Lenze L-force 930 Communications Manual
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Lenze L-force 930 Communications Manual

Lenze L-force 930 Communications Manual

Servo drives, small drives, canopen
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KHB 13.0002-EN
.4&ø
efesotomasyon.com - Lenze
L-force
Drives
Servo Drives 930
931E
CANopen
Communication Manual

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Summary of Contents for Lenze L-force 930

  • Page 1 - Lenze L-force Drives KHB 13.0002-EN .4&ø Communication Manual Servo Drives 930 931E 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

    - Lenze Contents Preface ..............
  • Page 4 - Lenze Contents Network management (NMT) ......... .
  • Page 5 - Lenze Contents Analog inputs ............
  • Page 6 - Lenze Contents Torque control ............

  • 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: Legal Regulations

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

  • Page 10: Safety Instructions

    - Lenze 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 11: 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 13.0002-EN...

  • Page 12: Definition Of Notes Used

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

  • Page 13: Technical Data

    - Lenze Technical data Communication data Technical data Communication data Communication Communication profile DS 301, DSP 402 Communication medium RS232 Network topology Without repeater: line / with repeaters: line or tree CAN node Slave Baud rate (in kbps) 10, 20, 50, 100, 125, 250, 500 Max.

  • Page 14: Electrical Installation

    - Lenze Electrical installation Wiring according to EMC Electrical installation Wiring according to EMC General notes The electromagnetic compatibility of the drive depends on the type of installation and the care taken. Especially observe: – Assembly – Shielding – Earthing In the case of differing installations, the evaluation of the conformity to the EMC Directive requires the system to be checked for compliance with the EMC limit values.

  • Page 15: Electrical Connections Of Canopen

    – 25 m for max. data transfer rate of 1 Mbps – Up to 1 km for reduced data transfer speed Signal level according to ISO 11898 ƒ Up to 128 bus nodes possible ƒ Access to all Lenze parameters ƒ  KHB 13.0002-EN...

  • Page 16: Connection Of Can Bus Slave

    - Lenze Electrical installation Connection of CAN bus slave Connection of CAN bus slave Features Parameter selection ƒ Data exchange between drive controllers ƒ Connection of operator and input devices ƒ Connection of higher-level controls ƒ Baud rates of 125, 250, 500 kBaud ƒ...

  • Page 17: Connection Of Can Bus Master

    - Lenze Electrical installation Connection of CAN bus master Connection of CAN bus master The below table shows the assignment of a 9-pin Sub-D socket such as provided by most CAN masters for the connection of field devices. Connection of the CAN bus to a 9-pin Sub-D socket...

  • Page 18: Canopen Communication

    - Lenze 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.

  • Page 19: Identifier

    - Lenze CANopen communication About CANopen Identifier 5.1.2 Identifier The principle of the CAN communication is based on a message-oriented data exchange between one 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 20: User Data

    - Lenze 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...

  • Page 21: Parameter Data Transfer (Sdo Transfer)

    - Lenze 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...
  • Page 22 - Lenze 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...
  • Page 23 - Lenze 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...
  • Page 24 - Lenze 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...

  • Page 25: Reading Parameters (Example)

    - Lenze CANopen communication Parameter data transfer (SDO transfer) Reading parameters (example) 5.2.2 Reading parameters (example) Problem The numerator setting (object 6093_01) of the drive controller with node address 1 is to be read via the parameter channel. Telegram to the drive controller...

  • Page 26: Writing Parameters (Example)

    - Lenze CANopen communication Parameter data transfer (SDO transfer) Writing parameters (example) 5.2.3 Writing parameters (example) Problem The numerator (object 6093_01) of the drive controller with node address 1 is to be set to 216000 via the SDO (parameter data channel).

  • Page 27: Process Data Transfer (Pdo Transfer)

    - Lenze CANopen communication Process data transfer (PDO transfer) Telegram structure 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 28: Objects For Pdo Parameterisation

    - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 5.3.3 Objects for PDO parameterisation Two transmit PDOs (TPDO) and two receive PDOs (RPDO) are available in the drive controller. The different objects of the PDOs are identical.
  • Page 29 - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1A00 Transmit PDO1 Mapping Parameter 0 number_of_ h REC UINT32 — mapped_objects Maximum number of supported subindexes. 1 subindex is supported.
  • Page 30 - Lenze 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 Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes 3 subindexes are supported.
  • Page 31 - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1A01 Transmit PDO2 Mapping Parameter 0 number_of_ h REC UINT32 — mapped_objects Maximum number of supported subindexes. 2 subindexes are supported.
  • Page 32 - Lenze 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 Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes 2 subindexes are supported.
  • Page 33 - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1600 Receive PDO1 Mapping Parameter 0 number_of_ h REC UINT32 — mapped_objects Maximum number of supported subindexes. 1 subindex is supported.
  • Page 34 - Lenze 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 Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes 2 subindexes are supported.
  • Page 35 - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name Possible settings Characteristics Lenze Selection Description 1601 Receive PDO2 Mapping Parameter 0 number_of_ h REC UINT32 — mapped_objects Maximum number of supported subindexes. 2 subindexes are supported.
  • Page 36 - Lenze CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Transmit masking Index Name Possible settings Characteristics Lenze Selection Description 2014 Transmit PDO1 Mask 0 number_of_entries UINT8 — Maximum number of supported subindexes 1 tpdo1_transmit_...

  • Page 37: Description Of The Objects

    - Lenze 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) The identifier on which the respective PDO is to be sent or received must be entered in the COB_ID-used_by_PDO object.
  • Page 38 - Lenze 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 39: Example Of A Process Data Telegram

    - Lenze 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 (controller control), ƒ...

  • Page 40: Activation Of The Pdos

    - Lenze 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.

  • Page 41: Sync Telegram

    - Lenze CANopen communication Sync telegram Telegram structure Sync telegram The sync telegram is an additional and special telegram which enables the drive controller to cyclically read / accept process data. 5.4.1 Telegram structure 11 bits 4 bits Data...

  • Page 42: Description Of The Objects

    - Lenze 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 00000080 h VAR UINT32 — message Synchronisation object identifier 80 Bit no.

  • Page 43: Network Management (Nmt)

    - Lenze 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 44: Telegram Structure

    - Lenze 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.
  • Page 45 - Lenze CANopen communication Network management (NMT) Telegram structure State transitions Initialisation (14) (11) Pre-Operational (10) (13) Stopped (12) Operational E82ZAFU004 Fig. 5 Network management state transitions State Command Network state after Effect on process and parameter data after state change...

  • Page 46: Emergency Telegram

    - Lenze CANopen communication Emergency telegram Telegram structure Emergency telegram The drive controller monitors the functioning of its main components (including voltage supply, power stage, angle encoder evaluation, technology slots). In addition, the motor (temperature, angle encoder) and the limit switches are checked continuously. Incorrect parameter settings can also cause error messages (division by zero, etc.).
  • Page 47 - Lenze CANopen communication Emergency telegram Telegram structure The following error codes may appear: Error cause Display 2nd byte 1st byte 3rd byte 4th ... 8th byte Motor overtemperature 00 ... 00 Insufficient temperature/overtemperature of power 00 ... 00...

  • Page 48: Description Of The Objects

    - Lenze 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 Reading-out of the error register. Bit no. Meaning generic error An unspecified error has occurred (flag is set for every error message).

  • Page 49: Heartbeat Telegram

    - Lenze 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 50 - Lenze 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...

  • Page 51: Description Of The Objects

    - Lenze CANopen communication Heartbeat telegram Description of the objects 5.7.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1017 0 producer_ {1 ms} 65536 UINT16 — heartbeat_time Time interval between two heartbeat telegrams. If the drive controller starts...

  • Page 52: Boot-Up Telegram

    - Lenze 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.

  • Page 53: Commissioning

    - Lenze Commissioning Activation of CANopen Commissioning Activation of CANopen The CAN interface is activated once with the CANopen protocol via the serial interface of the drive controller. The CAN protocol is activated via the CANopen window of the small drive control (SDC).

  • Page 54: Speed Control

    - Lenze 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 55 - Lenze 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)
  • Page 56 - Lenze 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)

  • Page 57: Parameterising Of The Motor And The Current Controller

    - Lenze Commissioning Speed control Parameterising of the motor and the current controller 6.2.2 Parameterising of the motor and the current controller In addition to the motor parameters (rated current, number of pole pairs), the safety-relevant parameters (max. current, i t tripping criterion) also have to be specified in advance.

  • Page 58: Parameterising Of The Speed Control

    - Lenze Commissioning Speed control Parameterising of the speed control 6.2.3 Parameterising of the speed control Before a control can be put into operation, it is often necessary to adapt the controller parameters in order to ensure a dynamic and sufficiently damped operational performance.

  • Page 59: Running Through The State Machine

    - Lenze Commissioning Speed control Running through the state machine 6.2.4 Running through the state machine After all parameters required for the cascade control (current and speed control) have been defined, the drive can be commissioned via the state machine. First a speed setpoint is defined and sent once via an SDO access and once via the RPDO.
  • Page 60 - Lenze Commissioning Speed control Running through the state machine Switched on disabled Controlword 601h 2Bh 40h 60h 00h 06h 00h 00h 00h Shut down Ready to switch on Controlword 601h 07h 40h 60h 00h 07h 00h 00h 00h...

  • Page 61: Position Control

    - Lenze Commissioning Position control Parameterising of the homing run Position control The aim of this example is to show the principle of parameterising and executing homing runs. A drive controller with the node address 1 is assumed to be the communicating node.
  • Page 62 - Lenze 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 State query (read) Each change of the state must be executed depending on the initial state.

  • Page 63: Running Through The State Machine

    - Lenze Commissioning Position control Running through the state machine 6.3.2 Running through the state machine When the homing run has been performed, the position control can be executed. This requires that the target position is defined. In addition the position controller, the required control accuracy, and the ramps and the speed for the profile generator must be parameterised.
  • Page 64 - Lenze Commissioning Position control Running through the state machine Description Identifier Control Command Index Subindex Data 1 Data 2 Data 3 Data 4 field code Data High length byte byte Definition of the position window The target position (target_...
  • Page 65 - Lenze Commissioning Position control Running through the state machine A change in the position is performed – as for all other operating modes as well – via a change of the state machine. This is described below: No. Description...
  • Page 66 - Lenze 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).

  • Page 67: Parameter Setting

    - Lenze 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.
  • Page 68 - Lenze Parameter setting Loading and saving of parameter sets Overview There are two possible variants for the parameter set management: 1. The parameter set is created with the Small Drive Control (SDC) parameterisation program and transferred to the different drive controllers. When this method is used, only the objects which can solely be accessed via CANopen have to be set via the CAN bus.

  • Page 69: Description Of The Objects

    - Lenze 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 0 store_parameters UINT8 — Not used. 1 save_all_ 00000001 00000000 65766173 h —...

  • Page 70: Conversion Factors (Factor Group)

    - Lenze Parameter setting Conversion factors (factor group) Overview Conversion factors (factor group) 7.2.1 Overview Drive controllers are used in numerous applications, for instance as direct drives, with downstream gearboxes, for linear drives, etc. To enable simple parameterisation for all these different applications, the drive controller can, by means of the factory group, be parameterised in such a way that the user can enter or read out all quantities (e.g.
  • Page 71 - Lenze Parameter setting Conversion factors (factor group) Overview In the controller, all parameters are stored in the form of internal units. When they are written or read out, they are converted by means of the factor group. ...

  • Page 72: Description Of The Objects

    - Lenze Parameter setting Conversion factors (factor group) Description of the objects 7.2.2 Description of the objects Object 6093 : position_factor The position_factor object serves to convert all length units of the application from position_units to the internal unit of increments (65535 increments correspond to 1 revolution).
  • Page 73 - Lenze Parameter setting Conversion factors (factor group) Description of the objects Object 6094 : velocity_encoder_factor The velocity_encoder_factor object serves to convert all speed values of the application from speed_units to the internal unit of revolutions per minute. The object consists of two parts: A factor for conversion of internal length units to position_units and a factor for conversion of internal time units to user-defined time units.

  • Page 74: Power Stage Parameters

    - Lenze Parameter setting Power stage parameters Overview Power stage parameters 7.3.1 Overview The power stage of the drive controller comprises several safety functions, some of which can be parameterised: Controller enable logic (software and hardware enable) ƒ Overcurrent monitoring ƒ...
  • Page 75 - Lenze Parameter setting Power stage parameters Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6510 10 enable_logic — UINT16 Setting of the power stage enable. Digital inputs of power stage enable and controller enable must be activated.

  • Page 76: Current Controller And Motor Adaptation

    This data has to be specified by means of the Small Drive Control program at the first use of a motor type. For several motors, there are ready-made parameter sets available from Lenze. Please observe that the direction of rotation and the offset angle also depend on the cable set used.

  • Page 77: Description Of The Objects

    - Lenze Parameter setting Current controller and 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 Input value for I (specified on the motor nameplate).
  • Page 78 - Lenze Parameter setting Current controller and motor adaptation Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 2415 0 current_limitation INT8 — Limitation von I (independently of the operating mode). Torque-limited speed operation is possible.

  • Page 79: Speed Controller

    - Lenze Parameter setting Speed controller Overview Speed controller 7.5.1 Overview The parameter set of the drive controller has to be adapted to the application. Especially the gain strongly depends on masses which may be coupled to the motor. At the commissioning of the system, the data has to be optimised by means of the Small Drive Control program.

  • Page 80: Position Controller (Position Control Function)

    - Lenze Parameter setting Position controller (position control function) Overview Position controller (position control function) 7.6.1 Overview This chapter describes all parameters required for the position controller. The position setpoint (position_demand_value) from the trajectory generator is applied to the input of the position controller.
  • Page 81 - Lenze Parameter setting Position controller (position control function) Overview Fig. 13 shows the definition of the window function for the ”following error” message. The range between x and x is defined symmetrically around the set position (position_demand_value) x .

  • Page 82: Description Of The Objects

    - Lenze Parameter setting Position controller (position control function) Description of the objects Fig. 15 shows the definition of the window function for the ”position reached” message. The positioning range between x and x is defined symmetrically around the target position (target_position) x .
  • Page 83 - Lenze Parameter setting Position controller (position control function) Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60FB 0 position_control_ UINT8 — parameter_set Reading-out of the position controller data. The position controller operates with internal...
  • Page 84 - Lenze 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 85: Analog Inputs

    - Lenze Parameter setting Analog inputs Overview Analog inputs 7.7.1 Overview The drive controller is provided with two analog inputs, which can be used, for instance, to define setpoints. These analog inputs can only be parameterised via the Small Drive Control program.

  • Page 86: Limit Switches

    - Lenze Parameter setting Limit switches Overview Limit switches 7.9.1 Overview Limit switches can be used to define the home position of the drive controller. More detailed information on the possible homing methods can be found in the chapter ’Homing operation mode’.

  • Page 87: Device Information

    - Lenze Parameter setting Device information Description of the objects 7.10 Device information 7.10.1 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 1000 0 device_type UINT32 — Identification of the bus device in a multi-axis system.

  • Page 88: Device Control

    - Lenze 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.

  • Page 89: State Diagram Of The Drive Controller

    - Lenze 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 Quick_Stop_Active Operation_Enable 931e_421 Fig. 16 State diagram of the drive controller Power disabled (power stage is inhibited) ...
  • Page 90 - Lenze Device control State diagram State diagram of the drive controller If an error occurs, finally the fault state will be reached (no matter from which state you have started). Depending on the severity of the error, certain actions (e.g. an emergency braking) can be executed before the fault state is reached (Fault_Reaction_Active).

  • Page 91: States Of The Drive Controller

    - Lenze Device control State diagram States of the drive controller 8.1.3 States of the drive controller State Meaning Not_Ready_To_Switch_On The drive controller executes a self-test. The CAN communication is not yet working. Switch_On_Disabled The drive controller has completed the self-test. CAN communication is working.

  • Page 92: State Transitions Of The Drive Controller

    - Lenze Device control State diagram State transitions of the drive controller 8.1.4 State transitions of the drive controller Transition Command Control word (bits) Action Switched on or reset Internal transition Execution of self-test. executed Self-test successful Internal transition Activation of CAN communication.

  • Page 93: 0 Controlword

    - Lenze Device control State diagram Control word 8.1.5 Control word The control word can be used to change the current state of the drive controller or to initiate a certain action directly (e.g. start of the homing run). The function of bits 4, 5, 6 and 8 depends on the current operating mode (modes_of_operation) of the drive controller.
  • Page 94 - Lenze Device control State diagram Control word The bits 0 ... 3 can be used to execute state transitions. The commands required for this purpose are listed in the below overview. The command is generated by a fault reset LOW/HIGH edge of bit 7.
  • Page 95 - Lenze Device control State diagram Control word Below the remaining bits of the control word are explained. Some bits have different meanings dependent on the operating mode (modes_of_operation): Operation Bit 4 Bit 5 Bit 6 Bit 8 mode...

  • Page 96: Controller State

    - Lenze Device control State diagram Controller state 8.1.6 Controller state Similar to the combination of several control word bits initiating different state changes, the combination of different status word bits can be used to read out the current state of the drive controller.

  • Page 97: Status Word

    - Lenze Device control State diagram Status word 8.1.7 Status word Index Name Possible settings Characteristics Lenze Selection Description 6041 0 statusword 0000 FFFF h VAR UINT16 Display of the controller state and of various events. Bit no. Value...
  • Page 98 - Lenze Device control State diagram Status word  Note! The bits of the status word are not buffered. They indicate the current controller state. In addition to the controller state, the status word indicates various events, i.e. each bit is assigned with a certain event (e.g.

  • Page 99: Operating Modes

    - Lenze Operating modes Setting of the operating mode Overview Operating modes Setting of the operating mode 9.1.1 Overview Below the operating modes specified in detail under CANopen are listed: Speed control (profile velocity mode) ƒ Homing (homing mode) ƒ...
  • Page 100 - Lenze 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 Display of the operating mode. If operation via CANopen is not possible, an internal operating mode is displayed.

  • Page 101: Speed Control

    - Lenze Operating modes Speed control Overview Speed control 9.2.1 Overview The speed-controlled operation (profile velocity mode) comprises the following subfunctions: Setpoint generation by ramp generator ƒ Speed detection via angle encoder by differentiation ƒ Speed control with appropriate input and output signals ƒ...
  • Page 102 - Lenze Operating modes Speed control Overview Limit Function target velocity Multiplier Profile Velocity* (60FFh) velocity_encoder_factor (6094h) Profile [inc] profile_acceleration (6083h) Acceleration* velocity_demand_value (606Bh) profile_deceleration Profile Multiplier (6084h) Deceleration* quick_stop_ Quick Stop deceleration Deceleration* (6085h) acceleration_factor (6097h) Differentiation position_actual_value...

  • Page 103: Description Of The Objects

    - Lenze Operating modes Speed control Description of the objects 9.2.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6069 0 velocity_sensor_ {1 inc/s} INT32 actual_value Reading-out of the speed value directly on the encoder system.

  • Page 104: Homing

    - Lenze 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 105: Description Of The Objects

    - Lenze 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 Shift of zero position with respect to home position. 6098 0 homing_method INT8 —...

  • Page 106: Control Of The Homing Run

    - Lenze Operating modes Homing Control of the homing run 9.3.3 Control of the homing run The homing run is controlled by the control word and monitored by the status word. Homing is started by setting bit 4 in the control word. The successful completion is indicated by bit 12 being set in the status word object.

  • Page 107: Positioning

    - Lenze 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.

  • Page 108: Description Of The Objects

    - Lenze 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 Entry of the target position (absolute or relative entry, see bit 6 of the control word).

  • Page 109: Functional Description

    - Lenze 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 110 - Lenze Operating modes Positioning Functional description In Fig. 22 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.

  • Page 111: Synchronous Position Selection

    - Lenze Operating modes Synchronous position selection Overview Synchronous position selection 9.5.1 Overview The interpolated position mode (IP) enables the selection of position setpoints for multi-axis drive controller applications. For this purpose, a master provides synchronisation telegrams (sync) and position setpoints on a fixed time base (synchronisation interval).

  • Page 112: Description Of The Objects

    - Lenze Operating modes Synchronous position selection Description of the objects 9.5.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60C0 0 interpolated_ INT16 submode_select Selection of the interpolation type. Linear interpolation without buffer 60C1...
  • Page 113 - Lenze Operating modes Synchronous position selection Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 60C4 0 interpolated_data_ UINT8 — configuration Reading-out of the buffer. 1 max_buffer_size — UINT32 Reading-out of the size of the position buffer for interpolated position mode.

  • Page 114: Functional Description

    - Lenze Operating modes Synchronous position selection Functional description 9.5.3 Functional description Before the drive controller can be switched to the interpolated position mode operating mode, several settings have to be made. These settings include the interpolation interval (interpolation_time_period), i.e. the time...
  • Page 115 - Lenze Operating modes Synchronous position selection Functional description The below graphs show the assignments and the sequence in detail: SYNC modes_of_ operation = 7 modes_of_ operation_ display = 7 controlword Bit 4: enable_ ip_mode controlword Bit 12: ip_...
  • Page 116 - Lenze Operating modes Synchronous position selection Functional description Event CAN object Generation of sync messages Request of IP operating mode 6060 , modes_of_operation = 07 Waiting for the operating mode being reached 6061 , modes_of_operation_display = 07 Reading-out of the current actual position...

  • Page 117: Torque Control

    - Lenze Operating modes Torque control Overview Torque control 9.6.1 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 118: Description Of The Objects

    - Lenze Operating modes Torque control Description of the objects 9.6.2 Description of the objects Index Name Possible settings Characteristics Lenze Selection Description 6071 0 target_torque -32768 {motor_rated_torque/1000} 32768 INT16 Input value for the torque controller (torque control operating mode).

  • Page 119: Appendix

    Integer, 4 bytes with sign 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 13.0002-EN...
  • Page 120 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1000 0 device_type UINT32 RO — Identification of the bus device in a multi-axis system. 00020192 931E servo inverter 1001 0 error_register UINT8 Reading-out of the error register.
  • Page 121 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1010 0 store_parameters UINT8 — Not used. 1 save_all_ 00000001 00000000 65766173 h — UINT32 RW — parameters Acceptance of default parameter set in application parameter set.
  • Page 122 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1018 0 identity_object UINT8 — Not used. 1 vendor_id — UINT32 RO — Manufacturer code 0000003B 2 product_code — UINT32 RO — Product code 00001111 931E 3 revision_number —...
  • Page 123 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1401 Receive PDO2 Communication Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes 2 subindexes are supported. 1 COB-ID_used_by_ 00000301 00000301 000003FF h —...
  • Page 124 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1601 Receive PDO2 Mapping Parameter 0 number_of_ h REC UINT32 RW — mapped_objects Maximum number of supported subindexes. 2 subindexes are supported. 1 first_mapped_ 60400010 —...
  • Page 125 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1800 Transmit PDO1 Communication Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes. 3 subindexes are supported. 1 COB-ID_used_by_ 00000181 00000181 000001FF h —...
  • Page 126 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1801 Transmit PDO2 Communication Parameter 0 number_of_entries h REC UINT8 — Maximum number of supported subindexes 3 subindexes are supported. 1 COB-ID_used_by_ 00000281 00000281 000002FF h —...
  • Page 127 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 1A00 Transmit PDO1 Mapping Parameter 0 number_of_ h REC UINT32 RW — mapped_objects Maximum number of supported subindexes. 1 subindex is supported. 1 first_mapped_ 60410010 —...
  • Page 128 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 2015 Transmit PDO2 Mask 0 number_of_entries UINT8 — Maximum number of supported subindexes 1 tpdo2_transmit_ FFFFFFFF 00000000 FFFFFFFF h — UINT32 RW — mask_low Mask for masking out individual bits of the PDOs.
  • Page 129 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6040 0 controlword 0000 0000 FFFF h VAR UINT16 RW Change of the drive controller state. An action is initiated (e.g. homing run). Bit no. Value...
  • Page 130 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6041 0 statusword 0000 FFFF h VAR UINT16 RO Display of the controller state and of various events. Bit no. Value 0001 State of the drive controller, see Tab.
  • Page 131 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6060 0 modes_of_ INT8 operation Selection of the operating mode Position control with positioning operation Speed control with setpoint ramp Torque control with setpoint ramp Homing...
  • Page 132 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6065 0 following_error_ 9102 00000000 {1 inc} 7FFFFFFF UINT32 RW window Symmetrical range around the position setpoint. If the actual position value is outside the range, a...
  • Page 133 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 606C 0 velocity_actual_ {1 rpm} INT32 value Reading-out of the actual speed. 6071 0 target_torque -32768 {motor_rated_torque/1000} 32768 INT16 Input value for the torque controller (torque control operating mode).
  • Page 134 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 607A 0 target_position {1 inc} INT32 Entry of the target position (absolute or relative entry, see bit 6 of the control word). The current settings for...
  • Page 135 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6084 0 profile_deceleration 10000 {1 rpm/s} UINT32 RW Setting of the braking deceleration. The unit can be set via the factor group. 6085 0 quick_stop_ 14100...
  • Page 136 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6097 0 acceleration_factor UINT32 RO — Conversion of acceleration values (acceleration_units) to the internal unit (rpm/256s). 1 numerator — UINT32 RW Proportional to the gearbox ratio between input-end...
  • Page 137 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 609A 0 homing_ {1 rpm/s} UINT32 RW acceleration Selection of the acceleration and deceleration for the homing run. The value applies to all homing methods and to both homing speeds.
  • Page 138 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60C4 0 interpolated_data_ UINT8 — configuration Reading-out of the buffer. 1 max_buffer_size — UINT32 RO Reading-out of the size of the position buffer for interpolated position mode.
  • Page 139 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60F9 0 velocity_control_ UINT8 — parameter_set Reading-out of the speed controller data. 1 velocity_control_ 64 × 256 — UINT16 RW gain Setting of the speed controller gain.
  • Page 140 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60FB 0 position_control_ UINT8 — parameter_set Reading-out of the position controller data. The position controller operates with internal feedforwarding so that deviation control is minimised and the controller settling time is reduced.
  • Page 141 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 60FF 0 target_velocity {1 rpm} INT32 Setting of the setpoint selected for the ramp generator. The unit can be set via the factor group. 6410 0 motor_data UINT8 —...
  • Page 142 - Lenze Appendix Index table Index Name Possible settings Characteristics Lenze Selection Description 6510 0 drive_data UINT8 — Not used. 1 serial_number — UINT32 RO Reading-out of the serial number. 2 drive_code — UINT32 RO Reading-out of the identification.

  • Page 143: Index

    - Lenze Index Index Activation of CANopen, 53 Definition of notes used, 12 Actual position value (position units), 82 Device control, 88 Actual value, position in position_units Device status of the heartbeat producer, 50 (position_actual_value), 82 Digital inputs, 85...
  • Page 144 - Lenze Index Peak motor current, 76 Personnel, qualified, 10 Identifier, 19 Phase sequence, 76 Inputs, analog, 85 Position control, 61 Installation, CE-typical drive system, assembly, 14 Position controller, 80 Installation, electrical, 14 - Output of, 82 Position controller gain, 82...
  • Page 145 - Lenze Index State - Fault, 91 Target position window, 82 - Fault reaction active, 91 Target torque, 117 - Not ready to switch on, 91 Target window, Position window, 82 - Operation enable, 91 Target window time, 82...
  • Page 146 - Lenze Notes  KHB 13.0002-EN 2.0...
  • Page 147 - Lenze Notes  KHB 13.0002-EN...
  • Page 148 - Lenze  Lenze GmbH & Co KG Kleinantriebe KHB 13.0002-EN Hans-Lenze-Straße 1 D-32699 Extertal © 02/2007 Germany TD19 +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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