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L-force 930
Lenze L-force 930 Servo Drives Manuals
Manuals and User Guides for Lenze L-force 930 Servo Drives. We have
2
Lenze L-force 930 Servo Drives manuals available for free PDF download: Software Manual, Communications Manual
Lenze L-force 930 Software Manual (199 pages)
Small Drives Control
Brand:
Lenze
| Category:
Servo Drives
| Size: 3 MB
Table of Contents
Table of Contents
3
1 Preface and General Information
7
About this Manual
7
Terminology Used
8
Legal Regulations
9
Warranty Terms
9
2 Safety Instructions
10
Personnel Responsible for Safety
10
General Safety and Application Notes for Lenze Servo Inverters
11
General Safety Information
13
Residual Hazards
14
Definition of Notes Used
15
3 Installation
16
Validity Information
16
System Requirements
16
Software Installation
17
4 User Interface
18
Building up Serial Communication
18
Starting SDC / User Interface
20
Standard Buttons
20
Numerical Input Fields
21
Control Elements
21
Display of Setpoints and Actual Values
22
Standard Control Windows
23
Directories
23
Communication Via Communication Objects
24
Exiting the Program
24
5 Commissioning
25
Important Notes
25
Default Parameter Set
27
Speed Control
28
Functions Available
28
Commissioning Steps
30
Selecting a Motor from the Motor Database
31
Activating the Operating Mode
32
Input Configuration
32
Setpoint Selection Via Setpoint Selectors
33
Optimising the Speed Controller
40
Setting the Controller Enable Logic
43
Making the Controller Ready for Operation
44
Torque Control
45
Functions Available
45
Commissioning Steps
47
Selecting a Motor from the Motor Database
48
Activating the Operating Mode
49
Input Configuration
50
Setpoint Selection Via Setpoint Selectors
51
Setting the Controller Enable Logic
57
Making the Controller Ready for Operation
58
Positioning Mode
59
Functions Available
59
Commissioning Steps
62
Selecting a Motor from the Motor Database
63
Activating the Operating Mode
64
Input Configuration
64
Global Positioning Settings
65
Target Parameterisation
66
Setting the Controller Enable Logic
70
Approaching Targets
71
Setting Digital Outputs
72
Course Program
73
Functions Available
73
Commissioning Steps
74
Selecting a Motor from the Motor Database
75
Activating the Operating Mode
76
Input Configuration
77
Global Positioning Settings
79
Target Parameterisation
80
Creating the Course Programs
84
Type of Command - Position Branch
87
Type of Command - Branch (Line)
89
Type of Command - Level Test
91
Type of Command - End of Program
93
Setting the Controller Enable Logic
94
Debugging the Course Program
95
Application Examples
96
6 Homing
99
Parameterisation of Homing
104
7 Digital Outputs and Analog Inputs and Outputs
107
Digital Outputs DOUT1, DOUT2
107
Holding Brake DOUT3
111
Analog Inputs AIN
113
Analog Outputs AMON
115
8 Using the Oscilloscope Function
116
Oscilloscope Settings
117
Oscilloscope Window
120
9 Troubleshooting and Fault Elimination
122
Error Monitorings in the 931E
122
Overcurrent and Short-Circuit Monitoring
122
Monitoring the DC-Bus Voltage
123
Monitoring the Logic Supply
123
Monitoring the Heatsink Temperature
123
Monitoring the Motor
124
Monitoring the Sequence of Motions
124
Other Internal Monitoring Functions
125
Elapsed Time Meter
125
Error Message
126
Error Window
132
Error Management
133
10 Appendix
134
Parameterisation of Outside Motors
134
Motor Data
134
Angle Encoder
136
Motor Temperature Monitoring
140
Selecting the Safety Parameters
141
Limit Switch Settings
142
Power Stage
143
DC-Bus Monitoring
144
Current Controller
145
Setting and Optimising the Position Controller
147
General Configuration Settings
149
Display Unit Settings
150
User-Defined Display Unit Settings
153
Direct Entry of Distance, Speed and Acceleration Units
155
Defining the Input Limits
156
Communication Interfaces
157
Control Via CAN Bus
157
Control Via the Serial Interface
160
Control Via the Technology Interface
163
Serial Communication Protocol
164
Communication Object List
166
Base Units
172
Bit Assignment of Command Word / Status Word / Error Word
173
Timing Charts
177
Switch-On Sequence
178
Positioning / Target Reached
180
Speed Message
181
Error Acknowledgement
181
Limit Switches
182
Parameter Set Management
183
General Information
183
Loading and Saving of Parameter Sets
184
Printing Parameter Sets
185
Offline Parameterisation
187
Info Window
189
Quick Access Via Toolbar
190
Firmware Download to the 931E / Firmware Update
191
Firmware Download
191
11 Index
194
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Lenze L-force 930 Communications Manual (148 pages)
Servo Drives, Small drives, CANopen
Brand:
Lenze
| Category:
DC Drives
| Size: 1 MB
Table of Contents
Table of Contents
3
1 Preface
7
Introduction
7
About this Communication Manual
8
Legal Regulations
9
2 Safety Instructions
10
Persons Responsible for Safety
10
General Safety Instructions
11
Definition of Notes Used
12
3 Technical Data
13
Communication Data
13
4 Electrical Installation
14
Wiring According to EMC
14
Electrical Connections of Canopen
15
Connection of CAN Bus Slave
16
Connection of CAN Bus Master
17
5 Canopen Communication
18
About Canopen
18
Structure of the CAN Data Telegram
18
Identifier
19
Node Address (Node ID)
19
User Data
20
Parameter Data Transfer (SDO Transfer)
21
Telegram Structure
21
Reading Parameters (Example)
25
Writing Parameters (Example)
26
Process Data Transfer (PDO Transfer)
27
Telegram Structure
27
Available Process Data Objects
27
Objects for PDO Parameterisation
28
Description of the Objects
37
Example of a Process Data Telegram
39
Activation of the Pdos
40
Sync Telegram
41
Telegram Structure
41
Synchronisation of the Process Data
41
Description of the Objects
42
Network Management (NMT)
43
Communication Phases of the CAN Network (NMT)
43
Telegram Structure
44
Emergency Telegram
46
Telegram Structure
46
Description of the Objects
48
Heartbeat Telegram
49
Telegram Structure
49
Description of the Objects
51
Boot-Up Telegram
52
Telegram Structure
52
6 Commissioning
53
Activation of Canopen
53
Speed Control
54
Parameterising of a Process Data Object (TPDO and RPDO)
54
Parameterising of the Motor and the Current Controller
57
Parameterising of the Speed Control
58
Running through the State Machine
59
Position Control
61
Parameterising of the Homing Run
61
Running through the State Machine
63
7 Parameter Setting
67
Loading and Saving of Parameter Sets
67
Overview
67
Description of the Objects
69
Conversion Factors (Factor Group)
70
Overview
70
Description of the Objects
72
Power Stage Parameters
74
Overview
74
Description of the Objects
74
Current Controller and Motor Adaptation
76
Overview
76
Description of the Objects
77
Speed Controller
79
Overview
79
Description of the Objects
79
Position Controller (Position Control Function)
80
Overview
80
Description of the Objects
82
Analog Inputs
85
Overview
85
Digital Inputs and Outputs
85
Description of the Objects
85
Limit Switches
86
Overview
86
Description of the Objects
86
Device Information
87
Description of the Objects
87
8 Device Control
88
State Diagram
88
Overview
88
State Diagram of the Drive Controller
89
States of the Drive Controller
91
State Transitions of the Drive Controller
92
0 Controlword
93
Controller State
96
Status Word
97
9 Operating Modes
99
Setting of the Operating Mode
99
Overview
99
Description of the Objects
99
Speed Control
101
Overview
101
Description of the Objects
103
Homing
104
Overview
104
Description of the Objects
105
Control of the Homing Run
106
Positioning
107
Overview
107
Description of the Objects
108
Functional Description
109
Synchronous Position Selection
111
Overview
111
Description of the Objects
112
Functional Description
114
Torque Control
117
Overview
117
Description of the Objects
118
10 Appendix
119
Index Table
119
11 Index
143
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