Lenze L-force 931E Manuals

Manuals and User Guides for Lenze L-force 931E. We have 1 Lenze L-force 931E manual available for free PDF download: Communications Manual

Lenze L-force 931E Communications Manual

Lenze L-force 931E 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
2 Safety Instructions

10
3 Technical Data

13
- Communication Data
  13
4 Electrical Installation

14
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
- Process Data Transfer (PDO Transfer)
  27
- Sync Telegram
  41
- 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
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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