Lenze AC Tech PositionServo 940 Manuals

Lenze AC Tech PositionServo 940 Manuals

Manuals and User Guides for Lenze AC Tech PositionServo 940. We have 1 Lenze AC Tech PositionServo 940 manual available for free PDF download: User Manual

Lenze AC Tech PositionServo 940 User Manual

Lenze AC Tech PositionServo 940 User Manual (75 pages)

Brand: Lenze | Category: Servo Drives | Size: 1 MB

Table of Contents

Table of Contents
3
1 General Information

7
2 Specifications

10
- Electrical Characteristics
  10
- Power Ratings
  11
- Fuse Recommendations
  11
- Digital I/O Ratings
  12
- Environment
  12
- Operating Modes
  12
- Connections and I/O
  12
3 Dimensions

13
- Positionservo Dimensions
  13
- Clearance for Cooling Air Circulation
  14
4 Installation

15
- Wiring
  16
- Shielding and Grounding
  16
  - General Guidelines
    16
  - Emi Protection
    17
  - Enclosure
    17
- Line Filtering
  18
- Heat Sinking
  18
- Line (Mains) Fusing
  18
5 Positionservo Connections

19
- External Connectors
  19
- Digital I/O Details
  27
- Analog I/O Details
  30
  - Analog Reference Input
    30
  - Analog Output
    31
- Communication Interfaces
  31
- Motor Selection
  32
  - Motor Connection
    32
  - Motor Over-Temperature Protection
    33
  - Motor Set-Up
    33
- Using a Custom Motor
  34
  - Creating Custom Motor Parameters
    34
  - Autophasing
    35
  - Custom Motor Data Entry
    36
6 Programmable Features and Parameters

40
- Parameter Storage and EPM Operation
  40
  - Parameter Storage
    40
  - Epm Operation
    40
  - Epm Fault
    41
- Motor Group
  41
- Parameters Group
  41
  - Drive Operating Modes
    41
  - Drive Pwm Frequency
    42
  - Current Limit
    42
  - Khz Peak Current Limit And 16 Khz Peak Current Limit
    42
  - Analog Input Scale (Current Scale)
    42
  - Analog Input Scale (Velocity Scale)
    43
  - Accel/Decel Limits (Velocity Mode Only)
    43
  - Reference
    43
  - Step Input Type (Position Mode Only)
    43
  - Fault Reset Option
    43
  - Motor Temperature Sensor
    43
  - Motor Ptc Cut-Off Resistance
    44
  - Second Encoder
    44
  - Regeneration Duty Cycle
    44
  - Encoder Repeat Source
    45
  - System To Master Ratio
    45
  - Second To Prime Encoder Ratio
    45
  - Autoboot
    45
  - Group ID
    45
  - Enable Switch Function
    45
  - User Units
    45
  - Resolver Track
    46
  - Current Limit Max Overwrite
    46
- Communication
  46
  - Ethernet Interface
    46
  - RS-485 Configuration
    50
  - Modbus Baud Rate
    50
  - Modbus Reply Delay
    50
- Analog I/O Group
  50
- Digital I/O
  51
  - Digital Input De-Bounce Time
    51
  - Hard Limit Switch Action
    51
- Velocity Limits Group
  51
  - Zero Speed
    51
  - Speed Window
    51
  - At Speed
    52
- Position Limits
  52
  - Position Error
    52
  - Max Error Time
    52
  - Second Encoder Position Error
    52
  - Second Encoder Max Error Time
    52
- Compensation Group
  52
  - Velocity P-Gain (Proportional)
    52
  - Velocity I-Gain (Integral)
    52
  - Position P-Gain (Proportional)
    53
  - Position I-Gain (Integral)
    53
  - Position D-Gain (Differential)
    53
  - Position I-Limit
    53
  - Gain Scaling Window
    53
- Tools Group
  54
  - Oscilloscope Tool
    54
  - Run Panels
    54
- Faults Group
  54
7 Display and Diagnostics

54
- Diagnostic Display
  54
- Diagnostic Leds
  56
- Faults
  56
  - Fault Codes
    56
  - Fault Event
    57
  - Fault Reset
    57
8 Operation

57
- Minimum Connections
  57
- Configuration of the Positionservo
  58
- Position Mode Operation (Gearing)
  59
- Dual-Loop Feedback
  59
- Enabling the Positionservo
  60
- Tuning in Velocity Mode
  60
- Tuning in Position Mode
  62
9 Sample Motor Responses to Gain Settings

64
- Motor Response to Gain Settings (Velocity Mode)
  64
  - P-Gain
    65
  - I-Gain
    67
  - Abnormal Gains (Velocity Mode)
    68
- Motor Response to Gain Settings (Position Mode)
  68
  - P-Gain Selection
    69
  - Optimal P-Gain / D-Gain Settings
    70
10 Troubleshooting

72

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