Related Manuals for Lenze 931KPx
Summary of Contents for Lenze 931KPx
- Page 1 KHB 13.0004−EN .Bò* Communication Manual Servo Drives 930 931EPx, 931KPx PROFIBUS−DP...
- Page 2 0Fig. 0Tab. 0 KHB 13.0004−EN 2.1...
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Page 3: Table Of Contents
Contents About this documentation ..........Document history . - Page 4 Contents Actual values ............6.7.1 Actual position .
- Page 5 Contents Troubleshooting and fault elimination ........Fault elimination .
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Page 6: About This Documentation
This documentation addresses to all persons designing, installing, commissioning, and setting the servo inverters of the 931 series. Tip! Documentation and software updates for further Lenze products can be found on the Internet in the "Services & Downloads" area under http://www.Lenze.com... -
Page 7: Conventions Used
If you have suggestions for improvement, please e−mail us to: feedback−docu@Lenze.de Thank you for your support. Your Lenze documentation team Conventions used This documentation uses the following conventions to distinguish between different types of information:... -
Page 8: Notes Used
About this documentation Notes used 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) Pictograph and signal word Meaning... -
Page 9: Product Description
Product description Product features Product description Product features Support of the PROFIBUS−DP−V0 communication profile ƒ Drive profile: ƒ – PROFIdrive Automatic baud rate detection (9.6 kbps ... 12 Mbps) ƒ KHB 13.0004−EN... -
Page 10: Technical Data
Technical data Communication Technical data Communication Field Values Communication profile Profibus DP (DIN 19245 part 1 and part 3) Communication medium RS485 Drive profile PROFIdrive Network topology Without repeater: line / with repeaters: line or tree PROFIBUS−DP device Slave Baud rate [kbps] 9.6 ... -
Page 11: Electrical Installation
3. Only use cables that comply with the listed specifications. 4. Activate bus terminating resistors at the first and last physical station. When using sub plugs Lenze recommends to use sub−D plugs with internal series inductance (110 nH). KHB 13.0004−EN... - Page 12 Electrical installation Wiring Number of bus stations 2133PFB004 Segment Master (M) Slave (S) Repeater (R) − − − − Tip! Repeaters do not have a station address but in the calculation of the maximum number of stations they reduce the number of stations by 1 on each side of the segment.
- Page 13 Electrical installation Wiring Baud rates Baud rate [kbps] Length of the transmission cable [m] 9.6 ... 93.75 1200 187.5 1000 1500 3000 6000 12000 Note! The baud rate depends on the data volume, cycle time and number of bus ƒ stations.
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Page 14: Assignment Of The Interfaces
Electrical installation Assignment of the interfaces 931E servo inverter Assignment of the interfaces 4.2.1 931E servo inverter The controller is connected to the PROFIBUS via the 9−pin Sub−D socket X4.1/X4.2. View Designation Explanation − − − − RxD/TxD−P Data line B (received/transmitted data plus) Request to send (received/transmitted data, no differential signal) M5V2... -
Page 15: Profibus Communication
PROFIBUS communication The data telegram Structure of the receive message PROFIBUS communication The data telegram The controller supports the communication protocol DP in the power section DP−V0. The controller and the PLC communicate via receive telegram and response telegram. Enter parameter numbers (PNU) in these telegrams to address objects of the drive (e.g. -
Page 16: Structure Of The Response Message
PROFIBUS communication The data telegram Structure of the response message 5.1.2 Structure of the response message ADR = 1 ADR = 2 ADR = 4 ADR = 8 ADR = 12 ADR = 16 Byte Data 3rd PNU Data 2nd PNU Data 1st PNU Status word 1 (PNU 968) Mandatory wildcard (PNU 2010.0) - Page 17 PROFIBUS communication The data telegram Structure of the receive and response message with PKW mechanism Response message The PNU 2000 must be entered under the same address as in the receive message. ADR = 1 ADR = 2 ADR = 4 ADR = 12 ADR = 16 1st DWORD...
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Page 18: Consistent Parameter Data
PROFIBUS communication Consistent parameter data Structure of the receive and response message with PKW mechanism Consistent parameter data In the PROFIBUS communication system, a permanent data exchange takes place between the master computer (CPU + PROFIBUS master) and the slave. The PROFIBUS master and the CPU (central processing unit) of the master computer access a common storage medium for this purpose −... -
Page 19: Commissioning
Commissioning Important notes Commissioning Important notes Before you switch on the controller for the first time in the PROFIBUS−DP network, check the entire wiring for completeness, short circuit, and earth fault, ƒ and whether the bus system is terminated by terminating resistors at the first and ƒ... -
Page 20: Settings On The Controller (Slave)
Commissioning Settings on the controller (slave) Settings on the controller (slave) Note! The controller parameters are set using the »Small Drives Control (SDC)« PC software. Establish an RS232 connection for communication between the PC and the ƒ controller. For a detailed description please refer to the controller’s software manual. -
Page 21: Node Address Setting
Commissioning Settings on the controller (slave) Node address setting 6.3.1 Node address setting Selecting the node address via »Small Drives Control (SDC)« 1. Open the Parameters W Fieldbus W Profibus... W Operating parameters... menu. 931E_020, 931E_21 2. Enter the desired node address for the controller in the Slave node number input box. - Page 22 Commissioning Settings on the controller (slave) Node address setting Selecting the node address via the digital inputs DIN0 ... DIN5 You assign the node address to the controller by adding to the preset slave node number an offset via DIN0 ... DIN5. 1.
- Page 23 Commissioning Settings on the controller (slave) Node address setting 931E_23 7. Click on the OK button. Note! The dialog box displays that the communication between master and slave has been established successfully: The Data Exchange box is lit green. ƒ The baud rate set on the master is displayed in the Baud rate box.
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Page 24: Definition Of Parameter Numbers (Pnu) In The Telegram Editor
Commissioning Settings on the controller (slave) Definition of parameter numbers (PNU) in the telegram editor 6.3.2 Definition of parameter numbers (PNU) in the telegram editor Parameter numbers (PNU) can be used to address drive objects (e.g. process and ƒ parameter data). –... - Page 25 Commissioning Settings on the controller (slave) Definition of parameter numbers (PNU) in the telegram editor Note! If the response message does not correspond to the receive message, the ƒ master receives incorrect data from the controller. In the PLC you have to enter the identifier in byte 0 of the receive message. ƒ...
- Page 26 Commissioning Settings on the controller (slave) Definition of parameter numbers (PNU) in the telegram editor 931E_025 5. Select "Respond telegram" in the Telegram type field. – Byte 0 (telegram identifier, not visible) and the entries for byte 1 (ADR − 1) and byte 2 / byte 3 (ADR −...
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Page 27: Control System Configuration
1. Download the GSE file from the Internet. – You can find the GSE file in the "Services & Downloads" area at http://www.Lenze.com. 2. Install the GSE file. – Installation notes are given in the documentation for the master and in the documentation for the configuration tool. -
Page 28: Speed Control" Mode
Commissioning "Speed control" mode Description "Speed control" mode 6.5.1 Description The following functions are available: Setpoint generation via ramp generator (limit function) ƒ Speed detection via angle encoder by differentiation ƒ Speed control with appropriate input and output signals ƒ Limitation of speed setpoint (via PROFIBUS or analog input) ƒ... -
Page 29: Commissioning With Profidrive
Commissioning "Speed control" mode Commissioning with PROFIdrive 6.5.2 Commissioning with PROFIdrive Note! The bit assignment of the control word 1 and the status word 1 is described ƒ in the chapter "Device control". (¶ 54) To enable the PLC to control the controller via PROFIBUS, bit 10 of the ƒ... -
Page 30: Pnus For Parameter Setting
Commissioning "Positioning" mode PNUs for parameter setting 6.5.3 PNUs for parameter setting Possible settings Characteristics Name Lenze Selection Description 1010 0 Target Velocity {1 rpm} 6000 INT32 Selection of the speed setpoint. If the speed control mode is selected in SDC, the selector under "setpoint... -
Page 31: Setting Of Homing
Commissioning "Positioning" mode Setting of homing 6.6.1 Setting of homing Homing control word 1 (PNU 967.0, Bit 11) home offset status word 1 (PNU 1051.0) (PNU 968.0 Bit 11) homing method (PNU 1050.0) home speed ( ) position demand value ( ) home acceleration ( ) 0 931e_028 Fig. -
Page 32: Positioning
Commissioning "Positioning" mode Positioning 6.6.2 Positioning position factor home offset (PNU 1051.0) polarity [position units] Limit target_postion Multiplier (PNU 1001.0) Function position set number (PNU 1000) profile velocity (PNU 1001.1) Position Trajectory position demand value ( ) acceleration positioning (PNU 1001.3) Control control effort ( ) Generator... - Page 33 Commissioning "Positioning" mode Positioning Adjustment Simple travel task ƒ – Select position data set (0 … 63) under PNU 1002. (¶ 35) – Activation: Control word 1, set bit 6 from 0 ® 1. – The controller stops when the target position has been reached. Bit 10 of status word 1 is used to signal the reaching of the target position to the master.
- Page 34 Commissioning "Positioning" mode Positioning Transfer of travel task Bit 10 Bit 4 Bit 5 Bit 6 Bit 9 Bit 10 Bit 11 931e_031 Fig. 7 Transfer of travel task to the controller t(0) Status word 1, bit 11 = HIGH: home position is valid t(1)−(2) Data transfer (acceleration, target position, speed) from master to corresponding position data set (^ 32)
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Page 35: Static Position Data Sets
Commissioning "Positioning" mode Static position data sets 6.6.3 Static position data sets The settings (positioning, start delay, start during positioning) and the driving profile (travelling speed, acceleration, time constant without jerk) of the position data sets 0 ... 63, which can be parameterised with »Small Drives Control (SDC)«, are divided into four groups (see software manual for the controller). -
Page 36: Dynamic Position Data Set
Commissioning "Positioning" mode Dynamic position data set 6.6.4 Dynamic position data set If the application requires positioning with different settings and driving profiles, use dynamic positioning via position data set 68: Selection of the driving profile via PROFIBUS. ƒ Changing between absolute and relative positioning via control word 1. ƒ... -
Page 37: Commissioning With Profidrive
Commissioning "Positioning" mode Commissioning with PROFIdrive 6.6.5 Commissioning with PROFIdrive Note! The bit assignment of the control word 1 and the status word 1 is described ƒ in the chapter "Device control". (¶ 54) To enable the PLC to control the controller via PROFIBUS, bit 10 of the ƒ... -
Page 38: Pnus For Parameter Setting
Commissioning "Positioning" mode PNUs for parameter setting 6.6.6 PNUs for parameter setting Possible settings Characteristics Name Lenze Selection Description 1000 0 Position Set UINT16 Number 0 ... 63 Standard position data sets Position data sets of the controller. The selected data set can be parameterised via 64 ... - Page 39 Commissioning "Positioning" mode PNUs for parameter setting Name Name Possible settings Characteristics Lenze Selection Description 1051 0 Home Offset −32767 {1 inc} 32767 INT32 Definition of the distance between the zero position and the reference point of a homing sequence.
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Page 40: Actual Values
Reading the actual position. ƒ Due to the physical units, the resulting value may be higher than the maximum value which can be represented by PNU 1100. Name Possible settings Characteristics Lenze Selection Description 1100 0 Position Actual {1 inc} INT32 Value Actual position value. -
Page 41: Digital Outputs
Commissioning Actual values Digital outputs 6.7.4 Digital outputs States of the digital outputs. ƒ Name Possible settings Characteristics Lenze Selection Description 1140 0 Digital Outputs UINT32 Value Triggering of the digital outputs. 00000001 Holding brake Important! Up to 10 ms may... -
Page 42: Motor Data
6.7.6 Motor data Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I ƒ limitation in [‰]. Name Possible settings Characteristics Lenze Selection Description 1160 Temperature Reading of different temperatures. 0 Power stage {1 °C}... -
Page 43: Parameter Setting
Parameter setting Physical units Parameter setting Physical units Note! Application−specific parameters depend on the physical units. For this reason set the physical units before starting to parameterise the application. With the »Small Drives Control (SDC)« program you can parameterise the controller in such a way that the physical quantities can be entered/read out on the drive directly in the desired units (e.g. - Page 44 Parameter setting Physical units 931e_415 Fig. 8 Gearbox factors Input−end speed Output−end speed Position_units in degrees Position_units in mm Notes on settings From the set physical units conversion factors are automatically generated ƒ internally. The conversion factors consist of a numerator and a denominator and may not be longer than 32 bits.
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Page 45: Global Parameters
Saving of parameter set Global parameters 7.2.1 Saving of parameter set Saving parameters on the controller. ƒ Name Possible settings Characteristics Lenze Selection Description 0 Transfer into a UNIT16 non−volatile No action Save current parameter set memory and all position data sets... -
Page 46: Motor Data
Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I ƒ limitation in [‰]. Name Possible settings Characteristics Lenze Selection Description 1160 Temperature Reading of different temperatures. 0 Power stage {1 °C}... -
Page 47: Speed Control" Mode
"Speed control" mode 7.3.1 Speed setpoint Setting the speed setpoint. ƒ In the "speed control" mode the "speed setpoint" selector is selected automatically. Name Possible settings Characteristics Lenze Selection Description 1010 0 Target Velocity {1 rpm} 6000 INT32 Selection of the speed setpoint. -
Page 48: Acceleration Value
The data is interpreted according to the selected physical units. (¶ 43) Please observe that only the actual value of the acceleration ramp for the positive direction of rotation is read. Name Possible settings Characteristics Lenze Selection Description 1011 Acceleration for UINT32... -
Page 49: Positioning" Mode
You just have to enter, for instance, the values for accelerations once. These values then do not have to be transferred. Name Possible settings Characteristics Lenze Selection Description 1000 0 Position Set UINT16 Number 0 ... -
Page 50: Position Data Set At Starting Of Positioning
The controller is provided with 64 storable standard position data sets which can be selected via 8 bits. Name Possible settings Characteristics Lenze Selection Description 1002 0 Start Set Number UINT8 0 ... 63... -
Page 51: Homing Modes
Selection of the homing method. ƒ A detailed description of the different methods is given in the software manual for the controller. Name Possible settings Characteristics Lenze Selection Description 1050 0 Homing Method INT8 Homing to Selection of the homing method to be used. -
Page 52: Homing Offset
Home Offset 931_029 Fig. 9 Interpretation of the home offset Reference point, first zero pulse Zero position Limit switch Name Possible settings Characteristics Lenze Selection Description 1051 0 Home Offset −32767 {1 inc} 32767 INT32 Definition of the distance between the zero position and the reference point of a homing sequence. -
Page 53: Error Management
Selection of the error number for which a response is to be set. ƒ A description of the error messages and the possible responses is given in the chapter "Table of error messages". (¶ 62) Name Possible settings Characteristics Lenze Selection Description 1610 Error Management Error management 0 Error Number... -
Page 54: Device Control
Device control Important notes Device control Important notes Danger! Uncontrolled motor movements can occur If the power stage of the controller is inhibited, the motor coasts to stop without braking. Possible consequences: Injury to persons through uncontrolled machine movements. ƒ Protective measures: Install a mechanical motor brake which is activated automatically when the ƒ... -
Page 55: Speed Control" Mode
Device control "Speed control" mode Control word 1 "Speed control" mode 8.2.1 Control word 1 Control word 1 in "speed control" mode Command Value Meaning See chapter "State diagram" ^ 59 ON / OFF (OFF 1) No coast stop (no OFF 2) Coast stop (OFF 2) No quick stop (no OFF 3) Quick stop (OFF 3) -
Page 56: Status Word 1
Device control "Speed control" mode Status word 1 8.2.2 Status word 1 Status word 1 in "speed control" mode State Value Meaning See chapter "State diagram" ^ 59 READY_FOR_SWITCH_ON READY_TO_OPERATE OPERATION Fault present Error pending. No error. No coast stop (no OFF 2) Command "OFF 2"... -
Page 57: Positioning" Mode
Device control "Positioning" mode Control word 1 "Positioning" mode 8.3.1 Control word 1 Control word 1 in "positioning" mode Command Value Meaning See chapter "State diagram" ^ 59 ON / OFF (OFF 1) No coast stop (no OFF 2) Coast stop (OFF 2) No quick stop (no OFF 3) Quick stop (OFF 3) Enable operation... -
Page 58: Status Word 1
Device control "Positioning" mode Status word 1 8.3.2 Status word 1 Status word 1 in "positioning" mode State Value Meaning See chapter "State diagram" ^ 59 READY_FOR_SWITCH_ON READY_TO_OPERATE OPERATION Fault present Error pending. No error. No coast stop (no OFF 2) Command "OFF 2"... -
Page 59: State Diagram
Device control State diagram Status word 1 State diagram Power on S1: SWITCHING_ON_INHIBITED (6) (12) S2: READY_FOR_SWITCH_ON (10) S3: SWITCHED_ON (11) S4:OPERATION 931e_027 Fig. 10 Simplified state diagram Controller states Status word 1 State Bit 6 Bit 2 Bit 1 Bit 0 Description 0040 0004... - Page 60 Device control State diagram Status word 1 Commands and state transitions of the controller Control word 1 Command Bit 3 Bit 2 Bit 1 Bit 0 State Description transitions 0008 0004 0002 0001 × 1, 5, 11 The controller is inhibited (DIN9 = LOW).
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Page 61: Troubleshooting And Fault Elimination
PNU 1601: PNU 1601.0 transfers the error numbers 1 ... 32 ƒ PNU 1601.1 transfers the error numbers 33 ... 64 ƒ Name Possible settings Characteristics Lenze Selection Description 1601 Error Code Error messages 0 Error Field 0 UINT32 Error numbers 1 ... -
Page 62: Table Of Error Messages
The power stage remains switched on. The controller continues operating. The generated warning message can be read via the fieldbus or the RS232 interface. No response. The warning message is suppressed. þ Setting Lenze setting ¨ Setting is possible − Setting is not possible... - Page 63 Error Meaning Activation Response Cause Remedy number time A H W O þ þ þ ¨ Motor overtemperature Motor overtemperature < 100 ms Check if the motor cooling via the motor housing is impeded as a result of deposits, etc. (if necessary, clean the motor).
- Page 64 Error Error Meaning Meaning Activation Activation Response Cause Cause Remedy Remedy number number time time þ Error in 24V supply for logic < 5 ms − − − 24V supply for logic too high or too low. Send the controller in for repair. Load capacity of 24V supply for logic is too low, e.g.
- Page 65 Check settings of controller and angle encoder. and angle encoder. þ þ ¨ ¨ Course program: Unknown < 5 ms Contact Lenze. command þ þ ¨ ¨ Course program: Invalid jump < 5 ms The digital inputs for START1 and Correct the settings.
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Page 66: Appendix
Subindex 1 of PNU XXXX (PNU XXXX.1) Subindex 2 of PNU XXXX (PNU XXXX.2) Name Name of the PNU Possible settings Lenze Lenze setting (value at delivery or after restoring the delivery state) Selection 99 Minimum value {unit} maximum value Characteristics Object type... - Page 67 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1000 0 Position Set UINT16 Number 0 ... 63 Standard position data sets Position data sets of the controller. The selected data set can be parameterised via 64 ...
- Page 68 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1011 Acceleration for UINT32 Velocity Control Setting the acceleration and deceleration for the speed control mode 0 Acceleration 10000 {1 rpm/s} 20000 Acceleration, the value set is...
- Page 69 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1022 Current Limitation Selection of the torque limitation independently of the operating mode 0 Limit Current Input INT8 Channel No limitation Selection of the source for...
- Page 70 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1051 0 Home Offset −32767 {1 inc} 32767 INT32 Definition of the distance between the zero position and the reference point of a homing sequence. Positive values shift the...
- Page 71 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1150 DC_link_circuit_ voltage {1 V} UINT32 1160 Temperature Reading of different temperatures. 0 Power stage {1 °C} INT16 temperature Reading of the current power stage temperature.
- Page 72 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 1290 Motor Data Overload protection for the motor connected. 0 iit Time Motor 2000 {1 ms} 10000 UNIT16 Time for which the motor is fed with the specified maximum current.
- Page 73 Appendix Table of parameter numbers (PNU) Name Name Possible settings Characteristics Lenze Selection Description 2000 0 PKW Access 2 × UINT32 Byte Value Meaning Manufacturer−specific access to the parameter identifier No access value (PKW). Read access In the receive and response...
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Page 74: Index
Index Index Actual position, 40 Inching mode (manual jog), setting, 45 Actual speed value, 40 Initial switch−on, 19 Inputs, digital, 41 Actual value of effective current, 40 Installation, electrical, 11 Basic wiring of the PROFIBUS, 11 Jerk limitation, 50 Baud rate, 10 Manual jog (inching mode), setting, 45 Cable length, per bus segment, 10 Modes for homing, 51... - Page 75 Index Speed setpoint, 47 State diagram, 59 Receive message, structure, 15 Status word 1 Response message, structure, 16 − "Positioning" mode, 58 − "Speed control" mode, 56 Switch on, initial, 19 Safety instructions − definition, 8 − layout, 8 Technical data, 10 Saving, parameter set, 45 Transmission cable, specification, 13 Saving of parameter set, 45...
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