All digital controller inputs can be read via the CAN bus and the digital outputs can be set as you choose. 7.7.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60FD 0 digital_inputs 00000000 FFFFFFFF h VAR UINT32 Reading the digital inputs.
  • Page 86 Parameter setting Digital inputs and outputs Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2005 0 local_output_ -128 INT8 — function Digital output can be parameterised by the user. Value Function Active -128 ... -17 Reserved Reference set -15 ...
  • Page 87 Parameter setting Digital inputs and outputs Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2006 0 local_input_ -128 INT8 — function Digital input can be parameterised by the user. Value Function Active -128 ... -9 Reserved...

  • Page 88: Device Information

    Parameter setting Device information Description of the objects Device information 7.8.1 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6410 Motor_data 1 resolver_offset {1 inc} 4096 UINT16 — Setting the resolver offset. 2 number_of_pole_ UINT16 —...
  • Page 89 Parameter setting Device information Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1018 0 identity_object UINT8 — Not used. 1 vendor_id — UINT32 — Manufacturer’s code 2 product_code — UINT32 — Product code 03A30018 3 revision_number —...

  • Page 90: Manufacturer-Specific Information Parameters

    In this chapter, additional objects have been created which go beyond the objects in DSP301 and DSP402. These objects are described in the following. 7.9.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 200F 0 remote_request UINT8 Requesting the control authority.
  • Page 91 Parameter setting Manufacturer-specific information parameters Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2009 0 local_warnings UINT16 RO Reading warnings. Bit No. Meaning DC-bus voltage > 220 V 22 V > brake voltage > 26 V Motor temperature >...

  • Page 92: Manufacturer-Specific Driving Records

    ƒ for position control, the setpoint corresponds to the driving_program_position. ƒ 7.10.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2100 0 driving_program_ UINT8 number Selecting the current driving program. Driving program...
  • Page 93 Parameter setting Manufacturer-specific driving records Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2171 Driving_program_ torque 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. 1 driving_program_ -1500 {rated_torque/1000} 1500 INT16 — torque Setting the setpoint torques (with torque control) for the individual driving programs.
  • Page 94 Parameter setting Manufacturer-specific driving records Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2184 Driving_program_ deceleration 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. 18 VAR 1 driving_program_ {1 rpm/s} INT32 — deceleration Setting the deceleration ramp.

  • Page 95: Device Control

    Device control State diagram Overview Device control State diagram 8.1.1 Overview The following chapter describes how the drive controller is controlled under CANopen, i.e. how, for instance, the power stage is switched on or how an error is acknowledged.  Stop! Uncontrolled rotation of the motor An incorrectly parameterised drive controller can cause uncontrolled rotation...

  • Page 96: State Diagram Of The Drive Controller

    Device control State diagram State diagram of the drive controller 8.1.2 State diagram of the drive controller Start Fault_Reaction_Active Not_Ready_To_Switch_On Fault Switch_On_Disabled Ready_To_Switch_On Switched_On Operation_Enable Quick_Stop_Active 931e_421 Fig. 12 State diagram of the drive controller Power disabled (power stage is inhibited) ...
  • Page 97 Device control State diagram State diagram of the drive controller With status transitions 2, 3, 4, - basically corresponding to CAN controller enable - you change to the Operation_Enable status. In this status, the power stage is switched on and the motor is controlled according to the selected operating mode.

  • Page 98: States Of The Drive Controller

    Device control State diagram States of the drive controller Example: Switching on the power stage (controller must be parameterised) 1. The controller is in the Switch_On_Disabled status. 2. The controller is to change to Operation_Enable. 3. Transitions 2, 3 and 4 must be executed. 4.

  • Page 99: State Transitions Of The Drive Controller

    Device control State diagram State transitions of the drive controller 8.1.4 State transitions of the drive controller The following table lists all states and their meaning. Please observe that bit 15 of the control word remote_request must always be set to 1 to ensure the parameterisation authority via the CAN bus.

  • Page 100: Control Word

    The control word is used to change the current controller status or activate a certain action (e.g. start homing). The function of bits 4, 5, 6, 8 and 14 depends on the current operating mode (modes_of_operation) of the controller. Index Name Possible settings Characteristics Lenze Selection Description 6040 0 control word 0000 0000...
  • Page 101 Device control State diagram Control word Bits 0 ... 3 are used for status transitions. The required commands are listed in the below table. The command is activated by a LOW-HIGH transition of bit 7. Fault reset Command Bit 15 Bit 7 Bit 3 Bit 2...
  • Page 102 Device control State diagram Control word The remaining bits of the control word are explained below. Depending on the operating mode (modes_of_operation), the meaning of some bits changes: Operating Bit 4 Bit 5 Bit 6 Bit 8 Bit 14 mode Profile new_set_point change_set_...

  • Page 103: Controller State

    Device control State diagram Controller state 8.1.6 Controller state Just as different status transitions can be activated by combining several bits of the control word, it is possible to read the current controller status by combining different bits of the status word .

  • Page 104: Status Word

    Device control State diagram Status word 8.1.7 Status word Index Name Possible settings Characteristics Lenze Selection Description 6041 0 status word 0000 FFFF h VAR UINT16 Displaying the controller status and various events. Bit No. Meaning Ready to switch on These bits are evaluated together.
  • Page 105 Device control State diagram Status word  Note! The bits of the status word are not buffered. They represent the current controller status. In addition to the controller status, various events are displayed in the status word, i.e. each bit is assigned with a certain event (e.g. following error). Depending on the operating mode (modes_of_operation), the meaning of some bits differs: Operating...

  • Page 106: Operating Modes

    During this period it may happen that invalid operating modes are displayed for a short time. Index Name Possible settings Characteristics Lenze Selection Description 6060 0 modes_of_ INT8 operation Selecting the operating...
  • Page 107 Operating modes Setting of the operating mode Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6061 0 modes_of_ INT8 operation_display Operating mode display. If operation via CANopen is not possible, an internal operating mode is displayed.

  • Page 108: Speed Control

    The meaning of the parameters profile_acceleration, profile_deceleration and quick_stop is described in chapter ”Positioning”. 9.2.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 606C 0 velocity_actual_ {1 rpm} INT32 value Reading the actual speed. 6080...

  • Page 109: Homing

    Operating modes Homing Overview Homing 9.3.1 Overview This chapter describes how the drive controller finds the start position (also called reference position, home position or zero position). There are different methods to determine this position. Sometimes the limit switches at the end of the positioning range are used.

  • Page 110: Description Of The Objects

    Operating modes Homing Description of the objects 9.3.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 607C 0 home_offset {1 inc} INT32 — Shifting the zero position compared to the home position. 6098 0 homing_method INT8...

  • Page 111: Control Of The Homing Run

    Operating modes Homing Control of the homing run Index Name Possible settings Characteristics Lenze Selection Description 6099 Homing_speeds 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Three subindices are supported. 1 speed_during_ {1 rpm} UINT32 RW search_for_switch Homing speed for reaching the limit switch.

  • Page 112: Positioning

    Operating modes Positioning Overview Positioning 9.4.1 Overview The target position (target_position) is transferred to the trajectory generator which then generates a position setpoint (position_demand_value) for the position controller. These two function blocks can be set independently of each other. Trajectory Generator Parameters Position Trajectory...

  • Page 113: Description Of The Objects

    Operating modes Positioning Description of the objects 9.4.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 607A 0 target_position {1 inc} INT32 Target position input (absolute or relative input, see bit 6 of the control word).

  • Page 114: Functional Description

    Operating modes Positioning Functional description 9.4.3 Functional description There are two ways to transfer a target position to the drive controller: Simple travel task ƒ When the drive controller has reached a target position, it signals this to the master with the target_reached bit (bit 10 in the status word object).
  • Page 115 Operating modes Positioning Functional description In Fig. 16 a new positioning is only started if the last positioning has been completed completely. For this purpose, the master evaluates the target_reached bit in the status word object. 931e_407 Fig. 16 Simple travel task If the new_set_point bit as well as the change_set_immediately bit of the control word are set to ”1”, the master instructs the drive controller to start the new travel task immediately.

  • Page 116: Torque Control

    Operating modes Torque control Overview Torque control 9.5.1 Overview This chapter describes the torque-controlled operation. In this operating mode, an external target-torque setpoint can be specified for the drive controller. Thus, it is possible to use the drive controller also for those path controls shifting the position controller as well as the speed controller to an external computer.

  • Page 117: Description Of The Objects

    Operating modes Torque control Description of the objects 9.5.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6071 0 target_torque -1500 {motor_rated_torque/1000} 1500 INT16 Input value for the torque controller (torque control). Maximum setting: 1.5 times the rated torque of the controller.

  • Page 118: Appendix

    Integer, 4 bytes with sign String Access Read only Read and write Write only Mapping No PDO mapping — PDO mapping Lenze Lenze setting, value at delivery Selection 99 Min. value {unit} max. value Description Short, important explanations  KHB 13.0003-EN 2.0...
  • Page 119 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1000 0 device_type UINT3 — Device identification in a multi-axis system. 00020192 931M/Wservo inverter 1001 0 error_register UINT8 Here, you can read the value of the error_register contained in the emergency telegram.
  • Page 120 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1003 Pre_defined_error_ field 0 number_of_errors UINT8 — Reading the number of error messages saved. Deleting the history buffer by writing the value 00 After an error, the error must be acknowledged to activate the power stage.
  • Page 121 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1006 0 communication_ {1 μs} UINT3 — cycle_period Setting the cycle time of synchronisation messages. No synchronisation message sending. 1007 0 synchronous_ {1 μs} UINT3 — window_length Setting the time slot in which the sync telegrams are sent.
  • Page 122 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1011 Restore_default_ parameters 1 restore_all_default 00000001 00000000 64616F6C h VAR UINT3 — _parameters Loading the default parameter set, only possible when the power stage is deactivated. The CAN communication parameters (node No.,...
  • Page 123 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1016 Consumer_ heartbeat_time 0 number_of_entries h VAR UINT8 — Maximally supported subindices. 1 subindex is supported. 1 consumer_ {1 ms} 65535 UINT3 — heartbeat_time Setting the time in which the controller expects a message from the master.
  • Page 124 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1400 Receive PDO1 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported. 1 COB-ID_used_by_ 80000201 80000201 800002FF h — UINT3 — Identifier of receive PDO1...
  • Page 125 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1401 Receive PDO2 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported. 1 COB-ID_used_by_ 80000301 80000301 800003FF h — UINT3 — Identifier of receive PDO2...
  • Page 126 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1402 Receive PDO3 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported. 1 COB-ID_used_by_ 80000401 80000401 800004FF h — UINT3 — Identifier of receive PDO3...
  • Page 127 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1403 Receive PDO4 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Three subindices are supported. 1 COB-ID_used_by_ 80000501 80000501 800004FF h — UINT3 — Identifier of receive PDO4...
  • Page 128 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1601 Receive PDO2 mapping parameters 0 number_of_ h REC UINT3 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 — UINT3 — object COB-ID entry of first mapped object.
  • Page 129 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1603 Receive PDO4 mapping parameters 0 number_of_ h REC UINT3 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60400010 — UINT3 — object COB-ID entry of first mapped object.
  • Page 130 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1800 Transmit PDO1 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported. 1 COB-ID_used_by_ 80000181 80000181 800001FF h — UINT3 — Identifier of transmit...
  • Page 131 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1801 Transmit PDO2 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported. 1 COB-ID_used_by_ 80000281 80000281 800002FF h — UINT3 — Identifier of transmit...
  • Page 132 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1802 Transmit PDO3 communication parameters 0 number_of_entries h REC UINT8 — Maximally supported subindices. Six subindices are supported. 1 COB-ID_used_by_ 80000381 80000381 800003FF h — UINT3 — Identifier of transmit...
  • Page 133 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1A00 Transmit PDO1 mapping parameters 0 number_of_ h REC UINT3 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60410010 — UINT3 — object COB-ID entry of first mapped object.
  • Page 134 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1A02 Transmit PDO3 mapping parameters 0 number_of_ h REC UINT3 — mapped_objects Maximally supported subindices. Five subindices are supported. 1 first_mapped_ 60410010 — UINT3 — object COB-ID entry of first mapped object.
  • Page 135 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2004 Start_stop_position 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Three subindices are supported. 1 start_position INT32 2 stop_position INT32  KHB 13.0003-EN...
  • Page 136 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2005 0 local_output_ -128 INT8 — function Digital output can be parameterised by the user. Value Function Active -128 ... -17 Reserved Reference set -15 ... -14 Reserved Stopover...
  • Page 137 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2006 0 local_input_ -128 INT8 — function Digital input can be parameterised by the user. Value Function Active -128 ... -9 Reserved Start/stop Reserved Stopover Synchronisation Reserved Quick stop...
  • Page 138 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2009 0 local_warnings UINT1 Reading warnings. Bit No. Meaning DC-bus voltage > 220 V 22 V > brake voltage > 26 V Motor temperature > 130 °C Temperature of electronic components >...
  • Page 139 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 200F 0 remote_request UINT8 Requesting the control authority. Cannot be saved (when the controller is restarted, the control authority has to be requested again). Value Meaning Requesting the control...
  • Page 140 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2171 Driving_program_ torque 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. 1 driving_program_ -1500 {rated_torque/1000} 1500 INT16 — torque Setting the setpoint torques (with torque control) for the individual driving programs.
  • Page 141 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2184 Driving_program_ deceleration 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. 18 VAR 1 driving_program_ {1 rpm/s} INT32 — deceleration Setting the deceleration ramp. 18 VAR 99 driving_program_...
  • Page 142 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6040 0 control word 0000 0000 FFFF h VAR UINT1 Changing the controller status. Activating an action (e.g. homing). Bit No. Meaning Switch on Controlling the status transitions. (These bits are Enable voltage evaluated together).
  • Page 143 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6041 0 status word 0000 FFFF h VAR UINT1 Displaying the controller status and various events. Bit No. Meaning Ready to switch on These bits are evaluated together. Switched on...
  • Page 144 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6061 0 modes_of_ INT8 operation_display Operating mode display. If operation via CANopen is not possible, an internal operating mode is displayed. Reserved Position control with positioning Speed control with...
  • Page 145 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 606C 0 velocity_actual_ {1 rpm} INT32 value Reading the actual speed. 6071 0 target_torque -1500 {motor_rated_torque/1000} 1500 INT16 Input value for the torque controller (torque control). Maximum setting: 1.5 times the rated torque of the controller.
  • Page 146 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 607D Software_position_ limit 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Two subindices are supported. 1 min_position_limit {1 inc} INT32 — Input value for the minimum positioning limit.
  • Page 147 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 607F 0 max_profile_ 4000 {1 rpm} 4000 UINT3 — velocity Setting the maximum speed to be traversed in the current profile. 6080 0 max_motor_speed 4000 {1 rpm} 32768 UINT1 —...
  • Page 148 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6098 0 homing_method INT8 Value Direction Target Reference point for zero negative Limit Zero pulse Selecting the variant for switch homing. Four homing signals are positive Limit Zero pulse...
  • Page 149 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6099 Homing_speeds 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Three subindices are supported. 1 speed_during_ {1 rpm} UINT3 search_for_switch Homing speed for reaching the limit switch.
  • Page 150 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60FB Position_control_ parameter_set 1 position_control_ {16384} UINT1 — gain Setting the position controller gain. = 1 (corresponds to 16384). The position controller compares the setpoint position with the actual...
  • Page 151 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60FE Digital_outputs 0 number_of_ h VAR UINT8 — supported_entries Maximally supported subindices. Three subindices are supported. 1 digital_outputs_ 00000000 FFFFFFFF h VAR UINT3 data Bit No. Digital output Activating or deactivating...
  • Page 152 Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6410 Motor_data 1 resolver_offset {1 inc} 4096 UINT1 — Setting the resolver offset. 2 number_of_pole_ UINT1 — pairs Setting the pole pair number. Bit No. Meaning 0 ... 3...

  • Page 153: Index

    Index Index Driving program - acceleration, 92 Activation of CANopen, 59 - deceleration, 92 Actual position, 81 - position setpoint, 92 - positions, 92 Approach new position, 114 - Program number, 92 - setpoint torque, 92 Driving records, 92 Boot-up telegram, 56 E82ZAFPC00x, baud rate, 12 Cable specification, 13 Electrical installation, 13...
  • Page 154 Index Process data transfer (PDO transfer), 24 Profile velocity mode, 108 Monitoring of communication, 56 Motor adaptation, 76 Motor data, 76 Quick Stop Active, 98 Motor parameters, rated current, 76 Motor temperature, 90 Rated current, motor, 76 Rated motor current, 76 Network management (NMT), 46 Reading parameters, 22 Network topology, 12...
  • Page 155 Index User data, 18 , 19 , 20 , 21 , 25 Target position window, 81 Target window, position window, 81 target_torque, 116 Preface, 7 Technical data, 12 Torque control, 116 Transmission cable, specification, 13 Warnings, 90 Transmission parameters for PDOs, 25 Writing parameters, 23 ...
  • Page 156 Notes  KHB 13.0003-EN 2.0...
  • Page 157 Notes  KHB 13.0003-EN...
  • Page 158  Lenze GmbH & Co KG Kleinantriebe KHB 13.0003-EN Hans-Lenze-Straße 1 D-32699 Extertal © 02/2007 Germany TD11 +49 (0) 51 54 82-0 Service 00 80 00 24 4 68 77 (24 h helpline) Service +49 (0) 51 54 82-1112 E-Mail Lenze@Lenze.de...

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