L-force Drives Ä.1kjä K-HB 13.0001-EN .
This documentation is valid for 931M/W servo inverters. Document history Material No. Version 2.1 .1kj Description 10/2006 TD14 First edition 0Fig. 0Tab. 0 Tip! Current documentation and software updates concerning Lenze products can be found on the Internet in the ”Services & Downloads” area under http://www.Lenze.com Important note: Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use remain with the user.
Contents 1 2 3 4 5 6 i Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Comparison of industrial fieldbus systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 About this Communication Manual . . . . . . . . . . . . . . . . . . . . . . . . . .
i 7 8 4 Contents Parameter channel (PCV mechanism) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 7.1 Access authorisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 7.2 Structure of the parameter characteristic value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.1 Structure of parameter identification (PKE) . . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Subindex . . . . . . . . .
Contents i 8.10 Data type - service parameters (PNU 105) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 8.11 Data type - PROFIBUS parameters (PNU 106) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 8.12 Data type status (PNU 1000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 8.13 Data type info (PNU 1001) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 8.
1 Preface 1 Preface 1.1 Introduction Introduction The competitive situation in the mechanical and system engineering sector requires new means to optimise the production costs. This is why modular machine and system engineering is becoming increasingly more important, since individual solutions can now be set up easily and cost-effectively from a single modular system.
Preface 1 Comparison of industrial fieldbus systems 1.
1 Preface 1.3 About this Communication Manual About this Communication Manual Target group This Manual is intended for all persons who plan, install, commission, and set servo inverters of the 931M/W series. Together with the catalogue, it forms the basis for project planning for the mechanical engineer and system engineer. Contents The PROFIBUS Manual complements the Mounting Instructions and Software Manual included in the scope of supply: ƒ The features and functions are described in detail.
Preface Legal regulations 1.4 Legal regulations Labelling Nameplate CE identification Lenze drive controllers are definitely In compliance with the EC identified by the contents of the Low-Voltage Directive nameplate. Manufacturer Lenze GmbH & Co KG small drives Postfach 10 13 52 D-31763 Hameln Application as directed 931M/W servo inverters z must only be operated under the operating conditions prescribed in these instructions.
2 Safety instructions 2 Safety instructions 2.1 Persons responsible for safety Persons responsible for safety Operator An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used. The operator or his safety personnel is obliged ƒ to ensure the compliance with all relevant regulations, instructions and legislation. ƒ to ensure that only qualified personnel works on and with the drive system.
Safety instructions 2 General safety instructions 2.2 K-HB 13.0001-EN General safety instructions ƒ These safety information are not claimed to be complete. In case of questions and problems, please contact your Lenze representative. ƒ At the time of delivery the servo inverter meets the state of the art and is generally safe to operate. ƒ The information given in these Operating Instructions refer to the specified hardware and software versions of the modules.
2 Safety instructions 2.
Technical data General data and operating conditions 3 Technical data 3.1 General data and operating conditions 3 General data Area Communication profile (DIN 19245 part 1 and part 3) Communication medium Drive profile Network topology PROFIBUS-DP station Baud rate (in kbits/s) Max. cable length per bus segment External DC voltage supply Enclosure Values PROFIBUS-DP-V0 RS485 Profidrive Without repeater: Line / with repeaters: line or tree Slave 9.6, 19.2, 93.75, 187.
4 Electrical installation 4 Electrical installation Structure of a PROFIBUS-DP network with RS485 cabling without repeater 1 3 3 931M 931W 2 3 931M 931W 2 931M 931W 2 0m 1200 m 931m_021 No. Element Note 1 Master computer e.g. PC or PLC with PROFIBUS-DP master interface module 2 Bus cable Adapt baud rate to the length of the bus cable. 3 PROFIBUS-DP slave Applicable basic device Note! When using a repeater, max. 125 stations can communicate via the PROFIBUS.
Electrical installation 4 Number of bus stations M R S S S R S 1 S 2 3 2133PFB004 Segment Master (M) Slave (S) Repeater (R) 1 1 2 31 30 - 2 - 30 1 3 - 30 1 Tip! Repeaters do not have a station address but in the calculation of the number of stations they reduce the number of stations by 1 on each side of the segment. Repeaters can be used to build up line and tree topologies.
4 Electrical installation Baud rate / length of the bus cable Baud rate [kbit/s] Length [m] 9.6 - 93.75 1200 187.5 1000 500 400 1500 200 Note! The baud rate, depending on data volume, cycle time, and number of stations, should be only as high as required for the application. Tip! For high baud rates we recommend to check the use of optical fibres. Advantages of the optical fibre: ƒ External electromagnetic interferences have no effects on the transmission path.
Electrical installation Electrical connection of the servo inverter with the PROFIBUS master 4.1 4 Electrical connection of the servo inverter with the PROFIBUS master To meet the requirements of the enclosure IP 54, the servo inverter is equipped with screw connectors with M12 threads. The connection plan and assignment of the power connector of the devices can be obtained from the Operating Instructions 931 M / W.
5 Commissioning 5 Commissioning 5.1 Before switching on Before switching on Stop! Before you switch on the basic unit for the first time in the PROFIBUS-DP network, check ƒ the entire wiring for completeness, short circuit, and earth fault. ƒ whether the bus system is terminated at the first and last station with the integrated active bus terminating resistor. 5.
Commissioning Activation of PROFIBUS at the servo inverter 5 The Lenze standard RS232 connecting cable is plugged in between the inverter (M8 circular connector, 3-pole) and the COM interface of the PC (Sub-D connector 9-pole). The settings of the COM interface must be checked in the hardware settings of the PC. Note! Select from the Setup menu Online Level 4 or Service. 931mPro_002 When the Diagnostics function is activated, the diagnostic alarm is switched on.
5 Commissioning Activation of PROFIBUS at the servo inverter 931mPro_003 This prevents a simultaneous access to the bus system and the operating program. The access authorisations of the control to the inverter can be set via the operating mode on the Setup tab. Restrictions of the access depth like before the access on the inverter by the operating program are carried out. See Software Manual ”Access authorisations via access levels.
Commissioning 5 Activation of PROFIBUS at the servo inverter Operating mode Access Restrictions Online level 1 Observing the drive No write access, no change of parameters or process data possible. Online level 3 Access to process data.
5 Commissioning 5.3 PROFIBUS settings in the operating program PROFIBUS settings in the operating program mêçÑáÄìë am In the operating program, yet further settings can be made for the PROFIBUS operation in the PROFIBUS-DP tab. 931mPro_004 In case of an access authorisation higher than level 3, settings can be made here which can also be executed directly via PROFIBUS. To make access easier for the users, this tab is inserted.
Commissioning 5 PROFIBUS settings in the operating program 931mPro_006 The operating program also offers the option to display further binary drive data in the status word.. The bits 8, 11, 12, 13 and 14 can be assigned with other functions than set by default.
5 Commissioning PROFIBUS settings in the operating program In addition to the display functions, it is possible to set other actions in the control word which can be addressed.
Commissioning PROFIBUS communication GSE file for PROFIBUS connection 5.4 PROFIBUS communication 5.4.1 GSE file for PROFIBUS connection 5 The device data base file (GSE) for DP slaves (e.g. servo inverter of type 931) contains characteristic device features of the DP components. Here, it is stored, for instance, which baud rates and special DP modes are supported by the slave. Each master needs the corresponding device data base file for a non-ambiguous identification of slaves on the bus.
5 Commissioning 5.4.3 Structure of communication channel PROFIBUS communication Structure of communication channel Generally, only communication functions can be set under the HW configuration which are also supported by the servo inverter. The bandwidth of this communication is defined via the process data configuration. The parameter process data objects (PPOs) serve to select a pre-defined write and read access to the control and status word by certain ”modules”.
Control word / status word General information 6 Control word and status word (Profidrive state machine) 6.1 General information 6 The servo inverter is controlled via two different access types: 1. The parameters of the inverter are accessed via the acyclic parameter channel DP-V1. This serves to adapt, change, or set e.g., the controller settings or the driving records. ( 41). 2. The state of the drive is changed via the state machine.
6 Control word / status word 6.2 Control word Control word The meaning of the single bits of the control word partly depends on the control selected. Two control types, speed and positioning control, are available (concerning this see the parameter PNU 930). In the Tab. 7 those bits of the control word are explained the meaning of which are firmly defined irrespective of the controller type. The Tab. 8 and Tab. 9 describe the bits with a controller type-specific meaning. The Tab.
Control word / status word 6 Control word Bit Value Significance Meaning 0 1 ON Condition for the S3 status ”Ready for operation”: In this status the output stage is supplied with voltage but not yet connected through (no voltage at the motor). 0 OFF 1 Switched-off status: The drive returns to S2 status ”Ready to switch on”. When the drive is switched on it is braked along a ramp to zero speed. When the drive is at standstill, the output stage will be switched off.
6 Control word / status word Control word Bit Value Significance Meaning 4 1 Switched-on ramp generator The ramp generator which prevents an abrupt rise of the speed setpoint is active. 0 Reset of the ramp generator The output of the ramp generator is set to 0 min-1. The drive brakes considering the current limitation. 1 Standard ramp generator No impact (standard function of the ramp generator) 0 Freezing of the ramp The current setpoint of the ramp generator is ”frozen”.
Control word / status word 6 The status word (ZSW) 6.3 The status word (ZSW) The current status of the drive is output in the status word and made available to the master control or PLC. By analogy with the explanation of the control word, first the meanings of the controller type independent bits of the status word are explained in Tab. 10. Then the bits with the controller type-specific meaning are explained in Tab. 11 (speed control) and Tab. 12 (position control).
6 Control word / status word The status word (ZSW) Bit Value Significance Meaning 8 1 Setpoint inside a tolerance margin The setpoint is inside a required tolerance margin. 0 Setpoint outside the tolerance margin The setpoint is outside the required tolerance margin. 1 Setpoint reached The setpoint speed (n) or setpoint frequency (f) has been reached. 0 Setpoint not reached The setpoint speed (n) or setpoint frequency (f) has not been reached. 10 11-13 Device-specific Tab.
Control word / status word The Profidrive state machine State machine and general state diagram 6.4 The Profidrive state machine 6.4.1 State machine and general state diagram 6 The status of the drive can be changed via the state machine. The single state transitions are carried out depending on the control word or error management.
6 Control word / status word The Profidrive state machine State machine and general state diagram Switch-on of power supply At standstill or Bit 3 = 0, Enable Operation = 0 S1: Switch-on inhibit Bit 0 = 0: On = 0 Bit 1 = 0: No Off2 = 0 Bit 2 = 0: No Off3 = 0 Bit 0 = 0: ON = 0 Bit 1 = 0: No Off2 = 0 Bit 2 = 0: No Off3 = 0 S2: Ready to switch on Bit 0 = 1: ON = 1 Bit 1 = 0: No Off2 = 0 Bit 2 = 0: No Off3 = 0 Bit 1 = 0: No Off2 = 0 At standstill or Bit 3 = 0, Enable Operation = 0 S5: Switching-off
Control word / status word 6 The Profidrive state machine State machine and general state diagram Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switch-on inhibit Quick stop Fault Enable operation Ready for operation Ready to switch on S1 switch-on inhibit 1 X 0 0 0 0 S2 ready to switch on 0 1 0 0 0 1 S3 ready for operation 0 1 0 0 1 1 S4 operation enabled 0 1 0 1 1 1 S5 switch-off 0 X X 1 1 1 Not ready to switch on 0 X 0 0 0 0 Fault 0 X 1 0 0 0 Fault res
6 Control word / status word 6.4.2 Example: State machine for speed operation The Profidrive state machine Example: State machine for speed operation In this example, the drive is to be commissioned with the predefined driving record no. 1 (n = 2400 1/min; M = 1320 mNm) with speed control. The selected PPO type 3 permits the writing and reading of the control word / status word and the selection of the pre-programmed driving records.
Control word / status word The Profidrive state machine Example: State machine for speed operation Status S3: Ready for operation 6 Status S4: Operation enabled 931mPro_013 931mPro_012 S5: Switching off / Braking -> identical with S4 except for bit no. 0. K-HB 13.0001-EN 2.
6 Control word / status word 6.4.3 State diagram for positioning The Profidrive state machine State diagram for positioning Fig. 2 shows the state machine for a position-controlled drive in the basic state ”Operation enabled”. 931m_023 Fig. 2 State machine ins the ”positioning” mode In this operating status, the following actions can be executed via the control word: 1. Via bit 11 of the STW homing can be started. Bit 11 in the ZSW ”Home position is set” indicates if a home position is set (valid).
Control word / status word The Profidrive state machine State diagram for positioning 6 Stop! In case of a jogging mode (JOG1 and JOG2) the software and hardware limit switches are not evaluated! The drive is not limited with regard to its permitted travel range! During the positioning process, several options exist to intervene in the process: 1. A travel request can be interrupted using the command ”Intermediate stop” (bit 5 of STW). The drive brakes along the set deceleration ramp to standstill.
6 Control word / status word 6.4.4 State diagram for speed control The Profidrive state machine State diagram for speed control Fig. 3 shows the state machine for a speed-controlled drive in the basic state S4 ”Operation enabled”. Many functions of the illustrations shown are similar to the ones of section ( 38) so that only deviant functions shall be explained here. 931m_024 Fig.
Parameter channel (PCV mechanism) Access authorisation 7 7 Parameter channel (PCV mechanism) Certain drive functions are further accessed via the parameter characteristic value (PCV) mechanism. The PCV mechanism serves to process parameters in cyclic data exchange. The PCV mechanism is used to: ƒ operate and observe parameters (master -> slave). ƒ transfer spontaneous messages (slave -> master -> slave). Moreover, it serves to, e.g.
7 Parameter channel (PCV mechanism) 7.2 Structure of the parameter characteristic value Structure of the parameter characteristic value Structure of parameter identification (PKE) When processing the PCV, a job identification, the corresponding PNU (parameter number) and a value are transmitted. The job identification indicates if data of different sizes are to be written or requested. The single job identifications are listed in Tab. 19.
Parameter channel (PCV mechanism) Job and response processing Job identification (master -> slave) 7.3 7 Job and response processing The job and response processing is defined so that the identification shows which fields of the PCV interface (IND,PWE) must be evaluated. Moreover, a distinction is made between parameter value and parameter description. 7.3.1 Job identification (master -> slave) To change a parameter value the slave must receive a job identification from the master (see Tab. 19).
7 Parameter channel (PCV mechanism) 7.3.2 Response identification (slave -> master) Job and response processing Response identification (slave -> master) The response shows if the transmission was successful or if a transmission error occurred. The response helps to exactly locate the error. The following table contains all responses to the implemented job identifications.
Parameter channel (PCV mechanism) Job and response processing Error numbers at response 7.3.3 7 Error numbers at response Error number Information Detailed description 0 Impermissible PNU The parameter number is not assigned. 1 Parameter value cannot be changed This is a non-writable object, e.g. an actual value. 2 Lower or upper value limit exceeded The permissible writable limit range of the object has been exceeded. Please observe object limits.
7 Parameter channel (PCV mechanism) 7.3.4 Examples of PCV mechanism Job and response processing Examples of PCV mechanism Example 1: Request parameter change rights: To request the parameter change rights a parameter value must be transmitted, so the job identification is 2. The PNU number is 927. This corresponds to 39F in the hexadecimal data format. The value 1 is transmitted as parameter value. The parameter value serves to transmit the control authority to the PROFIBUS master.
Parameter channel (PCV mechanism) 7 Job and response processing Examples of PCV mechanism Example 2: Reading the set speed To read the set maximum speed out of the drive, the parameter is requested from the inverter. Here, the parameter identification consists of the value 6 in the job identification for requesting the parameter value, see Tab. 19, and the driving record number as PNU, e.g. driving record 1, see chapter data type driving record 1 to 100 ( 61).
7 Parameter channel (PCV mechanism) Job and response processing Examples of PCV mechanism Example 3: Change of the set speed To change the speed in a driving record, a similar procedure like requesting parameter values is selected. As job identification, a 7 must be entered here (job identification 7 – change parameter value). To continue to let the drive run with a changed speed, the edge at bit 6 of the control word must be changed for acknowledgement after changing the setpoint.
Parameter channel (PCV mechanism) 7 Job and response processing Examples of PCV mechanism Example 4: Reversal To change the direction of rotation, the subindex 6 of the data type driving record 1 to 100 (PNU 1 to 100) is addressed. The table lists as data type the subindex 6 bit […]. The number which is listed in parenthesis, corresponds to the bit which must be set to change the status.The subindex 6 serves to change, e.g.
7 Parameter channel (PCV mechanism) 7.3.5 Transfer of PPO with PROFIBUS-DP Job and response processing Transfer of PPO with PROFIBUS-DP The DP function Data_Exchange In case of PROFIBUS-DP the cyclic data exchange with PPOs is available only. For this purpose, DP provides the function Data_Exchange, which serves to transmit cyclic data to the slave and collect them at the same time. The input or output data exchanged with Data_Exchange correspond to the PPO types described.
Parameter numbers 8 Explanation of the parameter numbers Node address (PNU 918) 8 Parameter numbers Parameter numbers defined in the ”Profidrive” PROFIBUS profile The parameter numbers 900 to 999 are defined or reserved to profile specifications. Overview of the parameter numbers defined in the ”Profidrive” PROFIBUS profile.
8 Parameter numbers 8.1.2 Parameter change rights (PNU 927) Explanation of the parameter numbers Parameter change rights (PNU 927) Possible settings PNU 927 Subindex Description 0 Parameter change rights (PCV) Lenze Selection 0 Selection Meaning Data type Unsigned 16 1 Description This value serves to request the parameter change rights for the PROFIBUS interface. Two errors may occur: z The parameter change rights apply for the operating program (operating mode ≥ ”Online Level 3”), i.e.
Parameter numbers 8 Explanation of the parameter numbers Selector switch - control word bit 8 (PNU 931) 8.1.5 Selector switch - control word bit 8 (PNU 931) Possible settings PNU 931 Subindex Description 0 Selector switch - control word bit 8 Lenze Selection 1 Selection Meaning Data type Unsigned 16 0x8020 Description 1 Jogging 1 ON / OFF When the drive is ready to start and the control bit 8 is activated, the jogging mode is started with the set jogging setpoints.
8 Parameter numbers 8.1.6 Selector switch - control word bit 9 (PNU 932) Explanation of the parameter numbers Selector switch - control word bit 9 (PNU 932) Possible settings PNU 932 Subindex Description 0 Selector switch - control word bit 9 Lenze Selection 1 Selection Meaning Data type Unsigned 16 0x8020 Description 1 Jogging 2 ON / OFF When the drive is ready to start and the control bit 8 is activated, the jogging mode is started with the set jogging setpoints.
Parameter numbers 8 Explanation of the parameter numbers Selector switch - status word bit 8 (PNU 938) 8.1.
8 Parameter numbers Explanation of the parameter numbers Selector switch - status word bit 11 (PNU 939) Selection Meaning Description 0x8049 Inverter input Stop is activated / deactivated 0x804a Inverter input Limit left is activated / deactivated 0x804b Inverter input Limit right is activated / deactivated 0x804c Inverter input Quick stop is activated / deactivated 0x804d Inverter input Input is activated / deactivated 8.1.
Parameter numbers 8 Explanation of the parameter numbers Selector switch - status word bit 13 (PNU 941) 8.1.12 Selector switch - status word bit 13 (PNU 941) Possible settings PNU 941 Subindex Description 0 Selector switch - status word bit 13 Lenze Selection 1 Selection Meaning 1 Drive is standing / drive is running Data type Unsigned 16 0x804d Description The bit value ”1” indicates that the drive is standing, bit value ”0” indicates that the drive is running. 0x8000 ... See PNU 938 0x804d 8.
8 Parameter numbers 8.2 Device-specific parameter numbers 8.2.1 Data type - jogging setpoint 1 and 2 (PNU 107 und 108) Device-specific parameter numbers Fault number (PNU 947) Possible settings PNU 107 108 Tab.
Parameter numbers 8 Device-specific parameter numbers Load parameter set (PNU 970) 8.2.3 Load parameter set (PNU 970) Possible settings PNU 970 Lenze Subindex Description 0 Load parameter set Selection -256 Selection Data type Unsigned 16 100 Meaning 0 All parameters are set to default setting 1 ...
8 Parameter numbers 8.3 Overview of the device-specific active parameters Overview of the device-specific active parameters Possible settings PNU 1 ... 100 101 Reference parameters 102 I/O - settings 103 Control parameters 104 System parameter 105 Service parameters 106 PROFIBUS parameters Tab. 28 8.4 Subindex Description Driving record 1 ...
Parameter numbers 8 Data type - travel data record (PNU 1 to 100) 8.5 Data type - travel data record (PNU 1 to 100) Possible settings PNU 1 ... 100 Lenze Subindex Description Driving record Selection Data type Array 1 Maximum speed 1 [1/min] 6000 Unsigned 16 2 Maximum torque 1 [mNm] 1500 Unsigned 16 3 Controller type 0, 1, 2: Traversing time 0 [ms] or ∞ Controller type 3: Absolute target position (sign acc.
8 Parameter numbers 8.6 Data type - reference parameter (PNU 101) Data type - reference parameter (PNU 101) Possible settings PNU 101 Subindex Description Reference parameters Lenze Selection Data type Array 1 Maximum speed 1 [1/min] 6000 Integer 16 2 Maximum torque 1 [mNm] 1500 Unsigned 16 3 Starting position 0 ... 2: Unlimited Starting position 3 Unsigned 32 Absolute target position (sign acc.
Parameter numbers 8 Data type - IO settings (PNU 102) 8.7 Data type - IO settings (PNU 102) Possible settings PNU 102 Lenze Subindex Description I/O - settings 1 Input: (Object for drive with I/O input functionality. Not for devices with local CAN) Input: (Object for Fluxxtorque drive with additional box. Not for devices with I/O) K-HB 13.0001-EN 2.
8 Parameter numbers Data type - IO settings (PNU 102) Possible settings PNU 102 Subindex Description 1 ”Quick stop” input is active: (Object for Fluxxtorque drive with additional box. Not for devices with I/O) Lenze ”Start” input is active: (Object for Fluxxtorque drive with additional box. Not for devices with I/O) 2 3 4 64 Data type 0 High 1 Low 0 High 1 Low Bit [12] Bit [13] Output mask: Status word & V2 (Object for drive with I/O input functionality.
Parameter numbers 8 Data type - control parameters (PNU 103) 8.8 Data type - control parameters (PNU 103) Possible settings PNU 103 Lenze Subindex Description Control parameters 1 Kp Selection Data type Array 12800 Fixed point (100.0) value E2 128 (1.
8 Parameter numbers 8.
Parameter numbers 8 Data type - PROFIBUS parameters (PNU 106) 8.11 Data type - PROFIBUS parameters (PNU 106) Possible settings PNU 106 Subindex Description PROFIBUS parameters 1 Lenze Diagnostics: Guidance blocked: PCV – level: 2 Tab. 36 K-HB 13.0001-EN 2.
8 Parameter numbers 8.
Parameter numbers 8 Data type status (PNU 1000) Possible settings PNU Subindex Description 11 Warning word: DC bus voltage below 220 V Lenze Data type Selection Bit [0] Brake supply voltage < 22 V Bit [1] Motor temperature exceeds 130 °C Bit [2] Electronics temperature exceeds 70 °C Bit [3] Following error Bit [4] Bit [5] Reserved Bit [6] Derating Bit [7] Bit [8] Bit [9] Bit [10] Bit [11] Reserved Bit [12] Bit [13] Bit [14] Bit [15] 12 Fault word: DC-bus voltage below 180 V Bit [0]
8 Parameter numbers Data type status (PNU 1000) Possible settings PNU 16 Tab.
Parameter numbers 8 Data type info (PNU 1001) 8.13 Data type info (PNU 1001) The object 1001 serves to carry out a confirmation prompt and an evaluation of the device. The device ID, serial number, software version, and the operating time can be read out. The single objects are classified in the following.
8 Parameter numbers 8.
Parameter numbers 8 Overview of all PNUs Possible settings PNU 108 Selection Data type Array 1 Speed 1 [1/min] 2 Maximum torque 1 [mNm] 3 Dead time 4 Acceleration 5 Braking deceleration 947 0 Fault number Unsigned 16 970 0 Load parameter set Unsigned 16 971 0 Transfer to the non-volatile memory Unsigned 16 1 ...
8 Parameter numbers Overview of all PNUs Possible settings PNU 104 Lenze Subindex Description System parameter Data type Array 1 Reference switch position [incr] 2 Left limit switch position [incr] 3 Right limit switch position [incr] 4 Positive direction: Limit switch: 0 right 1 left 0 without 1 with Integer 32 Bit [0] Bit [1] 5 Numerator conversion 1 1000 6 Denominator conversion 1 1000 4095 105 Service parameters Unsigned 16 Array 1 Resolver offset 0 2 Current co
Parameter numbers 8 Overview of all PNUs Possible settings PNU 106 Subindex Description PROFIBUS parameters 1 Lenze Diagnostics: Guidance blocked: PCV – level: 2 1000 Station address Selection Data type Array 0 From 1 Yes 0 No 1 Yes 0 PCV values can only be read 1 Driving records can be changed 2 Only service and PROFIBUS parameters cannot be changed 3 All values can be changed Bit [1] 2 Status Array Speed 2 Motor current [‰] 3 Position [incr] 4 Brake supply voltage [
9 Troubleshooting and fault elimination 9 Troubleshooting and fault elimination 76 Error message Cause Remedy System parameter The direction of the specified setpoints outside the software limit switches, e.g. positioning behind a limit switch. Check settings of the software limit switches. Homing No homing has been executed yet, although a homing mode has been set or is required (positioning mode). Check homing settings/execute homing.
Appendix Data formats 10 Appendix 10.1 Data formats 10.2 Information area Data type 1 bit Bool 8 bits Byte, Char 16 bits Word, INT, DATE 32 bits DWord, DINT, REAL, TIME, TOD 10 GSE file ;================================================================== ;Configuration file for ”Fluxxtorque” as DP slave ;Lenze GmbH&Co.KG Kleinantriebe, D-32699 Extertal, Hans-Lenze-Straße 1 ;Status Version 0.1 from 31 September 2004 ;Format: GSE file revision 1.0 ;Name: 931MW058F.
10 Appendix GSE file MaxTsdr_9.6 = 60; max. response time at 9.6kB MaxTsdr_19.2 = 60; max. response time at 19.2kB MaxTsdr_93.75 = 60; max. response time at 93.75kB MaxTsdr_187.5 = 60; max. response time at 187.5kB MaxTsdr_500 = 150; max. response time at 500kB MaxTsdr_1.5M = 300; max.
Appendix GSE file 10 Unit_Diag_Bit(7) = ”Fault - drive deenergised” Unit_Diag_Bit(8) = ”Driving record error” Unit_Diag_Bit(9) = ”Error in the system parameters” Unit_Diag_Bit(10) = ”Drive blocked” Unit_Diag_Bit(11) = ”reserve” Unit_Diag_Bit(12) = ”reserve” Unit_Diag_Bit(13) = ”reserve” Unit_Diag_Bit(14) = ”reserve” Unit_Diag_Bit(15) = ”reserve” K-HB 13.0001-EN 2.
11 Index 11 Index A G Access authorisation, 41 General data, 13 Activation of Profibus, 18 GSE file, 25 , 77 Ambient conditions, climatic, 13 Application as directed, 9 C Cable specification, 16 Change of the set speed (example 3), 48 Commissioning, 18 Communication profile, 13 Control authority (PNU 928), 52 Control parameter (PNU 103), 65 Control word, 28 Controller - application as directed, 9 - labelling, 9 H Hardware configuration, 25 I I/O settings (PNU 102), 63 Info (PNU 1001), 71 Instal
Index P Selector switch - status word bit 14 (PNU 942), 57 Parameter change rights (PNU 927), 52 Selector switch - status word bit 15 (PNU 943), 57 Parameter numbers, 51 Selector switch - status word bit 8 (PNU 938), 55 PCV mechanism, 41 Selector switch for operating mode (PNU 930), 52 Personnel, qualified, 10 Pollution, 13 Profibus parameters (PNU 106), 67 Service parameter (PNU 105), 66 Site altitude, 13 Specification of the transmission cable, 16 State machine, 33 R Station address (PNU 918),
82 Notes K-HB 13.0001-EN 2.
Notes K-HB 13.0001-EN 2.
K-HB 13.0001-EN 2.1 © 10/2006 TD14 Lenze GmbH & Co KG Kleinantriebe Hans-Lenze-Straße 1 D-32699 Extertal Germany +49 (0) 51 54 82-0 Service 00 80 00 24 4 68 77 (24 h helpline) ¬ Service +49 (0) 51 54 82-1112 E-Mail Internet Lenze@Lenze.de www.Lenze.
