Lenze ECS Series Operating Instructions Manual
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Lenze ECS Series Operating Instructions Manual

Axis module - motion
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EDBCSXM064
.LKp
ECS
ECSEMxxx / ECSDMxxx / ECSCMxxx
Axis module ˘ "Motion"
Operating Instructions
l

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Summary of Contents for Lenze ECS Series

  • Page 1 EDBCSXM064 .LKp Operating Instructions ECSEMxxx / ECSDMxxx / ECSCMxxx Axis module ˘ "Motion"...
  • Page 2 0Fig. 0Tab. 0 © 2013 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, 31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Sy- stems GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described.
  • Page 3 ECSEA_003A EDBCSXM064 EN 11.0...
  • Page 4 Scope of supply Position Description Quantity ECSLM... axis module Accessory kit with fixing material corresponding to the design (L): "E" − standard panel−mounted unit "D" − push−through technique "C" − cold−plate technique Mounting Instructions Drilling jig Functional earth conductor (only ECSDM...) Note! The ECSZA000X0B connector set must be ordered separately.

  • Page 5: Table Of Contents

    ............General safety and application notes for Lenze controllers .
  • Page 6 ....... . . Entry of motor data for Lenze motors .
  • Page 7 Contents Setting of the feedback system for position and speed control ....6.7.1 Resolver as position and speed encoder ......6.7.2 Resolver as absolute value encoder .
  • Page 8 Contents 6.19 Operation with motors from other manufacturers ......6.19.1 Entering motor data manually ........6.19.2 Checking the direction of rotation of the motor feedback system .
  • Page 9 Contents Monitoring functions ............Fault responses .
  • Page 10 Contents Troubleshooting and fault elimination ........11.1 Fault analysis .

  • Page 11: Preface And General Information

    Preface and general information About these Operating Instructions Preface and general information About these Operating Instructions These Operating Instructions will assist you in connecting and commissioning the ECSxM... axis modules. They contain safety instructions which must be observed! All persons working on and with the ECSxM... axis modules must have the Operating Instructions available and must observe the information and notes relevant for their work.

  • Page 12: Terminology Used

    (PLC) or further controllers exclusively via the X4 interface. Interface X14 (CAN−AUX) is exclusively used for parameter setting and diagnostics. Drive PLC Developer Studio (Lenze software for PLC programming acc. to IEC 61131) Global Drive Control (Lenze software for parameter setting and diagnostics)

  • Page 13: Code Descriptions

    Preface and general information About these Operating Instructions Code descriptions 1.1.2 Code descriptions Lenze codes are described in the form of tables with the following structure: Column Abbreviation Meaning Cxxxx Code no. Cxxxx Subcode 1 of Cxxxx Subcode 2 of Cxxxx...

  • Page 14: Features Of The Axis Module Ecsxm (Motion)

    Supported feedback systems: ƒ – Resolver with and without position storage – Encoder (incremental encoder (TTL encoder), sin/cos encoder) Commissioning, parameter setting and diagnostics with the Lenze parameter ƒ setting and operating program "Global Drive Control" (GDC) or the XT EMZ9371BC keypad...

  • Page 15: Structure

    Structure UG+ UG- UG+ UG- PE PE ECSxM Digital_IO DI1: EtherCAT_SYNC AIF_IO Drive control C0135 C0576 C3160 C3161 C4010 = 2 C0579 C3002 C3152 Init C3162 (AIF) C3008 C3009 C3153 C3010 C3011 Stand by C3012 C3020 Control word Trouble ManJog CAN_IO C3021 C3022...

  • Page 16: Scope Of Supply

    Components for operation and communication ƒ Brake resistors ƒ Mains fuses ƒ Mains chokes ƒ RFI filters ƒ Tip! Information and auxiliary devices related to the Lenze products can be found in the download area at http://www.Lenze.com EDBCSXM064 EN 11.0...

  • Page 17: Legal Regulations

    Instructions. 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 18: Safety Instructions

    Lenze Automation GmbH does not accept any liability for the suitability of the procedures and circuit proposals described. Depending on their degree of protection, some parts of the Lenze controllers ƒ (frequency inverters, servo inverters, DC speed controllers) and their accessory components can be live, moving and rotating during operation.
  • Page 19 Safety instructions General safety and application notes for Lenze controllers Application as directed Controllers are components which are designed for installation in electrical systems or machines. They are not to be used as domestic appliances, but only for industrial purposes according to EN 61000−3−2.
  • Page 20 Reduce housing openings and cutouts to a minimum. Lenze controllers may cause a DC current in the PE conductor. If a residual current device (RCD) is used for protection against direct or indirect contact for a controller with three−phase supply, only a residual current device (RCD) of type B is permissible on the...
  • Page 21 Safety instructions General safety and application notes for Lenze controllers Safety functions Certain controller versions support safety functions (e.g. "Safe torque off", formerly "Safe standstill") according to the requirements of the EC Directive 2006/42/EC (Machinery Directive). The notes on the integrated safety system provided in this documentation must be observed.

  • Page 22: Thermal Motor Monitoring

    179 s in the event of a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128), a motor current of 1.5 x I and a trigger threshold of 100 %.

  • Page 23: Forced Ventilated Or Naturally Ventilated Motors

    C0120 (OC6) or C0127 (OC8). Read release time in the diagram Diagram for detecting the release times for a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128): = 1 × I L [%] = 3 ×...

  • Page 24: Self−Ventilated Motors

    C0129/x. Parameter setting The following codes can be set for I x t monitoring: Code Meaning Value range Lenze setting C0066 Display of the I x t load of the motor 0 ... 250 % − C0120 Threshold: Triggering of error "OC6"...
  • Page 25 Safety instructions Thermal motor monitoring Self−ventilated motors Calculate release time and I x t load Calculate the release time and the I x t load of the motor considering the values in C0129/1 and C0129/2(evaluation coefficient "y"). Formulae for release time Information Release time of the I x t monitoring...

  • Page 26: Residual Hazards

    ECSxE supply module and the input current ƒ limitation is activated depending on the DC−bus voltage (C0175 = 1 or 2). the axis module is not supplied via a supply module delivered by Lenze. ƒ the low−voltage supply (24 V) is switched off.
  • Page 27 Motor protection Only use motors with a minimum insulation resistance of û = 1.5 kV, ƒ min. du/dt = 5 kV/ms. – Lenze motors meet these requirements. When using motors with an unknown insulation resistance, please contact your ƒ motor supplier.

  • Page 28: Safety Instructions For The Installation According To Ul

    Safety instructions Safety instructions for the installation according to UL Safety instructions for the installation according to UL Warnings! General markings: Use 60/75 °C or 75 °C copper wire only. ƒ Maximum ambient temperature 55 °C, with reduced output current. ƒ...

  • Page 29: Notes Used

    Safety instructions 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 30: Technical Data

    Technical data General data and operating conditions Technical data General data and operating conditions Standards and operating conditions Conformity Low−Voltage Directive (2006/95/EG) Approvals UL 508C Power Conversion Equipment Underwriter Laboratories (File No. E132659) CSA 22.2 No. 14 for USA and Canada Max.
  • Page 31 Technical data General data and operating conditions General electrical data Compliance with the requirements acc. to EN 61800−3 Noise emission Compliance with the limit class C2 acc. to EN 61800−3 (achieved by using collective filters typical for the application) Noise immunity Requirements acc.

  • Page 32: Rated Data

    Technical data Rated data Rated data Axis module Rated data Type ECSxL004 ECSxL008 ECSxL016 Output power 400 V mains [kVA] rated Data for operation with upstream power supply module mains on mains voltage DC−bus voltage 15 ... 770 DC−bus DC−bus current DC−bus Rated output current at 4 kHz (causes a heatsink temperature of 70°C at an ambient...
  • Page 33 Technical data Rated data Rated data Type Axis module ECSxL032 ECSxL048 ECSxL064 Output power 400 V mains [kVA] 11.2 13.2 rated Data for operation with upstream power supply module mains on mains voltage DC−bus voltage 15 ... 770 DC−bus DC−bus current 15.6 12.5 20.9...

  • Page 34: Current Characteristics

    Technical data Current characteristics Increased continuous current depending on the control factor Current characteristics 3.3.1 Increased continuous current depending on the control factor In the lower speed range ˘ the motor does not need the full motor voltage ˘ particularly the more powerful ECS axis modules can be permanently operated with increased output ^ 32).
  • Page 35 Technical data Current characteristics Increased continuous current depending on the control factor The following table shows the connections between mains voltage, DC−bus voltage and motor voltage: Mains voltage DC−bus voltage Output voltage (motor voltage) nominally achievable for 100 % x 1.35] mains mains modulation...
  • Page 36 Technical data Current characteristics Increased continuous current depending on the control factor Example: The ECS axis module suitable for operation in conjunction with a Lenze motor of type MCS 14L32 is to be determined. Rated motor data ƒ – Rated motor torque (M ) = 17.2 Nm...

  • Page 37: Device Protection By Current Derating

    Technical data Current characteristics Device protection by current derating 3.3.2 Device protection by current derating The maximum output current is limited. With output frequencies < 5 Hz the limitation depends on the heatsink temperature. ‚ 1.00 1.00 Iout ≤ 70 °C Imax ...

  • Page 38: Mechanical Installation

    – Ensure unimpeded ventilation of cooling air and outlet of exhaust air. – Several modules of the ECS series can be installed in the control cabinet next to each other without any clearance. The mounting plate of the control cabinet ƒ...

  • Page 39: Mounting With Fixing Rails (Standard Installation)

    Mechanical installation Mounting with fixing rails (standard installation) Dimensions Mounting with fixing rails (standard installation) 4.2.1 Dimensions Note! Mounting with ECSZS000X0B shield mounting kit: Mounting clearance below the module > 195 mm ƒ ECSxA005 Fig. 4−1 Dimensions for "panel−mounted" design Axis module Dimensions [mm] Type...

  • Page 40: Mounting Steps

    Mechanical installation Mounting with fixing rails (standard installation) Mounting steps 4.2.2 Mounting steps How to install the axis module: 1. Prepare the fixing holes on the mounting surface. – Use the drilling jig for this purpose. 2. Take the fixing rails from the accessory kit in the cardboard box. 3.

  • Page 41: Mounting With Thermal Separation (Push−Through Technique)

    Mechanical installation Mounting with thermal separation (push−through technique) Mounting with thermal separation (push−through technique) For the push−through technique the rear panel of the control cabinet must be a steel plate with a thickness of at least 2 mm. The edges of the mounting cutout and the fixing holes for the clamps must be slightly curved inwards (towards the axis module).

  • Page 42: Dimensions

    Mechanical installation Mounting with thermal separation (push−through technique) Dimensions 4.3.1 Dimensions Note! Mounting with ECSZS000X0B shield mounting kit: Mounting clearance below the module > 195 mm ƒ ECSXA007 Fig. 4−2 Dimensions for "push−through design" Mounting cutout (a1 x b1), ^ 43 Axis module Dimensions [mm] Type...
  • Page 43 Mechanical installation Mounting with thermal separation (push−through technique) Dimensions Dimensions of mounting cutout Note! Installation with shield mounting ECSZS000X0B: Clearance below the mounting cutout > 220 mm ƒ ECSXA063 Fig. 4−3 Dimensions of mounting cutout Mounting surface Mounting cutout for size 0 Mounting cutout for size 1 Axis module Dimensions [mm]...

  • Page 44: Mounting Steps

    Mechanical installation Mounting with thermal separation (push−through technique) Mounting steps 4.3.2 Mounting steps How to mount the axis module: 1. Prepare the fixing holes for the wire clamps on the mounting area. For this purpose, apply a drilling jig. 2. Prepare the mounting cutout. The edges of the mounting cutout and the fixing holes for the wire clamps have to be slightly arched inwardly (to the axis module).

  • Page 45: Mounting In Cold−Plate Design

    Mechanical installation Mounting in cold−plate design Mounting in cold−plate design The axis modules ECSC... are intended for mounting in cold−plate design (e.g. on collective coolers). Requirements for collective coolers The following requirements must be met to ensure a safe operation of the axis modules: Good thermal contact with the cooler ƒ...

  • Page 46: Dimensions

    Mechanical installation Mounting in cold−plate design Dimensions 4.4.1 Dimensions Note! Mounting with ECSZS000X0B shield mounting kit: Mounting clearance below the module > 195 mm ƒ ECSXA009 Fig. 4−5 Dimensions for "cold−plate design" Axis module Dimensions [mm] Type Size ECSC ECSC 88,5 ECSC ECSC...

  • Page 47: Mounting Steps

    Mechanical installation Mounting in cold−plate design Mounting steps 4.4.2 Mounting steps À Á Â ECSXA030 Fig. 4−6 Mounting for "cold−plate design" Proceed as follows to mount the axis module: 1. Prepare the fixing holes on the mounting plate. – Use a drilling jig for this purpose. 2.

  • Page 48: Electrical Installation

    Electrical installation Installation according to EMC (installation of a CE−typical drive system) Electrical installation Installation according to EMC (installation of a CE−typical drive system) General information The electromagnetic compatibility of a machine depends on the type of installation ƒ and care taken.Especially consider the following: –...
  • Page 49 Electrical installation Installation according to EMC (installation of a CE−typical drive system) Assembly Connect the ECS modules, RFI filters, and mains choke to the earthed mounting ƒ plate with a surface as large as possible: – Mounting plates with conductive surfaces (zinc−coated or stainless steel) allow for permanent contact.
  • Page 50 Electrical installation Installation according to EMC (installation of a CE−typical drive system) Shielding Connect the motor cable shield to the axis module ƒ – with the ECSZS000X0B shield mounting kit. – extensively to the mounting plate below the axis module. –...

  • Page 51: Power Terminals

    Electrical installation Power terminals Power terminals ECSXA080 Fig. 5−1 Plug connectors for power terminals Danger! Dangerous voltage The leakage current to earth (PE) is > 3.5 mA AC or > 10 mA DC. Possible consequences: Death or severe injuries when the device is touched in the event of a fault. ƒ...
  • Page 52 Electrical installation Power terminals All power connections are plug connections and coded. The ECSZA000X0B plug ƒ connector set must be ordered separately. Installation of the cables to EN 60204−1. ƒ The cables used must comply with the approvals required at the site of use (e.g. VDE, ƒ...
  • Page 53 Electrical installation Power terminals Shielded cables The following factors decisively determine the effect of the shielded cables: Good shield connection ƒ – Ensure a contact surface as large as possible Low shield resistance ƒ – Only use shields with tin−plated or nickel−plated copper braids (shields with steel braids cannot be used).

  • Page 54: Connection To The Dc Bus (+Ug, −Ug)

    Electrical installation Power terminals Connection to the DC bus (+U , −U 5.2.1 Connection to the DC bus (+U , −U Stop! No device protection for DC bus voltage surges In passive axis modules (without 24 V−supply), the charging circuit can be overloaded through DC bus voltage surges.
  • Page 55 Power terminals Connection to the DC bus (+U , −U Fuses Mains fuses are not included in the Lenze delivery program. Use standard fuses. ƒ When using ECSxE power supply modules which are fused on the supply side the ƒ...

  • Page 56: Connection Plan For Mimimum Wiring With Internal Brake Resistor

    Electrical installation Power terminals Connection plan for mimimum wiring with internal brake resistor 5.2.2 Connection plan for mimimum wiring with internal brake resistor Documentation of the ECSxE power supply module Observe the enclosed notes. Stop! Always operate the ECS power supply modules with a brake resistor (internal/external).
  • Page 57 Electrical installation Power terminals Connection plan for mimimum wiring with internal brake resistor F1...F3 " " L3 PE +UG +UG +UG +UG ECSEE... ECSxS/P/M/A... ECSxS/P/M/A... ECSDE... BD1 BD2 U V W PE BD1 BD2 U V W PE " " "...

  • Page 58: Connection Plan For Mimimum Wiring With External Brake Resistor

    Electrical installation Power terminals Connection plan for mimimum wiring with external brake resistor 5.2.3 Connection plan for mimimum wiring with external brake resistor Documentation of the ECSxE power supply module Observe the enclosed notes. Stop! Always operate the ECS power supply modules with a brake resistor. ƒ...
  • Page 59 Electrical installation Power terminals Connection plan for mimimum wiring with external brake resistor F1...F3 " " L3 PE +UG +UG +UG +UG ECSxE... ECSxS/P/M/A... ECSxS/P/M/A... BD1 BD2 U V W PE BD1 BD2 U V W PE " " " "...

  • Page 60: Motor Connection

    ) when using synchronous motors or according to the rated motor current ) for asynchronous motors. Length of the unshielded ends: 40 ... 100 mm (depending on the cable cross−section) ƒ Lenze system cables meet these requirements. ƒ Use the ECSZS000X0B shield mounting kit for EMC−compliant wiring. ƒ...

  • Page 61: Motor Holding Brake Connection

    Electrical installation Power terminals Motor holding brake connection 5.2.5 Motor holding brake connection The motor holding brake is connected to X25/BD1 and X25/BD2. ƒ is supplied with low voltage via the terminals X6/B+ and X6/B−: ƒ +23 ... +30 V DC, max.1.5 A Stop! Protect X6/B+ with an F 1.6 A fuse.
  • Page 62 1.5 V is produced. The voltage drop can be compensated by a higher voltage at the cable entry. The voltage required at X6/B+ and X6/B− for the Lenze system cables is calculated as follows: [V] + U [V] ) 0.08...

  • Page 63: Connection Of An Ecsxk

    Electrical installation Power terminals Connection of an ECSxK... capacitor module (optional) 5.2.6 Connection of an ECSxK... capacitor module (optional) The ECS capacitor modules support the DC−bus voltage for the drive system. These capacitor module types are available: ECSxK001 (705 mF, ±20 %) ƒ...

  • Page 64: Control Terminals

    Electrical installation Control terminals Control terminals ECSXA070 Fig. 5−7 Plug connectors for control terminals (X6) For the supply of the control electronics an external 24 V DC voltage at terminals X6/+24 and X6/GND is required. Stop! The control cables must always be shielded to prevent interference ƒ...
  • Page 65 Electrical installation Control terminals Shield connection of control cables and signal cables The plate on the front of the device serves as the mounting place (two threaded holes M4) for the shield connection of the signal cables. The screws used may extend into the inside of the device by up to 10 mm.
  • Page 66 (central controller enable) of the power supply module via the relay 0. – In the default Lenze setting of the ECS axis modules, DO1 is set to "ready". "Ready" is only present if a specified DC−bus voltage has been reached.
  • Page 67 Electrical installation Control terminals Assignment of the plug connectors Plug connector X6 Terminal Function Electrical data X6/+24 Low−voltage supply of the control electronics 20 ... 30 V DC, 0. A (max. 1 A) for starting current of 24 V: X6/GND Reference potential of low−voltage supply max.

  • Page 68: Digital Inputs And Outputs

    Electrical installation Control terminals Digital inputs and outputs 5.3.1 Digital inputs and outputs Stop! If an inductive load is connected to X6/DO1, a spark suppressor with a limiting function to max. 50 V ± 0 % must be provided. GNDext DI1 DI2 DI3 DI4 "...

  • Page 69: Analog Input

    Electrical installation Control terminals Analog input 5.3.2 Analog input " " ECSXA015 Fig. 5−10 Analog input at X6 " HF−shield termination by large−surface connection to functional earth (see Mounting Instructions for ECSZS000X0B shield mounting kit) Analog input configuration Use C0034 to set whether the input is to be used for a master voltage (±10 V) or a ƒ...

  • Page 70: Safe Torque Off

    Electrical installation Control terminals Safe torque off 5.3.3 Safe torque off The axis modules support the "safe torque off" safety function (formerly "safe standstill"), "protection against unexpected start−up", in accordance with the requirements of EN ISO 13849−1, Performance Level Pld. For this purpose, the axis modules are equipped with two independent safety paths.
  • Page 71 Electrical installation Control terminals Safe torque off 5.3.3.2 Functional description The "safe torque off" state can be initiated any time via the input terminals X6/SI1 (controller enable/inhibit) and X6/SI2 (pulse enable/inhibit). For this purpose a LOW level has to be applied at both terminals: X6/SI1 = LOW (controller inhibited): ƒ...
  • Page 72 Electrical installation Control terminals Safe torque off 5.3.3.3 Important notes Danger! When using the "safe torque off" function, additional measures are required for "emergency stops"! There is neither an electrical isolation between motor and axis module nor a "service" or "repair switch". Possible consequences: Death or severe injuries ƒ...
  • Page 73 Electrical installation Control terminals Safe torque off 5.3.3.4 Technical data Terminal assignment Plug connector X6 Terminal Function Level Electrical data X6/S24 Low−voltage supply 18 ... 30 V DC 0.7 A X6/SO "Safe torque off" feedback During operation 24 V DC output 0.7 A (max.
  • Page 74 Electrical installation Control terminals Safe torque off 5.3.3.5 Function check After installation the operator must check the "safe torque off" function. ƒ The function check must be repeated at regular intervals, after one year at the ƒ latest. Stop! If the function check leads to impermissible states at the terminals, commissioning cannot take place! Test specifications Check the circuitry with regard to correct function.
  • Page 75 Electrical installation Control terminals Safe torque off 5.3.3.6 Example: Wiring with electronic safety switching device "Pilz PNOZ e1vp" for Performance Level Pl 24V DC Start ECSxS/P/M/A Not-Halt/ Emergency stop Pilz PNOZ e1vp 10s 24V DC Pilz 774195 Pilz 774195 ECSXA034 Fig.
  • Page 76 PL in accordance with EN ISO 13849−1 or SIL 2 in accordance with EN 62061 are to be used in all upstream applications! Interconnection examples can be found in the download area (Application Knowledge Base) at: www.Lenze.com EDBCSXM064 EN 11.0...
  • Page 77 Electrical installation Control terminals Safe torque off 5.3.3.7 Example: Wiring with electromechanical safety switching device "Siemens 3TK2827" for Performance Level Pl Not-Halt/ Emergency stop 24V DC Siemens 3TK2827 ECSxS/P/M/A Start ECSXA035 Fig. 5−13 Example: Wiring with "Siemens 3TK2827" safety switching device T1 Test key 1 T2 Test key 2 The motor is shut down in accordance with stop category 1 of EN 60204 when the...
  • Page 78 PL in accordance with EN ISO 13849−1 or SIL 2 in accordance with EN 62061 are to be used in all upstream applications! Interconnection examples can be found in the download area (Application Knowledge Base) at: www.Lenze.com EDBCSXM064 EN 11.0...

  • Page 79: Automation Interface (Aif)

    Electrical installation Automation interface (AIF) Automation interface (AIF) The keypad XT or a communication module can be attached to or removed from the automation interface (X1). This is also possible during operation. The keypad XT serves to enter and visualise parameters and codes. ƒ...

  • Page 80: Wiring Of System Bus (Can)

    MotionBus (CAN) with master control ECS_COB007 Fig. 5−15 MotionBus (CAN) with controller as master MotionBus (CAN), interface X4 System bus (CAN), interface X14 Master Slave PC with the Lenze parameter setting and operating software (GDC, GDL, GDO) HMI / operating unit EDBCSXM064 EN 11.0...
  • Page 81 Electrical installation Wiring of system bus (CAN) ECS_COB003 Fig. 5−16 Bus connections on the controller Assignment of the plug connectors X4 (CAN) X14 (CAN−AUX) Description CAN−HIGH CAN−LOW Reference potential Specification of the transmission cable We recommend the use of CAN cables in accordance with ISO 11898−2: CAN cable in accordance with ISO 11898−2 Cable type Paired with shielding...
  • Page 82 Electrical installation Wiring of system bus (CAN) System bus (CAN) wiring ECS_COB004 Fig. 5−17 Example: System bus (CAN) wiring via interface X4 ECS axis module Master control, e.g. ETC Note! Connect one bus terminating resistor (120 W) each to the first and last node of the system bus (CAN).
  • Page 83 Electrical installation Wiring of system bus (CAN) Bus cable length Note! The permissible cable lengths must be observed. 1. Check the compliance with the total cable length in Tab. 5−1. The baud rate determines the total cable length. CAN baud rate [kbit/s] Max.
  • Page 84 It is not possible to use a cable length of 450 m without using a repeater. After 360 m (point 2) a repeater must be installed. Result The Lenze repeater type 2176 is used (cable reduction: 30 m) Calculation of the maximum cable length: First segment: 360 m Second segment: 360 m (according to Tab.

  • Page 85: Wiring Of The Feedback System

    (e.g. by using separating webs or separated trailing cables) is not ensured on the entire cable length cable due to an installation on the system side, the encoder cable must be provided with an insulation resistance of 300 V. Lenze encoder cables meet this requirement.

  • Page 86: Resolver Connection

    Wiring of the feedback system Resolver connection 5.6.1 Resolver connection Note! Use the prefabricated Lenze system cables for the connection of a resolver. ƒ Cable length: max. 50 m ƒ Depending on the cable length and resolver used parameterise the code ƒ...

  • Page 87: Encoder Connection

    Electrical installation Wiring of the feedback system Encoder connection 5.6.2 Encoder connection Danger! Valid when using an operating software up to and including V7.0: When absolute value encoders are used, uncontrolled movements of the drive are possible! If an absolute value encoder is disconnected from the axis module during operation, the fault OH3−TRIP occurs.
  • Page 88 Electrical installation Wiring of the feedback system Encoder connection Incremental encoder (TTL encoder) Features Input/output frequency: 0 ... 200 kHz Current consumption: 6 mA per channel Current on output V (X8/pin 4): Max. 200 mA < 50 m  R1 (+KTY) R2 (-KTY) ECSXA026 Fig.
  • Page 89 Electrical installation Wiring of the feedback system Encoder connection SinCos encoders and SinCos absolute value encoders with Hiperface Features Input/output frequency: 0 ... 200 kHz 221 W Internal resistance (R Offset voltage for signals SIN, COS, Z: 2.5 V The differential voltage between signal track and reference track must not exceed ƒ...

  • Page 90: Digital Frequency Input/Output (Encoder Simulation)

    Electrical installation Wiring of the feedback system Digital frequency input/output (encoder simulation) 5.6.3 Digital frequency input/output (encoder simulation) The digital frequency coupling of ECSxS/P/A axis modules basically is effected as a master−slave connection via the interface X8. This interface can either be used as a digital frequency input or as a digital frequency output (e.
  • Page 91 Electrical installation Wiring of the feedback system Digital frequency input/output (encoder simulation) 2 to 3 slaves connected to the master: ƒ Use the EMF2132IB digital frequency distributor to wire the ECS axis modules with master digital frequency cable EYD0017AxxxxW01W01 and slave digital frequency cable EYD0017AxxxxW01S01.

  • Page 92: Commissioning

    Before you start Commissioning Before you start Note! The use of a Lenze motor is assumed in this description of the ƒ commissioning steps. For details on the operation with other motors see ^ 174. The operation with the Lenze parameter setting and operating program ƒ...

  • Page 93: Commissioning Steps (Overview)

    Commissioning Commissioning steps (overview) Commissioning steps (overview) Start Carry out the basic setting (^ 94) Set homing (^ 96) Optimise drive behaviour (^ 183) Save parameters in the drive with C0003 = 1. Save parameter set with GDC in the parameter set file. EDBCSXM064 EN 11.0...

  • Page 94: Basic Settings With Gdc

    ð The drive is identified and the parameter menu is opened. ^ 100 Load Lenze setting. Not required for initial commissioning of the axis module. Only recommended if the Lenze setting is unclear. Set communication Comm. parameters − AIF interface: parameters according the Please also read the documentation for the Lenze interface used.
  • Page 95 Detailed information ^ 109 Set feedback system. Set Lenze motors with resolvers (standard) in the GDC parameter menu under Short setup W Feedback system. Set other resolvers and encoders in the GDC parameter menu under Motor/feedback systems W Feedback system.

  • Page 96: Setting Of Homing

    Commissioning Commissioning steps (overview) Setting of homing 6.2.2 Setting of homing Homing By means of homing, the zero position is defined within the physically possible traversing range of the machine. Thus, the reference of the measuring systems to the machine is established.
  • Page 97 Commissioning Commissioning steps (overview) Setting of homing The homing setting described in this chapter requires the following system structure: CAN-AUX ECSxM... DI1 DI2 DI3 DI4 ECSXA500 Fig. 6−2 Basic system structure ECSxM... axis module with "Motion" application software Speed / position feedback Motor power connection Change−over between reference switch and touch probe sensor (only required in the homing modes 6 and 7! ^ 145)
  • Page 98 Commissioning Commissioning steps (overview) Setting of homing Setting sequence: Comply with ... the safety and application instructions for multi−axis applications in the corresponding manuals and on the systems. Note! Follow the commissioning steps in the given order! Settings Brief description Detailed information Activate controller inhibit.
  • Page 99 Commissioning Commissioning steps (overview) Setting of homing Settings Brief description Detailed information ^ 161 A Select "Interpolated The "Interpolated Position Mode" is automatically selected Position Mode". by the higher−level control (PLC): C5000 = 7 The operating mode can also be set manually in the GDC parameter menu under Motion W Operating mode.

  • Page 100: Loading The Lenze Setting

    Loading the Lenze setting Loading the Lenze setting Note! When loading the Lenze setting, all parameters are reset to the basic setting defined by Lenze. Settings that have been adjusted before get lost during this process! In GDC, you can find the parameters and codes to be set in the parameter menu under Load / Save / PLC.

  • Page 101: Setting Of Mains Data

    Therefore, set C0175 = 3 for the axis modules (charging current limitation inactive, charging resistor short−circuited). If the Lenze setting has been loaded via C0002, C0175 = 3 must be reset. Cyclic switching of the mains voltage at the power supply module can ƒ...

  • Page 102: Setting The Voltage Thresholds

    [V AC] [V DC] [V DC] yes/no yes/no 400 ... 460 yes/no yes/no C0174 C0174 + 5 V 400 (Lenze setting) yes/no C0174 C0174 + 5 V 400 ... 460 yes/no C0174 C0174 + 5 V C0174 C0174 + 5 V...

  • Page 103: Entry Of Motor Data For Lenze Motors

    The following only describes the parameter setting for Lenze motors! (If you ƒ use a motor from another manufacturer, see ^ 174.) If the Lenze setting has been loaded via C0002, the motor data must be ƒ re−entered. The freely available "GDC−Easy" does not provide the "Input assistant for ƒ...
  • Page 104 Commissioning Entry of motor data for Lenze motors ECSXA302 Fig. 6−6 GDC view: Motor selection 3. Select the connected motor from the list (see motor nameplate). – The corresponding motor data is displayed in the "Motor data" fields on the right.

  • Page 105: Holding Brake Configuration

    Note! The codes C0195, C0196, C0244, C0472/10 and C0472/11 are only effective if the brake logic is active (C4020 = 1). Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 105 C4020 Brake logic Activate brake logic Brake Off Brake On...
  • Page 106 C0472/11 FCODE analog [%] Value/direction of the torque against the holding brake. C0118 Polarity of the digital In the Lenze setting, the outputs are "HIGH level active" (^ 142). outputs C0118/1: Output X6/DO1 (DIGOUT_bOut1_b) C0118/2: Output X25 (DIGOUT_bRelais_b, brake connection) C0602 Fault response −...

  • Page 107: Closing The Brake

    Commissioning Holding brake configuration Closing the brake 6.6.1 Closing the brake  Use control bit 7 = 0 (FALSE) to close the brake. CtrlWord.Bit7 At the same time the internal quick stop (QSP) is activated and the drive is braked to standstill within the deceleration time set in C0105 (NSet = 0).

  • Page 108: Opening The Brake

    Commissioning Holding brake configuration Opening the brake 6.6.2 Opening the brake  Use control bit 7 = 1 (TRUE) to enable the CtrlWord.Bit7 controller. The control bit 9 is set to 0 (FALSE) at the same time (controller inhibit (CINH) is deactivated) and the torque defined in C0244 is created.

  • Page 109: Setting Of The Feedback System For Position And Speed Control

    The GDC includes the parameters or codes to be set in the parameter menu under Short setup W Feedback system: ECSXA532 Fig. 6−8 GDC view: Commissioning of the feedback system Note! If the Lenze setting has been loaded via C0002, the feedback system must be reset. EDBCSXM064 EN 11.0...

  • Page 110: Resolver As Position And Speed Encoder

    Resolver as position and speed encoder If a resolver is connected to X7 and used as a position and speed encoder, no settings are necessary. Lenze setting: Resolver as position encoder: C0490 = 0 ƒ Resolver as speed encoder: C0495 = 0 ƒ...
  • Page 111 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.

  • Page 112: Resolver As Absolute Value Encoder

    (number of pole pairs > 1): 180° Max. rotation + " number_of_pole_pairs Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 112 C3002 NoChangeOf Resolver as absolute value encoder ChangeOfPos After "mains off/on", homing has to be carried out.

  • Page 113: Ttl/Sincos Encoder As Position And Speed Encoder

    Commissioning Setting of the feedback system for position and speed control TTL/SinCos encoder as position and speed encoder 6.7.3 TTL/SinCos encoder as position and speed encoder If an incremental encoder or a SinCos encoder without serial communication is connected to X8 and used for position and speed control, comply with the following setting sequence: 1.
  • Page 114 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 115 Active ^ 113 [C0419] Enc. setup Encoder selection ^ 121 Selection of encoder type indicated on the nameplate of the Lenze motor. The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. Common IT512−5V Incremental encoder with TTL level IT1024−5V...
  • Page 116 Commissioning Setting of the feedback system for position and speed control TTL/SinCos encoder as position and speed encoder Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 113 [C0427] Enc. signal Function of the master frequency ^ 121 input signals on X8 (DFIN) 2−phase...

  • Page 117: Ttl/Sincos Encoder As Position Encoder And Resolver As Speed Encoder

    Commissioning Setting of the feedback system for position and speed control TTL/SinCos encoder as position encoder and resolver as speed encoder 6.7.4 TTL/SinCos encoder as position encoder and resolver as speed encoder A TTL incremental encoder connected to X8 or a SinCos encoder without serial communication can be configured as a position encoder with a resolver connected to X7 being used as a speed encoder.
  • Page 118 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 119 Setting of the feedback system for position and speed control TTL/SinCos encoder as position encoder and resolver as speed encoder Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 180 [C0095] Rotor pos adj Activation of rotor position adjustment for automatic determination of the rotor displacement angle.
  • Page 120 {Appl.} ^ 113 [C0419] Enc. setup Encoder selection ^ 121 Selection of encoder type indicated on the nameplate of the Lenze motor. The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. Common IT512−5V Incremental encoder with TTL level IT1024−5V...

  • Page 121: Absolute Value Encoder As Position And Speed Encoder

    Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder 6.7.5 Absolute value encoder as position and speed encoder Danger! Valid when using an operating software up to and including V7.0: When absolute value encoders are used, uncontrolled movements of the drive are possible! If an absolute value encoder is disconnected from the axis module during...
  • Page 122 Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder Danger! When absolute value encoders are used, uncontrolled movements of the drive are possible! With operating systems up to and including version 6.7, the drive may start up in an uncontrolled manner with high speed and high torque after mains connection and controller enable.
  • Page 123 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 124 Active ^ 113 [C0419] Enc. setup Encoder selection ^ 121 Selection of encoder type indicated on the nameplate of the Lenze motor. The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. Common IT512−5V Incremental encoder with TTL level IT1024−5V...
  • Page 125 Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 113 [C0427] Enc. signal Function of the master frequency ^ 121 input signals on X8 (DFIN) 2−phase...

  • Page 126: Absolute Value Encoder As Position Encoder And Resolver As Speed Encoder

    Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position encoder and resolver as speed encoder 6.7.6 Absolute value encoder as position encoder and resolver as speed encoder Danger! Valid when using an operating software up to and including V7.0: When absolute value encoders are used, uncontrolled movements of the drive are possible! If an absolute value encoder is disconnected from the axis module during...
  • Page 127 Do not parameterise codes C0420, C0421 and C0427! ƒ 4. Save settings with C0003 = 1. Codes for feedback system selection Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 109 [C0490] Feedback pos Selection of feedback system for positioning control Resolver at X7...
  • Page 128 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 129 {Appl.} ^ 113 [C0419] Enc. setup Encoder selection ^ 121 Selection of encoder type indicated on the nameplate of the Lenze motor. The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. Common IT512−5V Incremental encoder with TTL level IT1024−5V...

  • Page 130: Selecting The Control Interface (C4010)

    The control interface is used to transmit process data cyclically between the higher−level control and the axis module. The following fieldbus interfaces can be selected under C4010: Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 130 C4010 Ctrl_Interf Control interface selection ^ 167...

  • Page 131: Process Data To The Axis Module (Control Word Ctrl1 And Setpoints)

    – if required, to transmit the monitor data for diagnostic purposes. The system bus interface X14 can only be used for parameter setting and ƒ diagnostics with the Lenze parameter setting and operating program "Global Drive Control" (GDC). Further information on communication can be found in chapter ƒ...
  • Page 132 Commissioning Process data to the axis module (control word Ctrl1 and setpoints) Control word Ctrl1 The control word Ctrl1 consists of 16 bits which are displayed bit by bit under C3151/x: Bit Designation Level Meaning Toggle HIGH active Toggle bit: The master control changes the status of this bit with each telegram.
  • Page 133 Commissioning Process data to the axis module (control word Ctrl1 and setpoints) Monitor data selection (C3181) Depending on the values of the control bits 4 ... 6, the following monitor data can be transmitted from the drive: Ctrl1. Value of the Monitor data Meaning control...

  • Page 134: Process Data From The Axis Module (Status Words And Actual Values)

    Commissioning Process data from the axis module (status words and actual values) 6.10 Process data from the axis module (status words and actual values) The control interface set under C4010 (^ 130) is used to cyclically transmit process data from the axis module to the higher−level control. Structure of the transmitted process data User data Byte 1...
  • Page 135 Commissioning Process data from the axis module (status words and actual values) Status word Stat1 The status word Stat1 (C3150, C3151) consists of 16 bits, each of them giving the following information: Name Level Meaning Operating mode "Homing mode" Operating mode "IP mode" (C5000=6) (C5000=7) (^ 164)

  • Page 136: Toggle−Bit Monitoring

    Commissioning Process data from the axis module (status words and actual values) Toggle−bit monitoring 6.10.1 Toggle−bit monitoring Higher-level motion control Toggle bit Controller generator enable Drive Toggle-Bit Interrupted if Interrupted if Interrupted if controller is controller is controller is not enabled not enabled not enabled Toggle bit...
  • Page 137 In the GDC, the error limit (C3161) and error response (C3160) can be set in the parameter menu under Motion W Toggle bit monitoring. ECSXA545 Fig. 6−13 GDC view: Monitoring Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 136 C3160 ToggleErrReac Toggle bit error handling TRIP Message Warning FAIL−QSP...

  • Page 138: Entry Of Machine Parameters

    Motion W Machine parameter. ECSXA535 Fig. 6−14 GDC view: Short setup, entry of machine parameters Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0011 Nmax 3000 Maximum speed {1 rpm} 16000 Reference value for the absolute...
  • Page 139 Commissioning Entry of machine parameters Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 170 C3032 FollErr1reac First reaction when following error limit has been reached TRIP Message Warning FAIL−QSP ^ 170 C3033 FollErr2reac Second reaction when following error limit has been reached...

  • Page 140: Configuring The Digital Inputs And Outputs

    The signal assignment for the digital inputs can be set via code C4011. This code is included in the GDC parameter menu under Short setup W Digital inputs/outputs. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 140 C4011 Assignment (mapping) of the digital inputs (from Motion V3.0)

  • Page 141: Digital Inputs For Communication Via The Motionbus (Can) X4

    Commissioning Configuring the digital inputs and outputs Digital inputs for communication via the MotionBus (CAN) X4 6.12.1 Digital inputs for communication via the MotionBus (CAN) X4 Setting C4011 = 0: Terminal Function Level Response X6/DI1 Quick stop (QSP) The drive is decelerated to standstill within the deceleration time set in C0105.

  • Page 142: Setting The Polarity Of Digital Inputs And Outputs

    The GDC contains codes for setting the polarity of digital inputs and outputs in the parameter menu under Terminal I/O: Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 142 C0114 Polarity of the digital inputs (DIGIN)

  • Page 143: Setting Of Homing Parameters

    ECSXA537 Fig. 6−15 GDC view: Short setup, entry of homing parameters 6.13.1 Homing parameters Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 143 C0935 L_REF1 speed Traversing speed of homing {1 rpm} 16000 ) of homing ^ 143 C0936 L_REF1 Ti Deceleration time (T 0.01...
  • Page 144 Commissioning Setting of homing parameters Homing parameters Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 143 C3010 HomingMode Homing mode ^ 145 >_Rn_MP Selection symbolism: >: Movement in pos. direction <_Rn_MP <: Movement in neg. direction Lp: Limit switch in pos.

  • Page 145: Homing Modes

    Commissioning Setting of homing parameters Homing modes 6.13.2 Homing modes Modes 0 and 1 Travelling to zero pulse (zero position of the position encoder) via the reference switch. ECSXA510 Fig. 6−16 Homing in mode 0 Negative hardware limit switch Reference switch Zero pulse (zero position of the position encoder) Positive hardware limit switch Load (e.
  • Page 146 Commissioning Setting of homing parameters Homing modes Modes 2 and 3 Approaching the hardware limit switch, reversing the direction of travel and travelling to the zero position (zero position of the position encoder) via the reference switch. Note! While reversing, the approached hardware limit switch must be assigned ƒ...
  • Page 147 Commissioning Setting of homing parameters Homing modes Modes 4 and 5 Approaching the reference switch, reversing, and travelling to the zero pulse (zero position of the position encoder). ECSXA512 Fig. 6−18 Homing in mode 4 Negative hardware limit switch Zero pulse (zero position of the position encoder) Reference switch Positive hardware limit switch Load (e.
  • Page 148 Commissioning Setting of homing parameters Homing modes Mode 6 and 7 Travelling to touch probe signal via reference switch. X6/DI2 X6/DO1 ECSXA513 Fig. 6−19 Homing in mode 6 Negative hardware limit switch Reference switch Touch probe signal (touch probe sensor) Positive hardware limit switch Load (e.g.
  • Page 149 Commissioning Setting of homing parameters Homing modes Modes 8 and 9 Travelling to touch probe signal. ECSXA514 Fig. 6−20 Homing in mode 8 Negative hardware limit switch Touch probe signal (touch probe sensor) Positive hardware limit switch Load (e.g. slide) Direction of travel Home position The touch probe is used if the zero pulse (zero position of the position encoder) does not...
  • Page 150 Commissioning Setting of homing parameters Homing modes Modes 10 and 11 Approaching the hardware limit switch, reversing and travelling towards touch probe signal. Note! While reversing, the hardware limit switch approached must be assigned ƒ (mechanics must be designed accordingly). In a 6 ms cycle, the negative/positive hardware limit switches are queried.
  • Page 151 Commissioning Setting of homing parameters Homing modes Modes 12 and 13 Approaching the hardware limit switch, reversing and travelling to the zero pulse (zero position of the position encoder). Note! While reversing, the approached hardware limit switch must be assigned ƒ...
  • Page 152 Commissioning Setting of homing parameters Homing modes Modes 14 and 15 Travelling to zero pulse (zero position of the position encoder). ECSXA517 Fig. 6−23 Homing in mode 14 Negative hardware limit switch Zero pulse (zero position of the position encoder) Positive hardware limit switch Load (e.g.
  • Page 153 Commissioning Setting of homing parameters Homing modes Modes 16 and 17 Approach mechanical limit stop and set home position. ECSXA521 Fig. 6−24 Homing in mode 16 Mechanical limit stop (negative) Load (e. g. slide) Mechanical limit stop (positive) Direction of travel Home position The load (e.g.
  • Page 154 Commissioning Setting of homing parameters Homing modes Mode 99 Set reference ECSXA522 Fig. 6−26 Set reference in the mode 99 Negative hardware limit switch Positive hardware limit switch Load (e.g. slide) Home position Use "Set reference" if you want to determine the zero position yourself. ƒ...

  • Page 155: Shifting The Zero Position With Regard To The Home Position (Offsets C3011, C3012)

    Commissioning Setting of homing parameters Shifting the zero position with regard to the home position (offsets C3011, C3012) 6.13.3 Shifting the zero position with regard to the home position (offsets C3011, C3012) v [m/s] t [s] C3011 C3012 ECSXA526 Fig. 6−27 Offset of the zero position (note: Different behaviour of ECS Motion and ECS Posi&Shaft) 0, 1 Negative and positive hardware limit switch Home position (zero pulse/zero position of the position encoder)

  • Page 156: Example: Reference Search With Linear Positioning Axis

    Commissioning Setting of homing parameters Example: Reference search with linear positioning axis 6.13.4 Example: Reference search with linear positioning axis Settings for homing mode 13 Set homing mode 13 with C3010 = 13. ƒ The negative hardware limit switch is to be used as reference switch at the same ƒ...
  • Page 157 Commissioning Setting of homing parameters Example: Reference search with linear positioning axis Sequence 1. The "Homing Mode" is selected via parameter channel (SDO) (^ 345) with C5000 and confirmed with C5001. 2. Homing is started by activating the Ctrl1.Bit12. – Ctrl1.Bit12 = 1 (TRUE) 3.

  • Page 158: Example: Reference Search With Continuous Positioning Axis

    Commissioning Setting of homing parameters Example: Reference search with continuous positioning axis 6.13.5 Example: Reference search with continuous positioning axis For applications with an unlimited traversing range (e. g. conveying belts and rotary tables) the reference is always searched via a mark. In that case, the reference switch serves as a mark sensor.
  • Page 159 Commissioning Setting of homing parameters Example: Reference search with continuous positioning axis Functional sequence 1. The "Homing Mode" is selected via parameter channel (SDO) (^ 345) with C5000 and confirmed with C5001. 2. Homing is started by activating the Ctrl1.Bit12. –...

  • Page 160: Selection Of The Operating Mode

    The GDC includes the codes for selecting the operating mode in the parameter menu under Motion. ECSXA538 Fig. 6−30 GDC view: Selection of the operating mode Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 160 C5000 OpMode Selection of the operating mode (Operation Mode) ^ 167 Velocity Mode...

  • Page 161: Operating Mode "Interpolated Position Mode" (Ip−Mode)

    Commissioning Selection of the operating mode Operating mode "Interpolated Position Mode" (IP−Mode) 6.14.1 Operating mode "Interpolated Position Mode" (IP−Mode) The "IP mode"enables a travel according to setpoint selection. Settings Select "IP mode": C5000 = 7 ƒ – The code C5000 (4C77h) is written via parameter data channel (SDO, ^ 345). Selection confirmation: C5001 = 7 ƒ...
  • Page 162 Commissioning Selection of the operating mode Operating mode "Interpolated Position Mode" (IP−Mode) Touch probe storage of the actual position (Pos_Latch) For position detection the drive traverses the sensor mark to a defined target. If "Touch Probe" is detected by the controller, the current position is saved. Note! The digital input X6/DI2 is double−assigned with touch probe and homing switch.
  • Page 163 Commissioning Selection of the operating mode Operating mode "Interpolated Position Mode" (IP−Mode) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0911 MCTRL TP2 MCTRL touch probe signal source sel. Zero pulse of position encoder (C0490) X7/X8 Touch probe input TP2...

  • Page 164: Homing" Operating Mode

    Commissioning Selection of the operating mode "Homing" operating mode 6.14.2 "Homing" operating mode Note! No homing with absolute value encoders. ƒ Use C0098 to set another position than the one transmitted by the absolute ƒ value encoder. Settings Select "Homing Mode": C5000 = 6 ƒ...

  • Page 165: Manual Jog" Operating Mode

    C4010 and C4040. Settings Select control interface "C4040": C4010 = 3 ƒ Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 130 C4010 Ctrl_Interf Control interface selection ^ 167 CAN1 (PDO1 with sync) The control word is expected via ^ 165 the PDO CAN1_IN.
  • Page 166 – Both control bits = 1 signal: Stop. The manual jog parameters set for speed, acceleration, and deceleration apply to manual jog. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} Control word Ctrl1 for C4010 = 3 ^ 167 C4040 Control word ^ 165 Ctrl1...

  • Page 167: Velocity" Operating Mode

    Settings 1. Select the control interface: – CAN interface: C4010 = 0 – Automation interface (AIF): C4010 = 2 Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 130 C4010 Ctrl_Interf Control interface selection ^ 167 CAN1 (PDO1 with sync)
  • Page 168 Commissioning Selection of the operating mode "Velocity" operating mode Operating mode−dependent bits in the control word Ctrl1 Name Value Response Only with user software £1.x (A−SW see nameplate): Release limit switch Limit switch monitoring is active Limit switch monitoring is not active: After a TRIP−RESET, the activated hardware limit switch can be retracted.

  • Page 169: Controller Enable (Cinh = 0)

    Commissioning Controller enable (CINH = 0) 6.15 Controller enable (CINH = 0) The controller will only be enabled internally if no signal sources relevant for the controller inhibit (CINH) are activated (i.e. CINH−signal sources = 0). The following table shows the conditions for controller enable: Source of the Controller Controller...

  • Page 170: Following Error Monitoring (C3030, C3031)

    Limit value in C3031 > limit value in C3030 and ƒ error reaction in C3033 stronger than error reaction in C3032 ƒ Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 170 C3030 FolloErrWarn 400000 Following error limit for enabling a warning...
  • Page 171 Commissioning Following error monitoring (C3030, C3031) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 170 C3032 FollErr1reac First reaction when following error limit has been reached TRIP Message Warning FAIL−QSP ^ 170 C3033 FollErr2reac Second reaction when following error limit has been reached...

  • Page 172: Evaluating And Retracting From Hardware Limit Switch

    Negative hardware limit switch is activated: – Fault no. x401 ("Neg HW End") – Status bit 6 = 1 Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 172 C3175 HW EndReac Reaction, when a hardware limit switch is activated.

  • Page 173: Quick Stop (Qsp)

    The deceleration time for the braking process can be set with C0105 in the GDC parameter menu under Motion W Machine parameter. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 173 C0042 DIS: QSP Quick stop status (QSP) Only display...

  • Page 174: Operation With Motors From Other Manufacturers

    Motor/feedback systemsW W Motor adjustment. ECSXA544 Fig. 6−32 GDC view: Manual setting of the motor data Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} [C0006] Op mode Operating mode of the motor control If the master pulse (via MCTRL: C0911 = 0 or DfIn:...
  • Page 175 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 176 Commissioning Operation with motors from other manufacturers Entering motor data manually Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0110 Service Code Fine adjustment − mutual inductance {1 %} C0111 Service Code Fine adjustment − rotor resistance 50.00 {1 %} 199.99...

  • Page 177: Checking The Direction Of Rotation Of The Motor Feedback System

    CW direction (view on the front of the motor shaft), the numerical value must rise. If the values are falling, reverse the Sin+ and Sin− connections. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 177 C0060 Rotor pos Current rotor position; value is derived from position encoder.

  • Page 178: Adjusting Current Controller

    This is why the default current controller settings of the "GDC motor data input assistant" can usually be used. A current controller adjustment is only required for third−party motors and for Lenze motors only in special cases.
  • Page 179 Commissioning Operation with motors from other manufacturers Adjusting current controller Leakage inductance and stator resistance of the motor are not known: The current controller can be optimised metrologically with a current probe and an oscilloscope. For this, a test mode is available in which the current C0022 x Ö2 flows in phase U after controller enable.

  • Page 180: Effecting Rotor Position Adjustment

    Commissioning Operation with motors from other manufacturers Effecting rotor position adjustment 6.19.4 Effecting rotor position adjustment Note! Resolver / absolute value encoder with Hiperface® interface If the rotor zero phase is not known, the rotor position only has to be ƒ...
  • Page 181 Commissioning Operation with motors from other manufacturers Effecting rotor position adjustment Setting sequence 1. Inhibit controller. (^ 169) – Press the <F9> key in GDC. – Green LED is blinking, red LED is off 2. Unload motor mechanically. – Separate the motor from the gearbox or machine so that it can rotate freely. 3.
  • Page 182 Selection {Appl.} ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.

  • Page 183: Optimising The Drive Behaviour After Start

    The speed controller can only be set correctly when the system constellation has ƒ been completed. The current controller is set correctly (given with a Lenze motor and setting via ƒ motor data input assistant in the GDC) . The PE connection of the axis module is sufficient so that the actual values are not ƒ...
  • Page 184 – Increase C0070 until the drive becomes instable (pay attention to engine noises). – Reduce C0070 until the drive runs stable again. – Reduce C0070 to approx. half the value. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 183 C0070 Vp speedCTRL Proportional gain of speed controller (V 0.00...

  • Page 185: Adjustment Of Field Controller And Field Weakening Controller

    Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.20.2 Adjustment of field controller and field weakening controller Stop! Field weakening operation is only possible with asynchronous motors. ƒ The available torque is reduced by the field weakening. ƒ...
  • Page 186 Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.20.2.1 Adjusting the field controller The field controller settings depend on the motor data. Setting sequence 1. Stop the PLC program: C2108 = 2 – As of operating system version 7.0 (see nameplate), this is no longer necessary, because C0006 (see 2.) can also be written when the PLC program is running! 2.
  • Page 187 Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.20.2.2 Field weakening controller adjustment The field weakening controller determines the speed performance of the ƒ asynchronous motor in the field weakening range. The field weakening controller can only be set correctly when the system ƒ...

  • Page 188: Resolver Adjustment

    Commissioning Optimising the drive behaviour after start Resolver adjustment 6.20.3 Resolver adjustment When adjusting the resolver, mainly component tolerances of the resolver evaluation are compensated in the device. No resolver error characteristic is accepted. The resolver adjustment is only required if the speed behaviour is irregular despite optimised settings of the speed and position control loop.

  • Page 189: Parameter Setting

    Parameter setting General information Parameter setting General information Controllers and power supply modules can be adapted to your application by setting ƒ the parameters. A detailed description of the functions can be found in the chapter "Commissioning" (¶ 92). The parameters for the functions are stored in numbered codes: ƒ...

  • Page 190: Parameter Setting With "Global Drive Control" (Gdc)

    Parameter setting with "Global Drive Control" (GDC) Parameter setting with "Global Drive Control" (GDC) With the "Global Drive Control" (GDC) parameterisation and operating program, Lenze provides a plain, concise and compatible tool for the configuration of your application−specific drive task with the PC or laptop: The GDC input assistant offers a comfortable motor selection.

  • Page 191: Parameter Setting With The Xt Emz9371Bc Keypad

    Parameter setting Parameter setting with the XT EMZ9371BC keypad Connecting the keypad Parameter setting with the XT EMZ9371BC keypad The keypad is available as accessories. A complete description is given in the documentation on the keypad. 7.3.1 Connecting the keypad ...

  • Page 192: Description Of The Display Elements

    Power outputs inhibited Adjusted current limitation is exceeded in motor mode or generator mode Speed controller 1 within its limitation Drive is torque−controlled Only active for operation with Lenze devices of the 9300 series! Active fault 1 Parameter acceptance Display...
  • Page 193 4 Number Active level Meaning Explanation Menu level Menu number Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series. No menu for ECSxE power supply module Code level Four−digit code number 5 Number...

  • Page 194: Description Of The Function Keys

    Inhibit the controller, LED in the key lights up. Reset fault (TRIP reset): 1. Remove cause of malfunction 2. Press S 3. Press U No menu for ECSxE power supply module Only active when operating Lenze devices of the 8200 vector or 8200 motec series. EDBCSXM064 EN 11.0...

  • Page 195: Changing And Saving Parameters

    Parameter setting Parameter setting with the XT EMZ9371BC keypad Changing and saving parameters 7.3.4 Changing and saving parameters All parameters for the axis module/power supply module parameterisation or monitoring are stored in codes. The codes are numbered and marked with a "C" in the documentation. Some codes store the parameters in numbered "subcodes"...

  • Page 196: Configuration

    X14 ˘ system bus interface (CAN−AUX) ƒ – PC interface/HMI for parameter setting and diagnostics (e.g. with the Lenze parameter setting and operating program "Global Drive Control") – Interface to a decentralised I/O system Systembus (CAN)

  • Page 197: Configuring Motionbus/System Bus (Can)

    Configuration Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate Configuring MotionBus/system bus (CAN) Note! System bus (CAN) The ECSxA... axis module can communicate with a higher−level host system (PLC) or further controllers via both CAN interfaces (X4 or X14). MotionBus (CAN) The "MotionBus (CAN)"...
  • Page 198 Configuration Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate 8.1.1.1 Settings via DIP switch ECS_COB005 Fig. 8−2 DIP switch for node address and baud rate (all switches: OFF) Node address setting The node address is set by means of switches 2 ... 7 of the DIP switch. Specific values are assigned to the switches.
  • Page 199 Configuration Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate Baud rate setting Note! The baud rate must be set identically for all CAN nodes. Switch Baud rate [kbit/s] 1000 EDBCSXM064 EN 11.0...
  • Page 200 S1 usually apply. The baud rate (C0351) must be set identically for all CAN bus nodes. ƒ If the Lenze setting has been loaded via C0002, ƒ – C0351 is set to 0 (500 kbit/s); – you have to reset the baud rate (C0351) and the CAN node address (C0350).

  • Page 201: Individual Addressing

    To make the alternative node address valid, set the corresponding subcode of C0353 = 1. code Value The addresses are defined by C0353/1 C0350 (Lenze setting) C0354/1 for CAN1_IN C0354/2 for CAN1_OUT C0353/2 C0350 (Lenze setting) MotionBus (CAN)
  • Page 202 Configuration Configuring MotionBus/system bus (CAN) Individual addressing Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 201 C0354 Alternative node address for CAN_IN/CAN_OUT (CAN bus interface X4) 1 CAN addr. 512 Address 2 CAN1_IN 2 CAN addr. Address 2 CAN1_OUT 3 CAN addr.

  • Page 203: Defining Boot−Up Master In The Drive System

    NMT−state "Operational" by the master. A data exchange via the process data objects can only be effected in this state. The configuration is carried out via C0352. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 203 C0352 CAN mst Boot−up master/slave configuration for CAN bus...

  • Page 204: Setting Of Boot−Up Time/Cycle Time

    After the boot−up time has elapsed, the NMT telegram for initialising the CAN network is sent by the boot−up master and the process data transfer is started. Only valid if C0352 = 1 (master). ƒ Normally the Lenze setting (3000 ms) is sufficient. ƒ State change from "Pre−operational" to "Operational" ƒ...
  • Page 205 Configuration Configuring MotionBus/system bus (CAN) Setting of boot−up time/cycle time Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 204 C0356 CAN time settings for CAN bus interface X4 1 CAN times 3000 {1 ms} 65000 CAN boot−up time: Delay time after mains connection for initialisation through the master.

  • Page 206: Executing A Reset Node

    (fieldbus scan). Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 206 C0358 Reset node Make a reset node for the CAN bus node.

  • Page 207: Axis Synchronisation (Can Synchronisation)

    By this, the start of cyclic internal processes of all drives involved in the synchronisation is synchronous. Sync signal source The sync signal source is set via C1120: Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 207 C1120 Sync mode Sync signal source ^ 210 CAN sync...
  • Page 208 CAN sync correction increment so that the value in C4264 is reduced to a minimum. Apart from that, a prolongation has a more negative effect on the drive characteristics. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 208 C0363 Sync correct. Sync correction increment (for CAN and EtherCAT) Change correction value until C4264 reaches the minimum.

  • Page 209: Monitoring Of The Synchronisation (Sync Time Slot)

    The amount of the jitter has an impact on the parameterisation of the "time slot". C3165 can be used for monitoring the synchronisation. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 209 C1123 Sync window 0.010 Synchronisation window...

  • Page 210: Axis Synchronisation Via Can

    Connect "CANSync−InsideWindow" with digital output. C1120 = 1 Active synchronisation by sync telegram via CAN bus. C0366 = 1 (Lenze setting) CAN sync reaction: Slaves respond to sync telegram. Master Define the telegram (identifier) sequence: A . Send new setpoint to all slaves.

  • Page 211: Axis Synchronisation Via Terminal X6/Di1

    X6/DI1. Slaves C1120 = 2 Synchronisation through sync signal via terminal X6/DI1 (DigIn_bIn1_b) is active. Slaves C0366 = 1 (Lenze setting) CAN sync reaction: Slaves respond to sync telegram. Master Start communication/send sync signals. Slaves Read C0362 from the master.

  • Page 212: Node Guarding

    Node Life Time + Node Guard Time (C0382) @ Node Life Time Factor (C0383) 4. Set the response to a "Life Guarding Event" via C0384. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 203 C0352 CAN mst Boot−up master/slave...
  • Page 213 Configuration Node guarding Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 212 C0384 Err Node Guarding (slave) NodeGuard Response for the occurrence of a NodeGuard−Event Only relevant for setting C0352 = 4. TRIP Message Warning FAIL−QSP EDBCSXM064 EN 11.0...

  • Page 214: Diagnostics Codes

    Configuration Diagnostics codes CAN bus status (C0359) Diagnostics codes The following diagnostic codes are available for the MotionBus (CAN) (in the GDC parameter menu under MotionBus CAN W Bus load CAN C0359: Bus state ƒ C0360/x: Telegram counter ƒ C0361/x: Bus load ƒ...

  • Page 215: Can Telegram Counter (C0360)

    Configuration Diagnostics codes CAN telegram counter (C0360) 8.3.2 CAN telegram counter (C0360) C0360 counts for all parameter channels those telegrams that are valid for the controller. The counters have a width of 16 bits. If a counter exceeds the value ’65535’, the counting process restarts with ’0’.

  • Page 216: Can Bus Load (C0361)

    Configuration Diagnostics codes CAN bus load (C0361) 8.3.3 CAN bus load (C0361) It can be detected via C0361 which bus load in percent is needed by the controller or by the single data channels. Faulty telegrams are not considered. Bus load of the individual subcodes: C0361 Meaning Subcode 1...

  • Page 217: Remote Parameterisation (Gateway Function)

    A time−out during remote parameterisation activates the system error message ƒ "CE15". The corresponding response can be configured under C2485 (¶ 227). Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 217 [C0370] SDO gateway Activate address gateway/remote parameterisation C0370 ¹...
  • Page 218 Configuration Remote parameterisation (gateway function) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C2485 MONIT CE15 Fault response − gate function ^ 217 monitoring (CE15) "Timeout" when remote parameterisation (C0370) is activated via interface X14 (CAN−AUX) TRIP Warning...

  • Page 219: Monitoring Functions

    Monitoring functions Monitoring functions Different monitoring functions (¶ 221) protect the drive system from impermissible operating conditions. If a monitoring function responds, the set fault response is triggered to protect the drive and ƒ the fault message is entered position 1 in the fault history buffer (C0168/x, in case ƒ...

  • Page 220: Fault Responses

    Monitoring functions Fault responses Fault responses ð Consequence Response Display Keypad XT Fail TRIP TRIP active: ð The power outputs U, V, W are switched to high resistance. ð The drive is coasting (no control). TRIP reset: ð The drive decelerates to its setpoint within the set deceleration times.

  • Page 221: Overview Of Monitoring Functions

    Overview of monitoring functions Monitoring Possible fault responses l Lenze setting ü Can be set Fault message Description Source Code TRIP Message Warning Fail−QSP x071 System fault Internal ü ü ü ü x091 External monitoring (activated via DCTRL) C0581 x191...
  • Page 222 Monitoring Possible fault responses l Lenze setting ü Can be set Fault message Description Source Code TRIP Message Warning Fail−QSP ü ü x126 CE15 Communication error of the gateway function via CAN bus at interface X14 CANaux C2485 (CAN−AUX) C0371 = 1: Gateway channel X14 (CAN−AUX) C2470: Selection of the CANaux object for L_ParRead and L_ParWrite ü...
  • Page 223 Monitoring Possible fault responses l Lenze setting ü Can be set Fault message Description Source Code TRIP Message Warning Fail−QSP ü ü x085 Master current value encoder error on analog input X6/AI+, AI− (C0034 = 1) MCTRL C0598 x087 Absolute value encoder initialisation error at X8 MCTRL ü...
  • Page 224 Monitoring Possible fault responses l Lenze setting ü Can be set Fault message Description Source Code TRIP Message Warning Fail−QSP 0072 Check sum error in parameter set 1 Internal 0074 Program error Internal 0075 Error in the parameter sets Internal...

  • Page 225: Configuring Monitoring Functions

    Each process data input object can monitor whether a telegram has been received within a specified time. As soon as a telegram arrives, the corresponding monitoring time (C0357/C02457) is restarted ("retriggerable monoflop" function). Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C0357 Monitoring time for CAN1...3_IN (CAN bus interface X4)
  • Page 226 Monitoring functions Configuring monitoring functions Monitoring times for process data input objects Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C2457 Monitoring time for CANaux1...3_IN (CAN bus interface X14) 1 CE monit time 3000 {1 ms} 65000 CE11 monitoring time...

  • Page 227: Time−Out Monitoring For Activated Remote Parameterisation

    If remote parameterisation is activated (gateway function (¶ 217)) and a timeout occurs, the system error message CE5/CE15 is output. The response to this can be configured via C0603/C2485. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C0603 MONIT CE5 Fault response − gateway ^ 217 function monitoring (CE5) "Timeout"...

  • Page 228: Short Circuit Monitoring (Oc1)

    Monitoring functions Configuring monitoring functions Short circuit monitoring (OC1) 9.3.3 Short circuit monitoring (OC1) Fault message Monitoring function System variable Possible response TRIP Messag Warnin · Short circuit MCTRL_bShortCircuit_b · Default setting üSetting possible The monitoring process is activated if a short circuit occurs in the motor phases. This can also be caused by an interturn fault in the machine.

  • Page 229: Motor Temperature Monitoring (Oh3, Oh7)

    Note! This monitoring function only applies to temperature sensors specified by Lenze like the ones used on standard Lenze servo motors. With regard to default setting, this monitoring is switched actively and is actuated when no Lenze servo motor is used! The motor temperature is monitored by means of a continuous KTY temperature sensor.
  • Page 230 Monitoring functions Configuring monitoring functions Motor temperature monitoring (OH3, OH7) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 229 C0583 MONIT OH3 Fault response − monitoring of motor temperature (fixed temperature threshold). Detection through KTY thermal sensor via resolver input X7 or encoder input X8.

  • Page 231: Heatsink Temperature Monitoring (Oh, Oh4)

    Furthermore, it is possible to activate e.g. additional fans which would generate an unacceptable noise nuisance when operated continuously. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 231 C0122 OH4 limit Threshold for heatsink temperature monitoring {1 °C}...

  • Page 232: Monitoring Of Internal Device Temperature (Oh1, Oh5)

    Furthermore, for instance, additional fans can be activated, generating a noise load when switched to continuous operation. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 232 C0124 OH5 limit Threshold for temperature monitoring inside the device 90 C0062 >...

  • Page 233: Function Monitoring Of Thermal Sensors (H10, H11)

    If the thermal sensors report values outside the measuring range, fault H10 (heatsink) or H11 (interior) is reported. The response to these faults can be defined under C0588. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 233 C0588 MONIT Fault response − monitoring H10/H11 Thermal sensors in the controller.

  • Page 234: Current Load Of Controller (I X T Monitoring: Oc5, Oc7)

    (^ 235). The response to exceeding the adjustable threshold can be defined under C0604. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 228 C0123 OC7 limit Threshold for I x t warning (axis module) 100 C0064 > C0123 ð fault message...
  • Page 235 Monitoring functions Configuring monitoring functions Current load of controller (I x t monitoring: OC5, OC7) Overcurrent characteristic TRIP ECSxS/P/M/A064 ECSxS/P/M/A048 ECSxS/P/M/A004, -008, -016, -032 I / I ECSXA025 Overcurrent characteristic ECSxM..., see also Rated data ^ 32 Fig. 9−1 The overcurrent characteristic shows the maximum time t till the axis module TRIP generates an I x t error.
  • Page 236 10 s @ 200 % ) 50 s @ 44 % + 70 % 60 s The current device utilisation is displayed in C0064: Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0064 Utilization Device utilisation (I x t) over the last 180 s Only display {1 %} C0064 >...

  • Page 237: Current Load Of Motor (I2 X T Monitoring: Oc6, Oc8)

    179 s in the event of a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128), a motor current of 1.5 x I and a trigger threshold of 100 %.
  • Page 238 C0120 (OC6) or C0127 (OC8). Read release time in the diagram Diagram for detecting the release times for a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128): = 1 × I L [%] = 3 ×...
  • Page 239 C0129/x. Parameter setting The following codes can be set for I x t monitoring: Code Meaning Value range Lenze setting C0066 Display of the I x t load of the motor 0 ... 250 % − C0120 Threshold: Triggering of error "OC6"...
  • Page 240 Monitoring functions Configuring monitoring functions Current load of motor (I x t monitoring: OC6, OC8) Calculate release time and I x t load Calculate the release time and the I x t load of the motor considering the values in C0129/1 and C0129/2(evaluation coefficient "y").

  • Page 241: Dc−Bus Voltage Monitoring (Ou, Lu)

    Monitoring functions Configuring monitoring functions DC−bus voltage monitoring (OU, LU) 9.3.11 DC−bus voltage monitoring (OU, LU) Fault message Monitoring function System variable Possible response TRIP Messag Warnin · Overvoltage MCTRL_bOvervoltage_b · Undervoltage MCTRL_bUndervoltage_b · Default setting üSetting possible These monitoring functions monitor the DC bus and protect the controller. If the DC−bus voltage at terminals +U and −U exceeds the upper switch−off...
  • Page 242 [V AC] [V DC] [V DC] yes/no yes/no 400 ... 460 yes/no yes/no C0174 C0174 + 5 V 400 (Lenze setting) yes/no C0174 C0174 + 5 V 400 ... 460 yes/no C0174 C0174 + 5 V C0174 C0174 + 5 V...
  • Page 243 Monitoring functions Configuring monitoring functions DC−bus voltage monitoring (OU, LU) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 101 C0173 UG limit Adaptation of the DC−bus voltage thresholds: Check during commissioning and adapt, if necessary. All drive components in DC bus connections must have the same thresholds.

  • Page 244: Voltage Supply Monitoring − Control Electronics (U15)

    ƒ Reset fault message 1. Check motor cables. 2. Carry out TRIP−RESET. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 244 C0597 MONIT LP1 Fault response − monitoring of motor phase failure (LP1) When this function is activated, the calculating time provided for...

  • Page 245: Monitoring Of The Resolver Cable (Sd2)

    The same applies if "warning" is set as a response. For commissioning C0586, always use the Lenze setting (TRIP). ƒ Only use the possibility of disconnection via C0586 if the monitoring is ƒ...

  • Page 246: Motor Temperature Sensor Monitoring (Sd6)

    −50 ... +250 °C. If the values are outside this measuring range, monitoring is activated. The response is set via C0594. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 246 C0594 MONIT SD6 Fault response − monitoring KTY sensor for the motor temperature.

  • Page 247: Monitoring Of The Absolute Value Encoder Initialisation (Sd7)

    Monitoring functions Configuring monitoring functions Monitoring of the absolute value encoder initialisation (Sd7) 9.3.16 Monitoring of the absolute value encoder initialisation (Sd7) Fault message Monitoring function System variable Possible response TRIP Messag Warnin · Absolute value encoder MCTRL_bEncoderFault_b initialisation error ·...

  • Page 248: Sin/Cos Signal Monitoring (Sd8)

    SD8 trip being released immediately. The "Sd8" fault message can only be reset by mains switching. ƒ Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 248 C0580 Monit SD8 Fault response − monitoring of SinCos signals at X8...

  • Page 249: Monitoring Of The Speed System Deviation (Nerr)

    Please observe that the system deviation reaches higher values under ƒ normal operating conditions with short ramp times. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 249 C0576 nErr tolerance Tolerance window for the speed system deviation referring to...

  • Page 250: Monitoring Of Max. System Speed (Nmax)

    If the actual speed value encoder fails, it is not provided that this monitoring ƒ will be activated. The max. system speed can be set via C0596. Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 250 C0596 NMAX limit 5500 Maximum system speed {1 rpm} 16000 EDBCSXM064 EN 11.0...

  • Page 251: Monitoring Of The Rotor Position Adjustment (Pl)

    Monitoring functions Configuring monitoring functions Monitoring of the rotor position adjustment (PL) 9.3.20 Monitoring of the rotor position adjustment (PL) Fault message Monitoring function System variable Possible response TRIP Messag Warnin · Fault during rotor position MCTRL_bRotorPositionFault_b adjustment · Default setting üSetting possible This monitoring function observes the correct execution of the rotor position adjustment.

  • Page 252: Diagnostics

    Diagnostics Diagnostics with Global Drive Control (GDC) Diagnostics 10.1 Diagnostics with Global Drive Control (GDC) The GDC diagnostics parameter menu contains the codes for diagnosing the drive system. ECSXA546 Fig. 10−1 GDC view: Diagnostics − Device − current status The most important operating values are displayed underDiagnostics W Motion: ECSXA547 Fig.

  • Page 253: Diagnostics With Global Drive Oscilloscope (Gdo)

    10.2 Diagnostics with Global Drive Oscilloscope (GDO) The "Global Drive Oscilloscope" (GDO) is included in the scope of supply of the Lenze parameter setting and operating program "Global Drive Control" (GDC) and the "Drive PLC Developer Studio" (DDS) and can be used as an additional diagnostic program.

  • Page 254: Gdo Buttons

    Diagnostics Diagnostics with Global Drive Oscilloscope (GDO) GDO buttons 10.2.1 GDO buttons Clicking on the corresponding button executes the respective function. Press the <F1> key to call the HTML online help. Symbol bar at the top (‚, Fig. 10−4) Symbol Function (button) Connect device...

  • Page 255: Diagnostics With Gdo

    Diagnostics Diagnostics with Global Drive Oscilloscope (GDO) Diagnostics with GDO 10.2.2 Diagnostics with GDO 1. Connect axis module to the PC/laptop. – Connection to terminal X14 (system bus (CAN)) with a PC system bus adapter. 2. Supply the axis module with a control voltage of 24 V (^ 64). 3.
  • Page 256 Diagnostics Diagnostics with Global Drive Oscilloscope (GDO) Diagnostics with GDO 7. Select the variables the values of which are to be recorded during positioning . – Double−click on the yellow text box "Variable" in the group box "Vertical". – Select the variables in the dialog box appearing now. –...
  • Page 257 Diagnostics Diagnostics with Global Drive Oscilloscope (GDO) Diagnostics with GDO Variable Data type Signal Code Display Description type format double Actual position [inc] CAN1_dnOutD1_p Position ˘ ˘ Integer 65536 inc = 1 revolution CAN1_bSyncInsideWindow_ Synchronisation telegram within BOOL binary C3165 the set window (^ 209) Deviation of the control program synchronisation...
  • Page 258 Diagnostics Diagnostics with Global Drive Oscilloscope (GDO) Diagnostics with GDO Variable Data type Signal Code Display Description type format TRUE = speed controller operates at MCTRL_bMMax_b BOOL binary ˘ ˘ the limit. Torque setpoint MCTRL_nMSetIn_a Integer analog C0056 dec [%] In % of M (C0057) TRUE = drive operates at the current...

  • Page 259: Diagnostics With The Xt Emz9371Bc Keypad

    Diagnostics Diagnostics with the XT EMZ9371BC keypad 10.3 Diagnostics with the XT EMZ9371BC keypad In the "Diagnostic" menu the two submenus "Actual info" and "History" contain all codes monitoring the drive ƒ fault/error diagnosis ƒ In the operating level, more status messages are displayed. If several status messages are active, the message with the highest priority is displayed.

  • Page 260: Diagnostics With Pcan−View

    Diagnostics Diagnostics with PCAN−View Monitoring of telegram traffic on the CAN bus 10.4 Diagnostics with PCAN−View "PCAN−View" is the basic version of the "PCAN−Explorer" program for Windows® of PEAK System Technik GmbH. The program permits a simultaneous transmission and reception of CAN messages which can be transmitted manually and periodically.
  • Page 261 Diagnostics Diagnostics with PCAN−View Monitoring of telegram traffic on the CAN bus On the basis of the IDs displayed, you can assign the telegrams to the devices. If no telegrams are displayed, this may be caused by various factors: Is your Engineering PC connected to the correct CAN bus? ƒ...

  • Page 262: Setting All Can Nodes To The "Operational" Status

    Diagnostics Diagnostics with PCAN−View Setting all CAN nodes to the "Operational" status 10.4.2 Setting all CAN nodes to the "Operational" status How to set all CAN nodes to the "Operational" status: 1. Create the following CAN message under "New transmit message": 2.
  • Page 263 Troubleshooting and fault elimination Fault analysis Fault analysis via the LED display Troubleshooting and fault elimination Failures can be quickly detected and classified by means of display elements or status messages via the MotionBus (CAN). Display elements and status messages provide a rough classification of the trouble. The chapter "11.3 Fault messages"...
  • Page 264 Troubleshooting and fault elimination Fault analysis Fault analysis with the history buffer 11.1.3 Fault analysis with the history buffer The history buffer (C0168) enables you to trace faults. The corresponding fault messages are stored in eight memory locations in the sequence of their occurrence. Structure of the history buffer The fields under "fault history"...

  • Page 265: Troubleshooting And Fault Elimination

    Fault analysis with the history buffer Reset fault message The current fault message can be reset via a TRIP−RESET (e.g. via C0043): Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 278 C0043 Trip reset Reset active fault message (TRIP−RESET) Reset fault message (TRIP−RESET) / no...

  • Page 266: Fault Analysis Via Application Status Word (C3150/C3151)

    Troubleshooting and fault elimination Fault analysis Fault analysis via application status word (C3150/C3151) 11.1.4 Fault analysis via application status word (C3150/C3151) Status word Stat1 The status word Stat1 (C3150, C3151) consists of 16 bits, each of them giving the following information: Name Level...

  • Page 267: Fault Analysis Via Lecom Status Words (C0150/C0155)

    Fault analysis via LECOM status words (C0150/C0155) 11.1.5 Fault analysis via LECOM status words (C0150/C0155) The LECOM status words (C0150/C0155) are coded as follows: Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 267 C0150 Status word Device status word for networking via automation interface (AIF)
  • Page 268 Troubleshooting and fault elimination Fault analysis Fault analysis via LECOM status words (C0150/C0155) Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0155 Status word 2 Status word 2 (advanced status word) Display only 65535 Controller interprets information as 16 bit (binary coded)

  • Page 269: Malfunction Of The Drive

    Troubleshooting and fault elimination Malfunction of the drive 11.2 Malfunction of the drive Maloperation/fault Cause Remedy Feedback system Motor rotates CCW when viewed Feedback system is not connected in Connect feedback system in correct to the motor shaft. correct phase relation. phase relation.

  • Page 270: Fault Messages

    Switch off monitoring (C0597 = 3). The current limit value is set too Set higher current limit value low. via C0599. x041 Internal fault Contact Lenze. x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP EDBCSXM064 EN 11.0...
  • Page 271 Troubleshooting and fault elimination Fault messages Causes and remedies Fault message Description Description Cause Cause Remedy Remedy Display Heatsink temperature > +90 °C 0050 Ambient temperature Allow module to cool and > +40 °C or > +50 °C ensure better ventilation. Check ambient temperature in the control cabinet.
  • Page 272 Checksum error in parameter Fault when loading a Set the required parameters set 1 parameter set. and store them under C0003 = CAUTION: The Lenze setting is Interruption while loaded automatically! transmitting the parameter set As to PLC devices, check the via keypad.
  • Page 273 Lenze (on floppy disk/CD−ROM). 0075 Error in parameter set. The operating system software Storage of the Lenze setting has been updated. C0003 = 1. After troubleshooting: Deenergise the device completely (disconnect 24 V supply, discharge DC bus)!
  • Page 274 Troubleshooting and fault elimination Fault messages Causes and remedies Fault message Description Description Cause Cause Remedy Remedy Display x087 Selection of the feedback in The absolute value encoder must Save parameter set, then C0025 as absolute value encoder be initialised. completely deenergise the device, or alteration of the encoder and afterwards switch it on again.
  • Page 275 Fan monitoring Heatsink fan is locked, dirty or Clean or exchange heatsink fan. defect. (for built−in units) 0105 Internal fault (memory) Contact Lenze. 0107 Internal fault (power stage) During initialisation of the Contact Lenze. controller, an incorrect power stage was detected.
  • Page 276 A program with technology Use technology variant of the available. functions has been tried to be controller. Credit loaded to a controller not Contact Lenze, if necessary. providing the corresponding units. 0230 Missing PLC program No PLC program loaded. Load PLC program.
  • Page 277 The actual speed value cannot Set error threshold (C3037) and (C5000 = 2) follow the speed setpoint: error response (C3038). Difference > 25.00 % (Lenze setting C3037). x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP EDBCSXM064 EN 11.0...

  • Page 278: Reset Fault Messages (Trip−Reset)

    Troubleshooting and fault elimination Fault messages Reset fault messages (TRIP−RESET) 11.3.2 Reset fault messages (TRIP−RESET) Reaction Measures to reset the fault message TRIP/ FAIL−QSP Note! As long as a TRIP/FAIL−QSP source is active, the TRIP/FAIL−QSP cannot be reset. The TRIP/FAIL−QSP can be reset by: Press keypad XT EMZ9371 BC ð...

  • Page 279: Appendix

    T V when the controller is inhibited. Name LCD display of the keypad XT EMZ9371BC Lenze/{Appl.} Lenze setting: Value at the time of delivery or after loading the Lenze setting using C0002. {xxx...} Different application initialisation value Value at the time of delivery After loading the Lenze setting using C0002, the application initialisation value is overwritten with the Lenze setting.
  • Page 280 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} [C0006] Op mode Operating mode of the motor control If the master pulse (via MCTRL: C0911 = 0 or DfIn: C0428 = 0) is used, the voltage supply has to be...
  • Page 281 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0027 Gain for relative analog signals (AIN) 1 FCODE(gain) 100,0 −199,99 {0.01 %} 199,99 FCODE_nC27_1_a 2 FCODE(gain) 100,0 FCODE_nC27_2_a ^ 113 C0030 DFOUT const Constant for the digital ^ 121...
  • Page 282 {0.1 Nm} 500,0 ^ 180 C0058 Rotor diff −90.0 Rotor displacement angle (offset angle) Input in case of Lenze motor with resolver: −90° hiperface absolute value encoder: 0° Code value is adapted by the rotor position adjustment function (C0095). Only relevant for the operation of synchronous motors.
  • Page 283 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 231 C0061 Heatsink Heatsink temperature temp Read only {1 °C} −200 ^ 232 C0062 Interior temp Interior device temperature Read only {1 °C} −200 ^ 229 C0063 Mot temp...
  • Page 284 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 178 C0076 Tn currCTRL Reset time of current controller 0.01 {0.01 ms} 200.00 ^ 185 C0077 Vp fieldCTRL Field controller gain (V 0.00 {0.01} 63.99 ^ 185 C0078 Tn fieldCTRL 20.0...
  • Page 285 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0093 Drive ident Device identification of the ECS axis module Read only Defective power section No power section recognised ECSxS/P/M/A004C4 ECSxS/P/M/A008C4 ECSxS/P/M/A016C4 ECSxS/P/M/A032C4 ECSxS/P/M/A048C4 ECSxS/P/M/A064C4 ECSxS/P/M/A064C2 C0094 Password Keypad password...
  • Page 286 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0108 Gain for relative analog signals (AOUT) 1 FCODE(gain) 100.0 −199.99 {0.01 %} 199.99 FCODE_nC108_1_a 2 FCODE(gain) 100.0 FCODE_nC108_2_a C0109 Offset for relative analog signals (AOUT) 1 FCODE(offset) −199.99 {0.01 %}...
  • Page 287 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 228 C0123 OC7 limit Threshold for I x t warning (axis module) 100 C0064 > C0123 ð fault message {1 %} OC7 (C0604) ^ 232 C0124 OH5 limit...
  • Page 288 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0135 Control word System control word DCTRL 65535 Controller evaluates information as 16 bits (binary−coded) Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3...
  • Page 289 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 267 C0150 Status word Device status word for networking via automation interface (AIF) Read only 65535 Controller evaluates information as 16 bits (binary−coded) Bit 0 Not assigned Bit 1...
  • Page 290 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0157 Status of free bits of DCTRL status word 1 (C0150) Only display 1 Stat. FreeBit {1 bit} 1 Bit 0 (DCTRL_bStat_B0_b) 2 Stat. FreeBit Bit 2 (DCTRL_bStat_B2_b) 3 Stat. FreeBit Bit 3 (DCTRL_bStat_B3_b) 4 Stat.
  • Page 291 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 264 C0170 Frequency of successive occurrence of the fault messages entered in the history buffer (C0168) Read only 65535 1 Counter Frequency of the fault message currently active...
  • Page 292 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 101 C0173 UG limit Adaptation of the DC−bus voltage thresholds: Check during commissioning and adapt, if necessary. All drive components in DC bus connections must have the same thresholds.
  • Page 293 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0178 Op timer Running time meter Read only {1 sec} 4294967295 Time when the controller was enabled C0179 Mains timer Power−on time meter Only display {1 sec} 4294967295 Time when the mains was...
  • Page 294 C0254 Vp angle CTRL 0.4000 Phase controller gain (V 0.0000 { 0.0001} 3.9999 C0300 Service Codes Only the Lenze service is allowed to make changes! C0302 C0304 Service Codes Only the Lenze service is allowed to make changes! C0310 EDBCSXM064 EN 11.0...
  • Page 295 DIP switch is set to "ON". 125 kbit/s After the setting process, a reset node is required. 50 kbps When the Lenze setting is loaded via C0002, C0351 is 1000 kbit/s set to 0 (500 kbit/s). ^ 203 C0352 CAN mst Boot−up master/slave...
  • Page 296 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 201 C0354 Alternative node address for CAN_IN/CAN_OUT (CAN bus interface X4) 1 CAN addr. 512 Address 2 CAN1_IN 2 CAN addr. Address 2 CAN1_OUT 3 CAN addr. Address 2 CAN2_IN 4 CAN addr.
  • Page 297 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 215 C0360 Telegram counter CAN_IN/CAN_OUT (CAN bus interface X4), number of telegrams Read only 1 CAN 65535 All sent telegrams Messages With a count value > 65535 the counter restarts...
  • Page 298 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 207 C0362 Sync cycle Time interval between 2 sync telegrams via the X4 CAN bus interface or EMF2192IB EtherCAT communication module at X1 AIF interface Read only {1 ms} ^ 208 C0363 Sync correct.
  • Page 299 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} Selection of the gateway channel ^ 217 C0371 Gateway Ch. Use CAN bus interface X4 CAN−AUX Use CAN bus interface X14 C0381 HeartProdTim Heartbeat (slave): HeartbeatProducerTime Time interval for sending the...
  • Page 300 Activate test mode ^ 113 [C0419] Enc. setup Encoder selection ^ 121 Selection of encoder type indicated on the nameplate of the Lenze motor. The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. Common IT512−5V...
  • Page 301 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 113 [C0421] Encoder volt Encoder voltage ^ 121 5.0 V Sets C0419 = 0 ("common") if the value is altered. 5.6 V 6.3 V 6.9 V 7.5 V 8.1 V...
  • Page 302 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0444 Status of the digital outputs Only display 1 DIS: DIGOUT 1 Status of the digital output X6/DO1 2 DIS: DIGOUT Relay control status [C0469] Fct STP key Function of the STOP key of the...
  • Page 303 Absolute value encoder (multi−turn) at C0497 Nact filter Time constant of actual speed value {0.1 ms} 50.0 0.0 ms = switched off C0504 Service codes Only the Lenze service is allowed to make changes! C0509 C0510 ProtAppFlash Write−protection application FLASH No write protection...
  • Page 304 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} 7 User menu 168.01 C0183 Fail number Display of current fault message 8 User menu 0.00 Not assigned 9 User menu 22.00 C0022 Imax current Input of maximum output...
  • Page 305 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0559 SD8 filter t Filter time constant (SD8) {1 ms} 200 Example: If the setting is "10 ms", a SD8−TRIP is actuated after 10 ms. ^ 249 C0576 nErr tolerance...
  • Page 306 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 229 C0584 MONIT OH7 Fault response − motor temperature monitoring Temperature threshold can be set under C0121. Detection through KTY thermal sensor via resolver input X7 or encoder input X8.
  • Page 307 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C0595 MONIT CE4 Fault response − system bus (CAN) monitoring "Bus−off" at X4 "BusOffState" (CE4) TRIP Warning ^ 250 C0596 NMAX limit 5500 Maximum system speed {1 rpm}...
  • Page 308 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 232 C0605 MONIT OH5 Fault response − monitoring of temperature inside the controller. Temperature threshold can be set under C0124. TRIP Warning ^ 237 C0606 MONIT OC8 Fault response − monitoring of x t motor utilisation.
  • Page 309 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0856 Analog process data input words are indicated decimally on the AIF interface (AIF1_IN) 100.00% = 16384 Read only 1 AIF1 IN words −199.99 {0.01 %} 199.99 Input word 1...
  • Page 310 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 340 C0866 Analog process data input words (decimal) for CAN bus interface 100.00% = 16384 Read only 1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1...
  • Page 311 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0869 32−bit phase information for CAN bus interface X4 Read only 1 CAN OUT phi −2147483648 2147483647 CAN1_OUT 2 CAN OUT phi CAN2_OUT 3 CAN OUT phi CAN3_OUT C0878...
  • Page 312 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C0909 speed limit Limitation of direction of rotation for speed setpoint −175 ... +175 % 0 ... +175 % −175 ... 0 % C0910 MCTRL TP2 MCTRL dead time compensation...
  • Page 313 {Appl.} C1190 MPTC mode Selection of PTC motor temperature sensor characteristic Characteristic for PTC 83−110 (Lenze standard) Can be specifically set by the user under C1191 and C1192 Characteristic for PTC 83−110 and 2 x This selection is only available as PTC150 (e.g.
  • Page 314 Name of PLC program Name Read only C2115 T−Fkt Credit Number of technology units C2116 CreditPinCode Code for technology units if service is required (please consult Lenze) 4294967295 C2117 Full Credit Service code ^ 217 C2118 ParWriteChan CAN object for L_ParRead and L_ParWrite...
  • Page 315 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2130 FileNameAdd Symbolic data name Information on the additional data that have been transmitted together with the application C2131 Type AddData Specification identification of the data program. C2132 VersionAddDa...
  • Page 316 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2356 Time settings for XCAN (AIF interface X1) 1 XCAN times {1 ms} 65000 XCAN boot−up time: Delay time after mains connection for initialisation through the master. 2 XCAN times XCAN1...3_OUT cycle times:...
  • Page 317 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2375 TX mode for XCANx_OUT (AIF interface X1) 1 XCAN Tx Response to sync XCAN1_OUT mode 2 XCAN Tx Response to sync XCAN2_OUT mode 3 XCAN Tx Response to sync...
  • Page 318 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2382 The XCAN monitoring is configured if no telegrams have been received. (AIF interface X1) 1 XCAN Conf. CE XCAN1_IN 2 XCAN Conf. CE XCAN2_IN 3 XCAN Conf. CE XCAN3_IN 4 XCAN Conf.
  • Page 319 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 351 C2455 Identifier for CANaux_IN/CANaux_OUT (CAN bus interface X14) Read only 1 CANa Id 2047 Identifier CANaux1_IN 2 CANa Id Identifier CANaux1_OUT 3 CANa Id Identifier CANaux2_IN 4 CANa Id...
  • Page 320 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 215 C2460 Telegram counter CANaux_IN/CANaux_OUT (CAN bus interface X14), number of telegrams Read only 1 CANa 65535 All sent telegrams Messages With a count value > 65535 the counter restarts...
  • Page 321 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2466 Sync Response CAN sync response for interface X14 (CAN−AUX) The value "1" should always be set! No response Response ^ 208 C2467 Sync Rx ID CAN−AUX sync receipt ID for CAN...
  • Page 322 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 225 C2485 MONIT CE15 Fault response − gate function ^ 217 monitoring (CE15) "Timeout" when remote parameterisation (C0370) is activated via interface X14 (CAN−AUX) TRIP Warning C2491 Process data input words...
  • Page 323 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C2493 Process data output words (decimal) for CAN bus interface 100.00% = 16384 Read only 1 CANa OUT −199.99 {0.01 %} 199.99 CANaux1_OUT word 1 words 2 CANa OUT...
  • Page 324 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 153 C3008 HomeMlim 10.0 Torque limit value for homing ^ 153 mode C3010 = 16 or 17 (100.00 % = maximum torque from C0057) 0.00 {0.01 %} 100.00...
  • Page 325 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 165 C3022 DCC−CTRL Deceleration time: enable Within this time, the manual jog speed (C3020) is reduced to zero. 0.000 {1 s} 999.000 ^ 170 C3030 FolloErrWarn 400000 Following error limit for enabling...
  • Page 326 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 134 C3151 Status word (in bits) Read only {1 bit} 1 StateBit Bit 0 Toggle bit 2 StateBit Bit1 Operating mode−oriented function 3 StateBit Bit2 Operating mode−oriented function...
  • Page 327 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 136 C3160 ToggleErrReac Toggle bit error handling TRIP Message Warning FAIL−QSP ^ 136 C3161 ToggleErLimit Toggle bit error counter limit {1 units} 65535 C3162 ToggleBitFail Toggle bit error counter...
  • Page 328 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C3201 FailReaction Fault handling Read only TRIP Message Warning FAIL−QSP Not assigned ^ 270 C3210 Failnumber All fault indications Current fault number (TRIP, FAIL−QSP, warning, message) Read only ^ 270...
  • Page 329 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 140 C4011 Assignment (mapping) of the digital inputs (from Motion V3.0) QSP: Quick stop SYNC: Synchronisation signal Ref: Reference switch Lp: Limit switch in pos. direction Ln: Limit switch in neg.
  • Page 330 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} C4017 MmaxNegVal 100.0 Limit value for torque limitation only for movements in the negative direction of rotation (neg. speed setpoint). 100 % = maximum torque from C0057 The torque limitations...
  • Page 331 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} Control word Ctrl1 for C4010 = 3 ^ 167 C4040 Control word ^ 165 Ctrl1 {1 bit} 1 Here, a drive can also be traversed without having a Bit 0 Toggle master control (e.g.
  • Page 332 Appendix Code table Code Possible settings IMPORTANT Designation Lenze/ Selection {Appl.} ^ 133 C6001 PosLatchAct Activation: At touch probe (X6/DI2 = HIGH), the actual position is saved in C6000. Not active Wait for rising edge Wait for falling edge Wait for rising or falling edge...

  • Page 333: General Information About The System Bus (Can)

    12.2 General information about the system bus (CAN) All Lenze drive and automation systems are provided with an integrated system bus interface for networking control components on the field level. The system bus interface serves to exchange, for instance, process data and parameter values between the nodes.

  • Page 334: Communication With Motionbus/System Bus (Can)

    Appendix Communication with MotionBus/system bus (CAN) Structure of the CAN data telegram 12.3 Communication with MotionBus/system bus (CAN) Note! ECSxM... axis modules only use the channels CAN1_INand CAN1_OUT for communication via the ƒ MotionBus (CAN) interface X4. only the parameter data channels (SDO) are supported for the system bus ƒ...
  • Page 335 (SDO, Service Data Objects) the transmission was successful. Parameter data of Lenze devices are called codes. The parameter data channel enables access to all Lenze codes and all CANopen indexes. Parameters are set, for instance, for the initial commissioning of a plant or when material of a production machine is exchanged.

  • Page 336: Communication Phases Of The Can Network (Nmt)

    Appendix Communication with MotionBus/system bus (CAN) Communication phases of the CAN network (NMT) 12.3.2 Communication phases of the CAN network (NMT) Regarding communication, the controller knows the following statuses: Status Description "Initialisation" After the controller is switched on, the initialisation phase is run through. During this phase, the controller is not involved in the data exchange on the bus.
  • Page 337 Appendix Communication with MotionBus/system bus (CAN) Communication phases of the CAN network (NMT) State transitions Initialisation (14) (11) Pre-Operational (10) (13) Stopped (12) Operational E82ZAFU004 Fig. 12−2 State transitions in the CAN network (NMT) State Command Network status after Effect on process or parameter data after state change transition change (hex)
  • Page 338 Appendix Communication with MotionBus/system bus (CAN) Communication phases of the CAN network (NMT) Network management (NMT) The telegram structure used for the network management contains the identifier and the command included in the user data which consists of the command byte and the node address.

  • Page 339: Process Data Transfer

    Appendix Communication with MotionBus/system bus (CAN) Process data transfer 12.3.3 Process data transfer Agreements Process data telegrams between host (master) and controller (slave) are ƒ distinguished as follows with regard to their direction: – Process data telegrams to the controller –...
  • Page 340 Appendix Communication with MotionBus/system bus (CAN) Process data transfer 12.3.3.2 Structure of the process data The process data telegrams have a maximum user data length of eight bytes each. Process data input telegram (RPDO) The process data input telegram transmits control information to the controller. ƒ...
  • Page 341 Appendix Communication with MotionBus/system bus (CAN) Process data transfer 12.3.3.3 Transfer of the process data objects Process data objects Data transmission ECSxE ECSxS/P/M/A AIF1_IN ˘ CAN1_IN cyclic (sync−controlled) cyclic (sync−controlled) CANaux1_IN ˘ AIF2_IN ˘ RPDOs CAN2_IN ˘ event−controlled/cyclic without sync (to ECS module) CANaux2_IN ˘...
  • Page 342 Appendix Communication with MotionBus/system bus (CAN) Process data transfer 12.3.3.4 Cyclic process data objects Tx-PDO1 Rx-PDO1 ECSxS/P/M/A... ECSXA218 Fig. 12−6 Example: Cyclic process data transfer from/to master (PLC) For the quick exchange of process data from or to the master respectively one process data object for input signals (Rx−PDO1) and one process data object for output signals (Tx−PDO18 ), each with 8 bytes of user data, is provided.
  • Page 343 Appendix Communication with MotionBus/system bus (CAN) Process data transfer Synchronisation of PDOs with sync−controlled transmission In order that the cyclic process data can be read by the controller or the controller accepts the process data, a special telegram, the CAN sync telegram, is used in addition. The CAN sync telegram is the trigger point for sending process data of the controller to the master and transferring process data from the master to the controller.
  • Page 344 Appendix Communication with MotionBus/system bus (CAN) Process data transfer 12.3.3.5 Event−controlled process data objects The event−controlled process data objects are particularly suitable for the data exchange between controllers and for distributed terminal extensions. They can, however, also be used by a host system. TPDO2 TPDO2 TPDO2...

  • Page 345: Parameter Data Transfer

    ECSXA220 Fig. 12−9 Parameter data channels for parameterising ECS Parameters ... are values which are stored under codes in the Lenze controllers. ƒ are set e.g. during initial commissioning or while changing materials in a machine. ƒ are transmitted with low priority.
  • Page 346 Appendix Communication with MotionBus/system bus (CAN) Parameter data transfer 12.3.4.1 User data Structure of the parameter data telegram User data (up to 8 bytes) 1. byte 2. byte 3. byte 4. byte 5. byte 6. byte 7. byte 8. byte Data 1 Data 2 Data 3...
  • Page 347 Data 3. The error codes are standardised acc. to DS301, V4.02. Addressing by index and subindex The parameter or Lenze code is addressed with these bytes according to the following formula: Index = 24575 − (Lenze code number) Data 1 ...
  • Page 348 Appendix Communication with MotionBus/system bus (CAN) Parameter data transfer 12.3.4.2 Error messages User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4. byte 5. byte 6. byte 7. byte 8. byte Index Index Command Subindex Error code Low byte High byte Byte 1:...
  • Page 349 Appendix Communication with MotionBus/system bus (CAN) Parameter data transfer 12.3.4.3 Examples of the parameter data telegram Reading parameters The heatsink temperature C0061 ( 43 °C) is to be read from the controller with node address 5 via the parameter data channel 1. Identifier calculation ƒ...
  • Page 350 Appendix Communication with MotionBus/system bus (CAN) Parameter data transfer Writing parameters The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is to be changed to 20 seconds via the SDO1 (parameter data channel 1). Identifier calculation ƒ...

  • Page 351: Addressing Of The Parameter And Process Data Objects

    Appendix Communication with MotionBus/system bus (CAN) Addressing of the parameter and process data objects 12.3.5 Addressing of the parameter and process data objects The CAN bus system is based on a message−oriented data exchange between a transmitter and many receivers. Thus, all nodes can transmit and receive messages at the same time. The identifier in the CAN telegram ˘...
  • Page 352 Addressing of the parameter and process data objects Assignment of the node address for the data exchange between Lenze devices If Lenze devices are assigned with node addresses in a complete ascending order, the identifiers of the event−controlled data objects (CAN2_IO/CAN3_IO) are factory−set so that the devices are able to communicate with each other.

  • Page 353: Overview Of Accessories

    12.4 Overview of accessories The accessories are not included in the scope of supply. Lenze’s basic devices and accessories are carefully matched to each other. With the basic device and the accessories, all components for a complete drive system are available. The component selection must be matched to the respective application.

  • Page 354: Components For Operation And Communication

    Appendix Overview of accessories 12.4.3 Components for operation and communication Operating and communication modules Operating/communication module Type/order number Can be used together with ECSxE ECSxS/P/M/A ü ü Keypad XT EMZ9371BC ü ü Diagnosis terminal (keypad XT with hand−held) E82ZBBXC ü ü...

  • Page 355: Brake Resistor

    Appendix Overview of accessories 12.4.4 Brake resistor Assignment of external brake resistors Power supply module (standard variants) Brake resistor ECSEE... ECSDE... ECSCE... [kW] ERBM039R120W 0.12 ERBM020R150W 0.15 ERBD047R01K2 1.20 ERBD022R03K0 3.00 ERBS039R01K6 1.64 ERBS020R03K2 3.20 Continuous power Brake resistors of type ERBM... Brake resistors with specifically adapted pulse capability in IP50 design Rated data Type...
  • Page 356 Appendix Overview of accessories Brake resistors of type ERBS... Brake resistors with an increased power loss in IP65 design (NEMA 250 type 4x) Rated data Type Brake resistor ERBS039R01K6 ERBS020R03K2 Resistance [Ω] Continuous power 1640 3200 Amount of heat [kWs] Max.

  • Page 357: Mains Fuses

    Appendix Overview of accessories 12.4.5 Mains fuses Mains fuses are not included in the Lenze delivery program. Use standard fuses. ƒ When using ECSxE power supply modules which are fused on the supply side the ƒ DC−bus supply need not be fused.

  • Page 358: Mains Chokes

    For operation of drives for accelerating duty with high peak currents, it is ƒ recommended to use mains chokes with linear L/I characteristic (Lenze types ELN3...). The choke rating is to be checked and adapted to the respective conditions.

  • Page 359: Rfi Filters

    25 m each (Lenze system cable). The interference level A is observed as long as the motor cable length per axis module is 25 m at a maximum (Lenze sytem cables) and the number of the ECS axis modules is maximally 10.

  • Page 360: Index

    Index Index Axis module, 12 − ECSCx... Absolute value encoder (Hiperface, dimensions, 46 single−turn/multi−turn), 109 mounting, 45 − as position and speed encoder, 121 − ECSDx... dimensions, 42 Accessories, 353 mounting, 41 − brake resistors, 355 − ECSEx... − communication modules, 354 dimensions, 39 −...
  • Page 361 Index CAN bus − assignment of the plug connectors, 81 Cable cross−section, 83 − boot−up time setting, 204 − communication, 334 Cable cross−sections − configuring, 197 − Control connections, 54 , 67 − cycle time setting, 204 − control connections, 52 −...
  • Page 362 − limit positions and limit switches evaluating hardware limit switches, 172 retracting from hardware limit switches, 172 − loading the Lenze settings, 100 − operation with motors of other manufacturers, 174 − Operation with servo motors from other manufacturers, Motor feedback system − checking the direction of rotation, 177 −...
  • Page 363 Index − Optimising the drive behaviour, 183 Configuration, 196 − axis synchronisation, 207 − quick stop (QSP), 173 − Axis synchronisation (start), 208 − Resolver adjustment, 188 − axis synchronisation via CAN, 210 − select operating mode, homing mode, 164 −...
  • Page 364 Index Configuration of CAN interface, node address (node ID), Current characteristics − application example, 36 − device protection by current derating, 37 Configuration of control interface − rated output current, 34 − process data from drive, status word Stat1, 135 , 266 −...
  • Page 365 Index Digital inputs, 68 − configuring, 140 Earth fault monitoring (OC2), 228 − setting the polarity, 142 Earth−fault monitoring, 228 Digital outputs, 68 Earthing, EMC, 50 − configuring, 140 Effecting rotor position adjustment, 180 − setting the polarity, 142 Electrical installation, 48 −...
  • Page 366 Index Encoder, 87 − Absolute value encoder (Hiperface, FAIL−QSP, 220 single−turn/multi−turn), as position and speed encoder, Fault analysis, 263 − absolute value encoder (Hiperface, − via application status word, 266 single−turn/multi−turn), 109 − Via history buffer, 264 − incremental encoder (TTL encoder), 88 −...
  • Page 367 Index Identification, controller, 17 Gateway function, 217 Identifier, 334 , 351 Global Drive Control (GDC) identifier, display code, 351 − Diagnostics, 252 Incremental encoder, as position and speed encoder, 113 − Parameter setting, 190 Incremental encoder (TTL encoder), 88 Global Drive Oscilloscope (GDO), 253 Individual addressing, 201 −...
  • Page 368 − message, 220 − retracting, 172 − Monitoring times for process data input objects, 225 − of following errors, 170 Loading the Lenze setting, 100 − Toggle−bit monitoring, 136 Low−voltage supply, 12 − voltage supply of control electronics, 244 − warning, 220...
  • Page 369 Index Monitoring functions, 219 MotionBus (CAN), 334 − boot−up time setting, 204 − bus off, 226 − CAN data telegram, 334 − configuring, 225 − communication, 334 − current load of controller, I x t monitoring, 234 − configuring, 197 −...
  • Page 370 Index Mounting position, 30 Packaging, 30 Parameter, for manual jog, 165 Parameter data, 335 , 345 Network management (NMT), 338 Parameter data objects, addressing, 351 Network management data, 335 Parameter data telegram, 346 Node address (node ID), CAN interface, 352 −...
  • Page 371 Index Power connections, 52 − connection of external brake resistor, 59 Rated data, 32 , 33 − DC bus connection, 52 − external brake resistor type ERBD..., 355 − Internal brake resistor connection, 57 type ERBM..., 355 − motor connection, 52 , 60 type ERBS..., 356 −...
  • Page 372 Index Setting homing Sin/cos signal monitoring (Sd8), 248 − homing modes, modes 4 and 5, 147 SinCos absolute value encoder, 89 − parameters, 143 SinCos encoder, 89 − reference search with continuous positioning axis, 158 − without serial communication, as position and speed −...
  • Page 373 Index Synchronisation − CAN sync response, 209 Technical data, 30 − cyclic process data objects, 343 − current characteristics application example, 36 Synchronisation cycle, 207 device protection by current derating, 37 Synchronisation via CAN, 210 rated output current, 34 − external brake resistor Synchronisation via terminal X6/DI1, 211 type ERBD..., 355 type ERBM..., 355...
  • Page 374 Index Troubleshooting and fault elimination, 263 − monitoring Undervoltage threshold, DC−bus voltage, 241 current load of the motor (I2 x t monitoring), 22 , 237 User data, 335 , 346 , 348 voltage supply of control electronics, 244 − monitoring functions bus off, 226 Variables, 256 current load of controller (I x t monitoring), 234...
  • Page 375 © 06/2013 Lenze Automation GmbH Service Lenze Service GmbH Hans−Lenze−Str. 1 Breslauer Straße 3 D−31855 Aerzen D−32699 Extertal Germany Germany +49 (0)51 54 / 82−0 00 80 00 / 24 4 68 77 (24 h helpline) Ê Ê +49 (0)51 54 / 82 − 28 00 +49 (0)51 54 / 82−11 12...

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