Lenze Global Drive 9300 Servo PLC Series Manual
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Lenze Global Drive 9300 Servo PLC Series Manual

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Summary of Contents for Lenze Global Drive 9300 Servo PLC Series

  • Page 1 - Lenze Show/Hide Bookmarks Manual Global Drive PLC Developer Studio Global Drive 9300 Servo PLC...
  • Page 2 We do not accept any liability for direct or indirect damage, e.g. profit loss, order loss or any commercial losses. ã 2002 Lenze Drive Systems GmbH No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive Systems GmbH.

  • Page 3: Table Of Contents

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Contents 1 Preface and general information ......... . .
  • Page 4 - Lenze Show/Hide Bookmarks 9300 Servo PLC Contents DCTRL_DriveControl ............. . .
  • Page 5 - Lenze Show/Hide Bookmarks 9300 Servo PLC Contents 3 Appendix .............
  • Page 6 - Lenze Show/Hide Bookmarks 9300 Servo PLC Contents ServoPLC EN 2.0...

  • Page 7: Preface And General Information

    The input DIGIN_bIn1_b ... Tip! For information about the conventions used for variables of Lenze system organisation units, function blocks and functions can be obtained from the appendix of the DDS online documentation “Introduction into IEC61131-3 programming”. The conventions ensure universal and uniform labelling and support the readability of PLC programs.

  • Page 8: Pictograms In This Manual

    In this Manual used for Automation interface Drive PLC Developer Studio Function interface Global Drive Control (parameter setting program from Lenze) System block System bus System bus (CAN): Lenze standard bus system similar to CANopen 1.1.5 What’s new? Version ID no. Changes 09/2000 Revised edition for the 9300 Servo PLC as of software version V1.0...

  • Page 9: System Block Introduction

    9300 Servo PLC Preface and general information System block introduction For a long time, Lenze has followed the principle of describing inverter functions with the aid of function blocks (FB’s). This principle can also be found in the IEC1131-3 standard. •...

  • Page 10: Module Numbers

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Preface and general information 1.2.2 Module numbers The system blocks of the 9300 Servo PLC carry the following module numbers: Module number System block Notes 1 DIGITAL_IO Digital inputs/outputs 11 ANALOG1_IO Analog inputs/outputs 1...

  • Page 11: Access Via System Variables

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Preface and general information 1.2.3 Access via system variables System variables can be used for your project after you have integrated a system block into the DDS control configuration. • Open the DDS editors and <F2> to call up the input help which gives you a list of all available system variables.

  • Page 12: Definition Of Inputs/Outputs

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Preface and general information 1.2.5 Definition of inputs/outputs The user program is connected with the hardware by linking system blocks with program organisation units (POUs): POU-Input POU-Output SB-Output SB-Output Fig. 1-1 Principle: Link between system blocks and program organisation units (POUs)

  • Page 13: Linking Of System Blocks With Dds

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Preface and general information 1.2.6 Linking of system blocks with DDS In DDS the required SB must be explicitely linked with the project via the control configuration. • The control configuration is an object in the register card Resources in the Object Organizer .

  • Page 14: Signal Types And Normalisations

    1.2.7 Signal types and normalisations Most inputs and outputs of Lenze function blocks/system blocks can be assigned to a certain signal type. We distinguish between digital, analog, position and speed signals. The identifier of the corresponding input/output variable has an ending (starting with an underscore) which indicates the signal type.

  • Page 15: System Blocks

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks System blocks The following sections inform about the system blocks of the basic unit. ServoPLC EN 2.0...

  • Page 16: Aif1_Io_Automationinterface

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF1_IO_AutomationInterface AIF1_IO_AutomationInterface 2.1.1 Inputs_AIF1 Automation interface (module number 41) This SB is used as interface for input signals (e. g. setpoints/actual values) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP).
  • Page 17 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF1_IO_AutomationInterface Variable name Data type Signal type Address DIS format Note AIF1_wDctrlCtrl Word %IX41.0 C0136/3 AIF1_bCtrlB0_b %IX41.0.0 AIF1_bCtrlB1_b %IX41.0.1 AIF1_bCtrlB2_b %IX41.0.2 AIF1_bCtrlQuickstop_b %IX41.0.3 AIF1_bCtrlB4_b %IX41.0.4 AIF1_bCtrlB5_b %IX41.0.5 AIF1_bCtrlB6_b %IX41.0.6 AIF1_bCtrlB7_b %IX41.0.7...
  • Page 18 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF1_IO_AutomationInterface User data The received 8 bytes user data are assigned to several variables of different data types and can be evaluated as • binary information (1 bit) • control word/quasi analog value (16 bit) •...

  • Page 19: Outputs_Aif1

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF1_IO_AutomationInterface 2.1.2 Outputs_AIF1 Automation interface (module number 41) This SB is used as interface for output signals (e.g. setpoint/actual value) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP). • The process image is –...
  • Page 20 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF1_IO_AutomationInterface Variable name Data type Signal type Address DIS format Note AIF1_wDctrlStat Word %QW41.0 AIF1_nOutW1_a %QW41.1 C0858/1 AIF1_nOutW2_a %QW41.2 C0858/2 Integer Integer analog analog dec [%] dec [%] AIF1_nOutW3_a %QW41.3...

  • Page 21: Inputs_Aif2

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF2_IO_AutomationInterface AIF2_IO_AutomationInterface 2.2.1 Inputs_AIF2 Automation interface (module number 42) This SB is used as interface for input signals (e. g. setpoints/actual values) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP).
  • Page 22 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF2_IO_AutomationInterface Variable name Data type Signal type Address DIS format Note AIF2_nInW1_a %IW42.0 AIF2_nInW2_a %IW42.1 Integer Integer analog analog AIF2_nInW3_a %IW42.2 AIF2_nInW4_a %IW42.3 AIF2_bInB0_b %IX42.0.0 AIF2_bInB15_b %IX42.0.15 Bool Bool binary...

  • Page 23: Outputs_Aif2

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF2_IO_AutomationInterface 2.2.2 Outputs_AIF2 Automation interface (module number 42) This SB is used as interface for output signals (e.g. setpoint/actual value) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP). • The process image is –...
  • Page 24 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF2_IO_AutomationInterface User data The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types at the same time. Data can therefore be transferred as: •...

  • Page 25: Inputs_Aif3

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF3_IO_AutomationInterface AIF3_IO_AutomationInterface 2.3.1 Inputs_AIF3 Automation interface (module number 43) This SB is used as interface for input signals (e. g. setpoints/actual values) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP).
  • Page 26 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF3_IO_AutomationInterface Variable name Data type Signal type Address DIS format Note AIF3_nInW1_a %IW43.0 AIF3_nInW2_a %IW43.1 Integer Integer analog analog AIF3_nInW3_a %IW43.2 AIF3_nInW4_a %IW43.3 AIF3_bInB0_b %IX43.0.0 AIF3_bInB15_b %IX43.0.15 Bool Bool binary...

  • Page 27: Outputs_Aif3

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF3_IO_AutomationInterface 2.3.2 Outputs_AIF3 Automation interface (module number 43) This SB is used as interface for output signals (e.g. setpoint/actual value) from attached fieldbus modules (e. g. INTERBUS, PROFIBUS-DP). • The process image is –...
  • Page 28 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF3_IO_AutomationInterface User data The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types at the same time. Data can therefore be transferred as: •...

  • Page 29: Aif_Io_Management

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks AIF_IO_Management AIF_IO_Management Automation interface management (module number 161) This SB monitors for communication errors through a fieldbus module connected to the automation interface (AIF). • In the event of an error AIF_bCe0CommErr_b sets TRUE and initiates a CEO communication error (LECOM no.

  • Page 30: Analog1_Io

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks ANALOG1_IO ANALOG1_IO 2.5.1 Inputs_ANALOG1 Analog input 1 (module number 11) This SB forms the interface for analog difference signals via terminal X6/1, 2 as setpoint input or actual value input.
  • Page 31 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks ANALOG1_IO 2.5.2 Outputs_ANALOG1 Analog output 1 (module number: 11) You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/62 as voltage signals, and used, for example, as display or setpoints for following drives.

  • Page 32: Inputs_Analog2

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks ANALOG2_IO ANALOG2_IO 2.6.1 Inputs_ANALOG2 Analog input 2 (module number 12) This SB forms the interface for analog difference signals via terminal X6/3, 4. Inputs_ANALOG2 AIN1_nIn_a C0405 Fig. 2-10 Inputs_ANALOG2 VariableName...

  • Page 33: Outputs_Analog2

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks ANALOG2_IO 2.6.2 Outputs_ANALOG2 Analog output 2 (module number: 12) You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/63 as voltage signals, and used, for example, as display or setpoints for following drives.

  • Page 34: Dctrl_Drivecontrol

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl DCTRL_DriveControl Device control (module number 121) This SB controls the 9300 Servo PLC when being in certain states (e. g. TRIP, TRIP-RESET, QSP or controller inhibit). • The process image is created in a fixed system task (interval: 2 msec).

  • Page 35: Inputs_Dctrl

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl 2.7.1 Inputs_DCTRL VariableName DataType SignalType Address DIS format Note DCTRL_wCAN1Ctrl %QW121.3 CAN control word Word Word DCTRL_wAIF1Ctrl %QW121.2 Control word AIF DCTRL_bCInh1_b %QX121.0.1 C0878/1 Controller inhibit Controller inhibit ^ 2 22...

  • Page 36: Quick Stop (Qsp)

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl 2.7.3 Quick stop (QSP) The quick stop function is used to stop the drive independently of the setpoint input, within a time to be set. Note! Quick stop (QSP) will only be set if DCTRL_bQspIn_b is connected with MCTRL_bQspOut_b of the...

  • Page 37: Controller Inhibit (Cinh)

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl 2.7.5 Controller inhibit (CINH) This function sets “Controller inhibit (CINH)”, i.e. the power stages are inhibited and all speed/current/position controllers will be reset. • This function can be controlled via the following six inputs (OR linked): –...

  • Page 38: Output Of Digital Status Signals

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl 2.7.8 Output of digital status signals Use DCTRL_wStat to output a status word which consists of signals generated from the SB DCTRL_DriveControl and signals of freely configurable SB inputs.

  • Page 39: Transfer Of Status/Control Word Via Aif

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DCTRL_DriveControl • The system variables DCTRL_bStat1_b ... DCTRL_bStat8_b indicate as binary code the drive status. DCTRL_bStat8_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Status Initialisation after connection of the supply voltage Start protection active (C0142 = 0)

  • Page 40: Dfin_Io_Digitalfrequency

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFIN_IO_DigitalFrequency DFIN_IO_DigitalFrequency 2.8.1 Inputs_DFIN Digital frequency input (module number 21) This SB can convert and normalise a pulse current at the digital frequency input X9 into a speed value. •...
  • Page 41 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFIN_IO_DigitalFrequency Confifugration of increments • The drive can be adapted to the connected encoder or preconnected controller with master frequency cascade or master frequency bus via under C0425. Code Possible settings...
  • Page 42 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFIN_IO_DigitalFrequency Transmission function ⋅ 2 DFIN_nIn_v = f [Hz] ⋅ incr.from C0425 15000 Example: • Input frequency = 200 kHz • C0425 = 3, this corresponds to 2048 increments/rev. DFIN_nIn_v [rpm] = 200000 Hz ⋅ 60...
  • Page 43 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFIN_IO_DigitalFrequency 2.8.1.1 Technical data for the connection of X9  ‚ l = max. 50 m ƒ 0.14 enable Lamp control The connection is designed as shown in the figure: •...
  • Page 44 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFIN_IO_DigitalFrequency 2.8.1.2 Touch probe (TP) Process: The current angle value (digital frequency input value) is stored by a quick interrupt in the operating system when a signal change occurs at the TP activating input (e.g. X5/E5).
  • Page 45 10 msec, as in the example. Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 ms) • For Lenze FBs, this process has already been implemented in the FBs. 2.8.1.3 Monitoring of the encoder cable (”FaultEncCable“) PIN 8 (LC) of the digital frequency input X9 is for monitoring the cable or the preconnected controller: •...

  • Page 46: Dfout_Io_Digitalfrequency

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFOUT_IO_DigitalFrequency DFOUT_IO_DigitalFrequency 2.9.1 Inputs_DFOUT/Outputs_DFOUT Digital frequency output (module number 22) The SB converts an internal speed signal into a frequency signal and outputs it at X10. • The transmission is very precise (without offset and gain errors).
  • Page 47 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFOUT_IO_DigitalFrequency Encoder constant configuration • The constant for the encoder emulation can be set under C0030: Code Possible settings Info Lenze Selection C0030 DFOUT const Encoder constant 256 increments per revolution...
  • Page 48 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFOUT_IO_DigitalFrequency C0540 = 2 Encoder emulation of the resolver with zero track in resolver position • Function This function is used if a resolver is connected to X7. • The encoder constant for output X10 is set under C0030.
  • Page 49 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks DFOUT_IO_DigitalFrequency Digital frequency output X10 Technical data Connection: Sub-D female connector, 9-pole Output frequency: 0 - 500 kHz Current capacity: max. 20 mA per channel • Load capability: For parallel connection, a maximum of three slaves can be connected.

  • Page 50: Digital_Io

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 DIGITAL_IO 2.10 DIGITAL_IO 2.10.1 Inputs_DIGITAL Digital inputs (module number 1) This SB reads in the signals at the terminals X5/E1 ... X5/E5 and conditions them. Inputs_DIGITAL DCTRL-X5/28 DIGIN_bCInh_b DIGIN_bIn1_b C0114/1...5...

  • Page 51: Outputs_Digital

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.10 DIGITAL_IO 2.10.2 Outputs_DIGITAL Digital outputs (module number 1) This SB conditions the digital signals, and outputs them at terminals X5/A1 ... X5/A4. Outputs_DIGITAL DIGOUT_bOut1_b C0118/1...4 DIGOUT_bOut2_b DIGOUT_bOut3_b DIGOUT_bOut4_b C0444/1...4 Fig.

  • Page 52: Fcode_Freecodes (Free Codes)

    • Code values are converted into variable values according to a fixed scaling routine. • In the code table, you can find the options that can be set, and the Lenze settings. (^ 3-12) Example Enter a percentage [% ] under code C0472/1 of the PLC (e. g. using a keypad). This value is directly assigned to the FCODE_nC472_1_a variable (data type “integer”) and can be processed further by...
  • Page 53 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.11 FCODE_FreeCodes (free codes) VariableName DataType SignalType Address DIS format Note FCODE_nC17_a %IW141.0 default = 50 rpm %IW141.2 default = 0.00 % FCODE_nC26_1_a FCODE_nC26_2_a %IW141.3 default = 0.00 % FCODE_nC27_1_a %IW141.4...

  • Page 54: Mctrl_Motorcontrol

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12 MCTRL_MotorControl Internal motor control (module number 131) This SB contains the control function for the drive machine. It consists of: phase-angle controller, speed controller and motor control.

  • Page 55: Inputs_Mctrl

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.1 Inputs_MCTRL VariableName DataType SignalType Address DIS format Note MCTRL_bQspOut_b Bool binary %QX131.0.0 C0907/3 TRUE = drive performs QSP Max. torque limitation MCTRL_nHiMLim_a %QW131.4 C0906/4 • In % of C0057...

  • Page 56: Outputs_Mctrl

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.2 Outputs_MCTRL VariableName DataType SignalType Address DIS format Note MCTRL_bQspIn_b Bool binary %IX131.0.0.0 C0042 TRUE = drive performs QSP Speed setpoint MCTRL_nNSetIn_a Integer analog %IW131.1 C0050 dec [%] •...

  • Page 57: Current Controller

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.3 Current controller Tip! Select a matching motor under C0086 from the “Motor selection list”. This automatically sets the correct parameters for the current controller. • The “Motor selection list” can be found in the 9300 Servo Mounting Instructions.

  • Page 58: Torque Limitation

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.5 Torque limitation Via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a you can set an external torque limitation. This means that different torques can be set for the quadrants ”driving” and ”braking”.

  • Page 59: Speed Controller

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.7 Speed controller The speed controller is designed as an ideal PID - controller. Parameter setting By selecting a motor under C0086 the parameters are preset. Adaptations to your applications are not always necessary.

  • Page 60: Torque Control With Speed Limitation

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl Set integral component To enter defined starting values for the torque, the integral component of the n-controller can be set externally (e.g. when using the brake control). •...

  • Page 61: Phase Controller

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.10 Phase controller The phase controller is needed to ensure phase-synchronous running and drift-free standstill. Parameter setting 1. Assign MCTRL_nPosSet_a to a signal source that provides the phase-angle difference between the set and actual phase-angles.

  • Page 62: Quick Stop Qsp

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.11 Quick stop QSP The quick stop function is used to stop the drive independently of the setpoint input, within a time to be set. • The Quickstop function is active if MCTRL_bQsp_b = TRUE •...

  • Page 63: Field Weakening

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.12 Field weakening The field weakening range does not have to be adapted if the motor type has been selected under C0086. All necessary parameters are set automatically.

  • Page 64: Feedback System

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.14 Feedback system Use the following codes to configure the feedback system for the position controller and speed controller: Code Possible settings IMPORTANT Lenze Selection [C0420] Encoder const...
  • Page 65 10 msec, as in the example. Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 msec) • For Lenze FBs, this process has already been implemented in the FBs. 2-51 ServoPLC EN 2.0...

  • Page 66: Manual Adaptation Of Motor Data

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.16 Manual adaptation of motor data If you use a motor not listed under C0086, select a similar motor from the list and adapt the motor data manually.
  • Page 67 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl Code Code Possible settings IMPORTANT IMPORTANT Lenze Selection [C0085] Mot Ls Stray inductance of the motor à depending on C0086 à • Change of C0086 resets value to the assigned default setting •...

  • Page 68: Monitoring

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17 Monitoring The 9300 Servo PLC comprises two independent sectors, the motor control and the PLC. Interfaces System bus (CAN) Feldbuses Digital frequency Analog/digital I/O Memory (FLASH, EEPROM, RAM)
  • Page 69 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl Overview of system error messages of the motor control Monitoring function Display System variable TRIP Message Warning • 011 Short-circuit MCTRL_bShortCircuit_b 012 Earth fault MCTRL_bEarthFault_b • 015 I x t overload MCTRL_bIxtOverload_b •...
  • Page 70 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.1 OC1 - short-circuit monitoring This monitoring function protects the controller. Monitoring function Display System variable TRIP Message Warning 011 Short-circuit MCTRL_bShortCircuit_b • • Default setting ü Setting possible The monitoring is activated in the event of short-circuit in the motor phases.
  • Page 71 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.3 OC5 - I x t overload monitoring Monitoring function Display System variable TRIP Message Warning • 015 I x t overload MCTRL_bIxtOverload_b • Default setting ü Setting possible Overcurrent diagram for error message OC5 The following diagram shows the max.
  • Page 72 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.4 OU - overvoltage monitoring This function monitors the DC-bus and protects the controller. Monitoring function Display System variable TRIP Message Warning 020 Overvoltage MCTRL_bOvervoltage_b • • Default setting ü Setting possible...
  • Page 73 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl Example: • ð C0173 = 3 Switch-off threshold = 770 V • ð C0172 = 10 “OV reduce” = 10 V Threshold for brake torque derating = 770 V − 10 V = 760 V ð...
  • Page 74 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.5 LU - undervoltage monitoring This function monitors the DC-bus and protects the controller. Monitoring function Display System variable TRIP Message Warning 030 Undervoltage MCTRL_bUndervoltage_b • • Default setting ü Setting possible...
  • Page 75 The hysteresis is 15 K, i.e. the temperature when it will be switched on again is 135 ºC. This monitoring is only effective for the thermal sensor specified by Lenze as it is included in the standard Lenze servo motor.
  • Page 76 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.8 OH4 - Heatsink temperature monitoring (adjustable) This monitoring function protects the controller. Monitoring function Display System variable TRIP Message Warning 054 Heatsink temperature (adjustable) MCTRL_bKuehlGreaterC0122_b • ü...
  • Page 77 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.9 OH7 - Motor temperature monitoring (adjustable) This function monitors the process. Monitoring function Display System variable TRIP Message Warning 057 Motor temperature (adjustable) MCTRL_bMotorTempGreaterC0121_b • ü • Default setting ü Setting possible This monitoring function sends a warning before the controller is switched off because of a TRIP (OH3) using the function “Motor temperature (fixed)”.
  • Page 78 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.10 OH8 - Motor temperature monitoring via T1, T2 This monitoring function protects the motor. Monitoring function Display System variable TRIP Message Warning 058 Motor temperature (PTC) MCTRL_bPTCOverTemp_b ü...
  • Page 79 IMPORTANT Lenze Selection [C0025] Feedback type Selection of the feedback system • Input of the encoder specified on the nameplate of the Lenze motor. • C0025 automatically changes C0420, C0490, C0495 COMMON C0420, C0490 or C0495 has been changed subsequently...
  • Page 80 - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.12 MCTRL_MotorControl 2.12.17.12 NMAX - Speed monitoring This function monitors the process. Monitoring function Display System variable TRIP Message Warning 200 Maximum speed exceeded NMAX MCTRL_bNmaxFault_b • • Default setting ü Setting possible...

  • Page 81: Statebus_Io

    STATEBUS_IO (Module nummer 51) The state bus is a bus system which has been designed for Lenze controllers/PLC. This SB can set the state bus to LOW level and control all devices connected to the state bus as set earlier (e.g. TRIP, QSP or controller inhibit) The SB immediately detects when a device sets the state bus to LOW level, i.e.

  • Page 82: System_Flags

    - Lenze Show/Hide Bookmarks 9300 Servo PLC System blocks 2.14 SYSTEM_FLAGS 2.14 SYSTEM_FLAGS (Module number 151) System flags are global variables which are permanently integrated into the run-time system. They include functions that facilitate programming. The following system flags are included in the 9300 Servo PLC/Drive PLC:...

  • Page 83: Appendix

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Appendix PLC functionality Field Numbe Description Inputs digital Input for controller enable 24 V DC / 8 mA each input Free inputs (three of them interruptible Response time 250 µ s...

  • Page 84: System Pous

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix System bus (CAN) Interface Available CAN objects Integrated system bus interface ‚ PDOs CAN1_IN/CAN1_OUT CAN2_IN/CAN2_OUT CAN3_IN/CAN3_OUT SDOs SDO1 (parameter channel 1) SDO2 (parameter channel 2) L_ParRead/L_ParWrite functionality Sync telegram Synchronisation of the internal time basis by receiving sync telegrams Free CAN objects Automation interface (AIF) ...

  • Page 85: System Error Message

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix System error message Overview over the error sources detected by the PLC and the possible responses. Tip! • The current error number is also displayed in the variable DCTRL_wFaultNumber . •...
  • Page 86 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix System error message Possible settings/response Available in • Default setting ü Setting possible Display Source Meaning TRIP Message Warning Fault/QSP Code Drive Servo 082 Sd2 MCTRL Resolver fault • ü ü...

  • Page 87: System Error Message Reset

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix System error message Possible settings/response Available in • Default setting ü Setting possible Display Source Meaning TRIP Message Warning Fault/QSP Code Drive Servo 219 overrun Cycl.-T internal Time exceeded in cyclic task (PLC_PRG) •...
  • Page 88 074 PEr Program error Error detected in program Check use of pointers • Send controller with parameter set and PLC program (on diskette) to Lenze 075 PR0 General error See Cause & Remedy, no. 072 (PR1) in parameter sets CAUTION:...
  • Page 89 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Display Meaning Cause Remedy 080 PR6 Too many user codes Reduce the number of user codes • 082 SD2 Resolver fault Resolver cable interferred Check resolver cable for open circuit •...

  • Page 90: Fault Trigger (L_Fwm)

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Display Meaning Cause Remedy Floating point error (REAL) in: • Error in real calculation (e.g. divided by 0) Check real calculation (program code) (p g 209 FLOAT SYS-T System task •...
  • Page 91 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix The history buffer information are saved under codes C0168/x ... C0170/x: C0168 C0169 C0170 Subcode contains information about Active error Last error Last but one error Frequency of Frequency of No. of...

  • Page 92: Fault Analysis Via The Led Of The Plc

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Access to the history buffer via Global Drive Control (GDC) The history buffer of the PLC can be displayed in GDC. • Doubleclick the entry ”Dialog diagnostics” in the GDC parameter menu to open the dialog box...

  • Page 93: Fault Analysis Using The Lecom Status Word C0150

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix 3.3.7 Fault analysis using the LECOM status word C0150 The status word C0150 is bit-coded as follows: free Message Warning Speed free free 1 ≡ active 1 ≡ active 1 ≡ Actual 1 ≡...

  • Page 94: Code Table

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code table How to read the code table: Column Abbreviation Meaning Code C0168 Code C0168 Subcode 1 of code C0168 Subcode 2 of code C0168 ¼ ¼ Subcode 8 of code C0168 [C0156] Parameter value of code can only be changed when controller is inhibited.
  • Page 95 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0011 Nmax 3000 Maximum speed Reference value for the absolute and relative setpoint selection for the acceleration and deceleration times. • Parameter setting via interface: Large changes in one step should only be made when the controller is inhibited.
  • Page 96 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0032 FCODE gearbox Freely configurable codes (absolute analog signals) • FCODE_nC32_a (gear factor numerator) -32767 32767 C0034 Mst current Analog input AIN1: Selection: Master voltage/master current for setpoint selection -10 V ...
  • Page 97 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0067 Act trip Current error message C0070 Vp speed CTRL Speed controller à depending on C0086 à • Change of C0086 resets value to the assigned default setting {0.5}...
  • Page 98 Possible settings Info Info Lenze Selection • [C0086] Mot type New generation Lenze asynchronous servo motors Integrated temperature monitoring via resolver or encoder cable • The temperature monitoring via resolver or encoder cable is activated automatically, i.e.: C0583 = 0...
  • Page 99 Possible settings Info Info Lenze Selection • [C0086] Mot type New generation Lenze synchronous servo motors Integrated temperature monitoring via resolver or encoder cable • The temperature monitoring via resolver or encoder cable is activated automatically, i.e.: C0583 = 0...
  • Page 100 Possible settings Info Info Lenze Selection • [C0086] Mot type Lenze inverter motor in delta connection The temperature monitoring via resolver or encoder cable is deactivated automatically, i.e.: C0583 = 3 C0584 = 3 C0594 = 3 DXRA071-12-87 DXRAXX071-12, f...
  • Page 101 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0094 Password Keypad password protection • Parameter password protection for the keypad • When the password is activated, only user-menu codes can be accessed.
  • Page 102 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0125 Baud rate LECOM baud rate for 2102 module 9600 baud 4800 baud 2400 baud 1200 baud 19200 baud C0126 MONIT CE0 Configuration for communication with automation interface...
  • Page 103 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0150 Status word Status word DCTRL_wStat • FCODE_bC150Bit0_b ... FCODE_bC150Bit15_b 65535 Decimal value is bit-coded: Bit 00 Freely configurable 0 DCTRL_bStateB0_b Bit 01...
  • Page 104 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0157 Stat. free bit Status word DCTRL: Status of freely defineable bits DCTRL_bStateB0_b DCTRL_bStateB2_b DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bStateB14_b DCTRL_bStateB15_b C0161 Act trip Current error message...
  • Page 105 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection [C0173] UG limit Adaptation of DC-bus voltage thresholds • Check during commissioning, and adapt if necessary • All drive components in DC-bus links must have the same thresholds Mains <...
  • Page 106 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0250 FCODE 1bit Freely configurable codes (digital signals) • FCODE_bC250_b C0254 Vp angle CTRL 0.4000 MCTRL_MotorControl: V Phase controller 0.0000 {0.0001} 3.9999 C0300...
  • Page 107 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0357 CE monit time System bus: Monitoring time for process data input objects {1 msec} 65000 3000 CE1monit time 3000 CE2monit time 3000...
  • Page 108 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0365 DIS:CAN activ Input signal CAN active CAN not active CAN active C0366 Sync response System bus: Sync response No response No response...
  • Page 109 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0431 DFIN TP EDGE Digital frequency input DFIN_IO_DigitalFrequency: Touch probe activation • For touch probe via digital input X5/E5 (C0428 = 1) Activation with positive signal...
  • Page 110 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0473 FCODE abs Freely configurable codes (absolute analog signals) -32767 32767 FCODE_bC473_1_a FCODE_bC473_2_a FCODE_bC473_3_a FCODE_bC473_10_a C0474 FCODE PH Freely configurable code (angle/signals) -2147483648...
  • Page 111 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0517 User menu User menu with up to 32 entries • The numbers of desired codes are entered under the subcodes. • The data is input in xxx.yy format –...
  • Page 112 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0549 DFOUT_nOut_v Digital frequency output DFOUT_IO_DigitalFrequency: DFOUT_nOut_v as speed value (if C0540 = 1) -32767 {1 rpm} 32767 C0577 Vp fld weak 3.00 Field weakening controller gain V 0.00...
  • Page 113 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0593 MONIT CE3 System bus: Monitoring configuration CAN3_IN communication error (CE3) TRIP Warning C0594 MONIT SD6 Monitoring configuration: Motor temperature sensor error à...
  • Page 114 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0858 DIS: OUT.Wx Automation interface (AIF): Process output words -32768 {1 %} 32767 AIF1_OUT: Process output word 2 (AIF1_nOutW1_a) AIF1_OUT: Process output word 3 (AIF1_nOutW2_a) AIF1_OUT: Process output word 4 (AIF1_nOutW3_a) C0859 DIS: OUT.D1...
  • Page 115 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0867 DIS: Inx.D1 System bus: Process input double words -2147483648 2147483647 CAN1_IN: Process input double word 1 (CAN1_dnInD1_p) CAN2_IN: Process input double word 1...
  • Page 116 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C0906 DIS: analog MCTRL_MotorControl: Analog input signals -199.99 {0.01 %} 199.99 Speed setpoint (MCTRL_nNSet_a) Torque setpoint (MCTRL_nMAdd_a) Min. torque limit (MCTRL_nLoMLim_a) Max. torque limit (MCTRL_nHiMLim_a) Position controller limit (MCTRL_nPosLim_a) Min.
  • Page 117 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C1190 Char.: temp 1 PTC: Type selection for motor Lenze standard User-specific C1191 Char.: temp PTC: Temperature characteristic selection {1 °C} Characteristic for temperature 1 Characteristic for temperature 2 C1192 Char.: OHM...
  • Page 118 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C2121 AIF: state AIF-CAN: Status • Detailed information can be found in the description for the corresponding fieldbus module. {dec} Decimal value is bit-coded:...
  • Page 119 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C2356 CAN boot up AIF-CAN: Time settings {1 msec} 65000 Delay time after power-on for initialisation by “quasi” master 3000 {1 msec} 65000...

  • Page 120: Temporary Codes

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Possible settings Info Info Lenze Selection C2377 XCAN2 Mask AIF-CAN: XCAN2_OUT mask {hex} FFFF FFFF Mask for process output word 1 FFFF Mask for process output word 2 FFFF...

  • Page 121: Attribute Table

    (CAN). A subindex of an array variable is the A subindex of an array variable is the 5FFFh - Lenze code same as a Lenze subcode number Data Data structure Single variable (one parameter element only) Array variable (several parameter elements...
  • Page 122 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Index Data Access Format Decimal LCM-R/W Condition position C0032 24543 5FDFh FIX32 Ra/Wa C0034 24541 5FDDh FIX32 Ra/Wa C0037 24538 5FDAh FIX32 Ra/Wa C0040 24535 5FD7h FIX32 Ra/Wa C0042...
  • Page 123 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Index Data Access Format Decimal LCM-R/W Condition position C0136 24439 5F77h C0141 24434 5F72h FIX32 Ra/Wa C0142 24433 5F71h FIX32 Ra/Wa C0150 24425 5F69h C0151 24424 5F68h C0155 24420...
  • Page 124 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Index Data Access Format Decimal LCM-R/W Condition position C0400 24175 5E6Fh FIX32 C0405 24170 5E6Ah FIX32 C0416 24159 5E5Fh Ra/W CINH C0420 24155 5E5Bh FIX32 Ra/W CINH C0421 24154...
  • Page 125 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Index Data Access Format Decimal LCM-R/W Condition position C0856 23719 5CA7h C0857 23718 5CA6h C0858 23717 5CA5h C0859 23716 5CA4h C0863 23712 5CA0h C0866 23709 5C9Dh FIX32 C0867 23708...
  • Page 126 - Lenze Show/Hide Bookmarks 9300 Servo PLC Appendix Code Code Index Data Access Format Decimal LCM-R/W Condition position C2373 22202 56BAh FIX32 Ra/Wa C2374 22201 56B9h FIX32 Ra/Wa C2375 22200 56B8h FIX32 Ra/Wa C2376 22199 56B7h FIX32 Ra/Wa C2377...

  • Page 127: Index

    - Lenze Show/Hide Bookmarks 9300 Servo PLC Index Index DCTRL_DriveControl, 2-20 Additional torque setpoint, 2-43 Definitions, 1-2 Addresses, absolute , 1-5 DFIN_IO_DigitalFrequency, 2-26 Analog inputs data, 2-29 Digital frequency input X9, 2-26 Inputs_ANALOG1, 2-16 Monitoring of the encoder cable, 2-31...
  • Page 128 - Lenze Show/Hide Bookmarks 9300 Servo PLC Index LECOM, Status word C0150, 3-11 Inputs LED, 3-10 Analog. See A na l o g i nput s Definition, 1-6 Di gi t a l . See Di gi t a l i nput s...
  • Page 129 - Lenze Show/Hide Bookmarks 9300 Servo PLC Index System blocks Absolute addresses, 1-5 AIF_IO_Management, 2-15 Phase controller, Phase controller influence, 2-47 AIF1_IO, 2-2 AIF2_IO, 2-7 PLC functionality, 3-1 AIF3_IO, 2-11 ANALOG1_IO, 2-16 POUs, 3-2 ANALOG2_IO, 2-18 Program organisation unit (POU), 1-6...
  • Page 130 - Lenze Show/Hide Bookmarks 9300 Servo PLC Index Unit control, 2-20 Warning, 2-55 Controllerinhibit (CINH), 2-23 External error, 2-25 Operation inhibited(DISABLE), 2-22 Outputof digital status signals, 2-24 Quickstop (QSP), 2-22 TRIP reset (TRIP-RESET), 2-23 TRIP set (TRIP-SET), 2-23 ServoPLC EN 2.0...

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