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Software Manual

L-force 9400 Servo Drives

9400 HighLine V01.37

Parameter setting & configuration

Summary of content (679 pages)

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Software Manual L-force 9400 Servo Drives 9400 HighLine V01.
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Copyright © 2006 Lenze Drive Systems GmbH. All rights reserved. Imprint Lenze Drive Systems GmbH Postfach 10 13 52, 31763 Hameln, Germany Phone: ++49 (0)5154 / 82-0 Fax: ++49 (0)5154 / 82-2111 E-mail: Lenze@Lenze.de Copyright information All texts, photos and graphics contained in this documentation are subject to copyright protection. No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive Systems GmbH.
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9400 HighLine | Parameter setting & configuration Contents Contents 1 2 3 4 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.2 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 5 4 4.5 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1 Status "initialisation active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2 Status "Safe torque off active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.
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9400 HighLine | Parameter setting & configuration Contents 6 7 5.2 Extended commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.2.1 Optimise speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.2.2 Set current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 5.2.3 Optimise phase controller . . .
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9400 HighLine | Parameter setting & configuration Contents 8 9 7.5 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.3 System block "LS_DigitalOutput" . .
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9400 HighLine | Parameter setting & configuration Contents 9.2 Standard stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.2 Behaviour of the function (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.3 System block "LS_Stop" . . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 8 9.7 Position follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.7.2.
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400 HighLine | Parameter setting & configuration Contents 9.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11.1.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.11.1.2 Signal configuration . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 11 10 Standard TAs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1.1 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 12 TAs for interconnection via electrical shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.1 Synchronisation of the drives via a master angle . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.2 Virtual master/real master . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 12.3 TA "Synchronism with mark synchronisation". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.3.2.1 Setpoint and control signals . . . . . . . . . . . . . . . .
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9400 HighLine | Parameter setting & configuration Contents 13 TAs for positioning tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.1.1 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368 369 13.
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9400 HighLine | Parameter setting & configuration Contents 13.3 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3.2.1 Setpoint and control signals . . . .
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9400 HighLine | Parameter setting & configuration Contents 15 16 17 Diagnostics & error analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433 15.1 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433 15.2 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434 15.3 Logbook . . . . . .
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9400 HighLine | Parameter setting & configuration About this Manual Conventions used 1 About this Manual This Manual contains information about the parameterisation & configuration of the 9400 HighLine controller by means of the L-force »Engineer« and the keypad. Note! The Manual supplements the Mounting Instructions attached to the controller and the Manual for the 9400 HighLine controller.
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9400 HighLine | Parameter setting & configuration About this Manual Terminology used 1.2 L Terminology used Term Meaning »Engineer« Lenze software which supports you throughout the whole machine life cycle - from planning to maintenance. Code "Container" for one or several parameters used for controller parameter setting or monitoring. Subcode If a code contains several parameters, the individual parameters are stored under "subcodes".
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9400 HighLine | Parameter setting & configuration About this Manual Definition of notes used 1.
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9400 HighLine | Parameter setting & configuration Introduction Parameter setting, configuring or programming? 2 Introduction The basis of every L-force application is an easy and quick parameter setting of prepared technology applications and solutions*. This chapter contains basic information on the runtime software model of L-force and how you can establish very easily an online connection between PC and controller for parameter setting with the »Engineer«.
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9400 HighLine | Parameter setting & configuration Introduction Parameter setting, configuring or programming? 2.1.1 Technology applications Technology applications (TAs) are applications prepared by Lenze which form the basis of solving typical applications. r The technology applications available for the 9400 Servo Drives can be selected in the »Engineer« form the application catalog.
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9400 HighLine | Parameter setting & configuration Introduction Communicating with the controller 2.
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9400 HighLine | Parameter setting & configuration Introduction Communicating with the controller Preconditions: r The diagnostic adapter is connected to diagnostic interface X6 on the controller and to a free USB port on the PC. r The driver required for the diagnostic adapter is installed. r The control electronics of the controller is supplied with 24 V low voltage via plug X2. M How to build up an online connection via the diagnostic adapter: 1.
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9400 HighLine | Parameter setting & configuration Introduction Communicating with the controller 4. Click Find controller path to find the controller in the selected bus system. • The Address assignment dialog box appears: 5. Select the corresponding controller from the Identified field devices list field. 6. Click OK. • The Address assignment dialog box is closed and the selected Controller access path (e.g. "DDCMP:/") is indicated in the Assignment of offline controllers dialog box. 7. Click Connect.
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9400 HighLine | Parameter setting & configuration Introduction Communicating with the controller 2.2.2 Going online via system bus (CAN on board) As an alternative to the diagnostic adapter, you can use the integrated system bus interface (CAN on-board, terminal X1) of the controller for communication. r Lenze offers the following communication accessories for connection to the PC: Communication accessories PC interface PC system bus adapter 2173 incl.
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L 2.3 Signal types & scaling It is very helpful for the parameter setting & configuration of the controller to know the signal types and their scaling listed in the following table, which serve to process physical sizes (e.g. a speed or position) in a function block configuration. Signal type Position Speed Unit Connection symbol in the FB editor Resolution Increments u/w 32 bits rpm Speed variation/time Scaled signal rpm/s % Firmware 1.
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9400 HighLine | Parameter setting & configuration Commissioning 3 Commissioning This documentation contains detailed information on parameter setting and configuration of the controller. Sequential reading is not required. In order to get the information relevant for an initial commissioning, this chapter describes different commissioning scenarios which can also be used as a guide through this Manual: A. Test commissioning (C 28) – Target: Rotating the motor with as few settings as possible in best time.
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9400 HighLine | Parameter setting & configuration Commissioning Notes on commissioning using the keypad 3.1 Notes on commissioning using the keypad For motor with electronic nameplate (ENP) r A display of the route data offered by ENP via keypad is not provided. The route data must be edited and optimised individually. r In order that the motor does not start unintentionally without adjusting the route data, the maximum current in the Lenze setting is set to "0 A" in C00022.
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9400 HighLine | Parameter setting & configuration Commissioning Test commissioning 3.2 Test commissioning Worksteps Initial commissioning of motor/controller: 1. Select motor in the »Engineer« motor catalog. (C 66) • When the motor connected to the motor has an electronic nameplate (ENP), all motor data are automatically read out of the ENP and a selection from the motor catalog is not required. Read the motor data out of the controller (C 66) 2. Accept/adapt route data. (C 69) 3.
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9400 HighLine | Parameter setting & configuration Commissioning Initial commissioning 3.3 Initial commissioning Worksteps Adapt the motor to the controller: 1. Select motor in the »Engineer« motor catalog. (C 66) • When the motor connected to the motor has an electronic nameplate (ENP), all motor data are automatically read out of the ENP and a selection from the motor catalog is not required. Read the motor data out of the controller (C 66) 2. Accept/adapt route data. (C 69) 3.
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9400 HighLine | Parameter setting & configuration Commissioning Initial commissioning Worksteps Check & optimise application /DC-bus operation: 1. Traverse axis in manual operation. • See chapter Basic drive functions Manual jog (C 156) 2. Check area boundaries (travel, speed, torque). 3. Traverse axis in automatic operation with set-up speed, possibly together with coupled axes. 4. Check coupling with other motions (master-/slave axes, tools, …). 5. Optimisation of the process at higher speeds. 6.
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9400 HighLine | Parameter setting & configuration Commissioning Standard set-up 3.4 Standard set-up Worksteps Transfer application and parameter set to the controller: 1. Transfer the application preconfigured in the »Engineer« and the corresponding parameter set to the memory module of the controller. 2. Save parameter set. (C 57) For a motor with an electronic nameplate (ENP): 1. Restart controller with connected motor to read out the motor data from the electronic nameplate (ENP).
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9400 HighLine | Parameter setting & configuration Commissioning Controller replacement 3.5 Controller replacement Scenario: The controller has failed in a running system. Note! For the following procedure described we assume that the memory module and possibly available extension modules in the controller and the motor are not affected by the failure. Worksteps Replacement of the controller: 1. Replace controller. See Mounting Instructions for the controller! 2.
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9400 HighLine | Parameter setting & configuration Commissioning Motor replacement 3.6 Motor replacement Scenario: The motor has failed in a running system. Note! In the following procedure described we assume that the controller is not affected by the failure. Worksteps Replacement of the motor: 1. Replace the motor. See Mounting Instructions for the controller! Note: The motor connection at the controller can be accessed without pulling the basic device out of the installation backplane.
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9400 HighLine | Parameter setting & configuration Drive interface LED status displays 4 Drive interface This chapter describes the drive interface which serves to set the controller to different states and query different status information of the controller. Moreover, the machine constants for the motor end can be entered via this drive interface. 4.1 LED status displays The control of the "DRIVE READY" and "DRIVE ERROR" LED on the front of the controller depends on the device status.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2 Parameter setting 4.2.1 Machine parameters The global machine constants ("machine parameters") are set in the »Engineer» on the Application parameters tab in the Overview Drive interface Machine parameters dialog level: O Tip! Detailed information on the different machine parameters can be obtained from the following subchapters. L Firmware 1.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.1 Mains voltage Via the Mains voltage list field (C00173) the mains voltage for the drive controller is set. r If you set a mains voltage with adjustable threshold for undervoltage ("LU adjustable"), this undervoltage threshold can be set in the Undervoltage threshold (LU) input field (C00174). r In the Resp. to DC bus overvoltage list field (C00600) the response to the DC-bus overvoltage can be selected.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.2 Gearbox ratio The gearbox ratio specifies the number of revolutions of the motor axis needed for one rotation of the load axis (e.g. spindle or drive roll). M M i = 58.667 [4-1] Schematic diagram - gearbox ratio r In the example shown in figure [4-1] 58.667 revolutions of the motor axis result in one revolution of the spindle.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.3 Motor mounting direction Via the motor mounting direction list field (C02527) the direction of rotation can be inverted depending on the motor mounting position, if required: r C02527 = "0": Clockwise motor ≡ positive machine direction. r C02527 = "1": Counter-clockwise motor ≡ positive machine direction. 4.2.1.4 Configuration feedback In the most cases, the system only has one motor encoder, i.e.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.5 Unit/application unit Using these machine parameters you define the real unit of the machine in which the feed constant and the parameters for a travel profile must be specified (e.g. position, speed, acceleration, and deceleration). r If you set, for instance, the "mm" unit for a linear axis, the position must be specified in [mm] and the speed in [mm/s].
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.6 Traversing range The selection of the traversing range ("Unlimited", "Limited" or "Modulo") in the Traversing range list field (C02528) serves to define the machine measuring system. Note! A change-over of the traversing range results in a loss of the reference information! "Unlimited" traversing range" The drive can rotate continuously in one direction.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting "Modulo" traversing range The measuring system is repeated. r If the cycle set in C02536 is exceeded, a defined overflow occurs. The cycle typically corresponds to a rotation or tool distance in a rotative system. r For positioning with absolute travel command the home position must be known. r Software limit positions are not effective. r Absolute targets can be approached by exceeding the measuring system limit, e.g.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.1.7 Feed constant The feed constant corresponds to the motion of the machine at one revolution of the gearbox output shaft. r The input in the Feed constant field (C02524) is made in the unit defined in C02525 regarding one revolution.
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9400 HighLine | Parameter setting & configuration Drive interface Parameter setting 4.2.2 Monitoring of the device utilisation In C00064 the device utilisation (i x t) is displayed over the last 180 seconds in [%]. r If the value displayed in C00064 exceeds the warning threshold set in C00123, the fault message "device utilisation Ixt > C00123" is output and the fault response set in C00604 occurs (default setting: "Warning").
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9400 HighLine | Parameter setting & configuration Drive interface Monitoring of external events 4.3 Monitoring of external events Use the input DI_bSetExternError of the system block LS_DriveInterface to monitor external events by means of corresponding logic operations and activate the error message "External error" in the controller. Parameterising a response to an external error The controller response to the error message "External error" can be selected under C00581.
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.5.1 Status "initialisation active" LED DRIVE READY LED DRIVE ERROR OFF OFF Display in C00183 10: Initialisation active The controller is in this device state directly after switching on the supply voltage. r In this device status the operating system is initialised. r The application is not yet processed. r The monitoring mode is not yet active. r Communication is not possible yet.
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.5.3 State "Device is ready to switch on" LED DRIVE READY LED DRIVE ERROR OFF Display in C00183 141: Device is ready to switch on The controller is in this device state directly after the initialisation is completed and no DCbus voltage is applied yet. r The bus systems are running and the terminals and encoders are evaluated. r The monitoring modes are active.
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9400 HighLine | Parameter setting & configuration Drive interface Device states Auto-start option 0: Auto restart inhibited after mains connection r When the automatic start option 0 has been selected, the controller inhibit must be explicitly reset after the mains is switched on so that the controller status changes from "Device is ready to switch on" to "Device is switched on": 0 1 RFR Initialisation Ready to switch on Switched on Operation RFR t RFR Initialisation Ready to switch on Swit
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.5.5 State "Operation" LED DRIVE READY LED DRIVE ERROR OFF Display in C00183 0: Operation In this device state the motor follows its setpoint according to the selected basic drive function. 4.5.
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.5.8 State "Quick stop by trouble" LED DRIVE READY LED DRIVE ERROR Display in C00183 151: Quick stop by trouble active This device state becomes active as soon as a monitoring mode responds for which the error response "Quick stop in case of trouble" has been parameterised.
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9400 HighLine | Parameter setting & configuration Drive interface Device states 4.5.11 State "System fault active" LED DRIVE READY OFF LED DRIVE ERROR Display in C00183 20: System fault active This device state becomes active if a system error occurs. r The device state can only be abandoned by mains switching. L Firmware 1.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6 Controller commands Different controller commands are available for project management within the controller. They can be activated under code C00002. r The following subsections describe the most important controller commands for project management and parameter set management in the controller.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands Controller command Information Status* 1021 Export parameter to file Export current parameter set to file. z 1030 Format file system Format file system of the memory module. z 1040 Restore file system - 10000 Prepare firmware update z 11000 Restart controller z The device command status is displayed in C00003. 4.6.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands Bit 0 ... 15 L Status Concerns device command 0x9B0B Rotor position adjustment cannot be executed since the current controller test mode is active. 51 0x9B12 Motor identification cannot be started since the current controller test mode is active. 71, 72 0x9B13 Motor identification cannot be started since the V/f test mode is active.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6.3 Start/stop application With an online connection, these controller commands can be executed via the corresponding toolbar icons of the »Engineers«. r Alternatively, the controller commands can also be activated with the parameter settings listed in the "Controller command" column (e.g. via the keypad).
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6.5 Save parameter set Controller parameter changes made via the »Engineer« or keypad will get lost after mains switching of the controller or loading of another application unless the settings have been explicitly saved with the corresponding controller command in the memory module of the controller.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6.7 Activate application If the memory module contains several applications, you can use this controller command to activate a different application in the controller. r After mains switching, the preset application will be loaded into the controller. r If after mains switching another application than the one preset by Lenze is to be loaded, it must be activated first and then the application selection must be saved.
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9400 HighLine | Parameter setting & configuration Drive interface Controller commands 4.6.9 Activate/archive parameter set In addition to the current parameter set, it is possible to store up to four additional parameter sets (PS 1 ... PS 4) for each project in the memory module. Using the corresponding controller commands, you can archive the current parameter set settings in parameter sets PS 1 ... PS 4 and reactivate them, if required.
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9400 HighLine | Parameter setting & configuration Drive interface System block "LS_DriveInterface" 4.7 System block "LS_DriveInterface" The system block LS_DriveInterface displays the drive interface in the function block editor.
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9400 HighLine | Parameter setting & configuration Drive interface System block "LS_DriveInterface" Outputs Output Value/meaning DIS code | Data type DI_dnState Status (bit coded) C02547 | DINT Status signals of the momentarily enabled basic function (if available): Bit 0 Bit 1 Basic function is active (signal bActive). Bit 2 Basic function is completed (signal bDone). Bit 3 Acceleration/deceleration phase is active (signal bAccDec). Bit 4 Bit 5 CCW rotation is active (signal bCcw).
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9400 HighLine | Parameter setting & configuration Drive interface System block "LS_DriveInterface" Output Value/meaning DIS code | Data type DI_bImpActive Status signal "Pulse inhibit set" C02549/8 | BOOL DI_bCInhActive TRUE Power stages are switched with high resistance. Status signal "Controller inhibit active" C02549/9 | BOOL DI_bWarningActive TRUE The controller inhibit is active.
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9400 HighLine | Parameter setting & configuration Drive interface System block "LS_DriveInterface" 4.7.1 Status signals The following representation shows which status signals of the system block LS_DriveInterface are set to TRUE in different typical cases: Case 1: Application has been transmitted to the controller. No mains voltage available (LU fault). Controller is inhibited (via RFR terminal). Case 2: Mains voltage has been connected. Case 3: Controller inhibit has been deactivated.
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9400 HighLine | Parameter setting & configuration Motor interface 5 Motor interface This chapter contains information on initial commissioning of the motor and parameter setting of the internal motor control of the controller. Note! To select application-specific setpoints, the motor interface can be extended by appropriate interfaces using the basic functions "Speed follower", "Torque follower" and "Position follower".
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning 5.1 Initial commissioning An initial commissioning of the motor is required if the motor data in the memory module of the controller and the »Engineer« project is not suitable for the application. r The following stepwise instructions can be used as "check list" to adjust the motor correctly to the controller. r Detailed information on the individual steps can be found in the following subchapters: Worksteps 1.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Read the motor data out of the controller 5.1.1 Read the motor data out of the controller If the Lenze motor connected to the controller has an electronic nameplate (ENP), the motor does not need to be selected in the »Engineer« motor catalog. r When the controller is switched on initially, all motor data are automatically read out of the electronic motor nameplate and stored at first temporarily in the controller.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Display/edit motor data in the »Engineer« 5.1.3 Display/edit motor data in the »Engineer« The "Motor data" only summarises the parameters which depend on the motor. These only characterise the electrical behaviour of the machine. r The motor data do not depend on the application in which the controller and motor are used.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Display/edit motor data in the »Engineer« Overview of motor data Parameters Information Lenze setting C00006 Motor control selection C00059 Motor - number of pole pairs Value Unit Servo control with synchronous motor - C00074 Feedforward control of current controller C00075 Current controller gain Deactivated C00076 Current controller reset time C00077 Field controller gain C00078 Field controller r
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Accept/adapt route data 5.1.4 Accept/adapt route data The "route data" summarises all parameters which result from the combination of motor and load. These characterise the transfer behaviour of the entire controlled system including the monitoring modes required. r The route data depend on the application in which the controller and motor are used.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Parameterise motor encoder 5.1.5 Parameterise motor encoder O Tip! Detailed information on the encoder evaluation and on the use of a separate position encoder can be found in the following main chapter "Encoder evaluation". (C 108) r The motor encoder can also be parameterised in the »Engineer« on the Application parameter tab in the dialog level Overview Motor.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Set rotor displacement angle 5.1.6 Set rotor displacement angle Note! Not required if a Lenze motor is operated on the controller! For the control of permanent-magnet synchronous machines, the rotor angle – the angle between the motor phase U and the field axis of the rotor – must be known. r For Lenze motors the rotor displacement angle for different feedback systems is already set correctly in C00058/1...3.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Set rotor displacement angle Sequence If all conditions are met, the motor is energised with a direct current corresponding to the lower of the following two values: 2 ⋅ Rated device current or Rated motor current 2 ⋅ ---------------------------------------------------2 r The rotor is aligned through the current flow. This is absolutely necessary for the procedure.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise the switching performance of the inverter 5.1.7 Optimise the switching performance of the inverter Note! Not required if a Lenze motor is operated on the controller! For an external motor with unknown motor parameters the optimisation of the inverter switching performance is necessary for the motor parameter setting described in the following chapter.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise the switching performance of the inverter Sequence If all conditions are met, the motor is energised with a maximum direct current corresponding to the lower of the following two values: 2 ⋅ Rated device current or 2 ⋅ 1.8 ⋅ Rated motor current r Ideally, the first value should be reached, the second value is to ensure that the load on the machine is not too high during the procedure.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Set motor parameters 5.1.8 Set motor parameters Note! Not required if a Lenze motor is operated on the controller! To control an electrical machine, the motor parameters must be known. r The motor parameters for Lenze motors are known and are already set accordingly by selecting them from the »Engineer« motor catalog or reading out the ENP.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Set motor parameters M How to determine the motor parameters: 1. If the controller is enabled, inhibit the controller, e.g. with the device command "Inhibit controller" (C00002 = "41"). 2. Execute the controller command "Determine motor parameters" with C00002 = "72". The procedure starts with controller enable, if • no other identification is active, • no error has occurred, and • no test mode is activated.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Set motor parameters Sequence If all conditions are met, the impedance of the controlled system is determined for approx. 30 different frequencies. These valued are used to determine the electrical machine parameters by means of a mathematical procedure. r Since the procedure starts with very low frequencies and always considers several complete periods, the whole process takes approx. 3 minutes.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Define currents and speed limits 5.1.9 Define currents and speed limits Maximum current In C00022 the required maximum current must be set. r In order that the motor does not start unintentionally without adjusting the route data, the maximum current in the Lenze setting is set to "0 A" in C00022.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Select switching frequency 5.1.10 Select switching frequency The controller uses a pulse-width modulation to generate the controller output voltage. The chopper frequency is used to change the control factor of the pulse-width modulation.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Select switching frequency Automatic chopper frequency reduction Under C00018, it is possible to select "variable" chopper frequencies for the controller. With this selection, the controller reduces the chopper frequency depending on the setpoint current. r Depending on the current, the controller switches down to an assigned chopper frequency; the modulation mode remains unchanged.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller 5.1.11 Optimise current controller In a test mode you can select current setpoint step-changes and optimise the parameter settings of the current controller (gain and reset time). M How to optimise the current controller in the test mode: 1. If the controller is enabled, inhibit the controller, e.g. with the device command "Inhibit controller" (C00002 = "41"). 2.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller 8. After the optimisation has been completed with C00398 = "0", deactivate the test mode for the current controller again. 9. Save parameter set (C00002 = "11"). 5.1.11.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller The following picture shows a typical saturation characteristic of an MCS motor: L/Ln 120 % 100 % 80 % 60 % 40 % 20 % 0% I/Imax 0% [5-1] 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 % Saturation characteristic: Inductance referring to the inductance for rated current r By optimising different current setpoints such a characteristic can be detected per "trial" and set
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller 5.1.11.2 Example for determining the saturation characteristic Given values: r Rated motor current: 5 A r Maximum motor current: 20 A r Maximum process current: 15 A (must be set later in C00022) Procedure: 1. Deactivate correction (C02859 = "off"). 2. Set the maximum current up to which the motor is to be operated in the process in C02855 (in this example "15 A").
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller 4. Creating a characteristic based on the values calculated for Vp. – Here, the values which have not been adjusted, must be determined by interpolation between two values. – Note: In this example it is assumed that the inductance does not change considerably below 3.75 A. For this reason, the same Vp value resulting from the measurement with a motor current of 3.
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9400 HighLine | Parameter setting & configuration Motor interface Initial commissioning | Optimise current controller 7. Enter the percentage Vp values situated on the grid points in C02853/1...17: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 Vp [%] 130 107 95 87.5 80 72.5 65 57.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning 5.2 Extended commissioning After the initial commissioning of the motor, the required technology application can be selected in the »Engineer« and loaded in the controller. r Further information on this can be found in chapter Technology applications (TAs). (C 233) r During operation (with setpoint selection) further steps can be carried out to optimise the motor control.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Optimise speed controller 5.2.1 Optimise speed controller The speed controller has been designed as a PID controller. Gain, reset time & differential gain setting The proportional gain Vp is selected under C00070: 1. Select the speed setpoint. 2. Increase C00070 until the drive becomes unstable (observe motor noises). 3. Reduce C00070, until the drive becomes stable again. 4. Reduce C00070 to approx. half the value.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Optimise speed controller Using the ramp response for setting the speed controller When operation of the mechanics at the stability limit is not possible, the ramp response can be used for setting the speed controller. The proceeding is similar to optimising the current controller.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Set current setpoint filter 5.2.2 Set current setpoint filter Due to the high dynamic performance or limit frequency of the closed current control loop mechanical natural frequencies can be activated which may lead to an unstable speed control loop.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Set current setpoint filter M How to set the current setpoint filters: 1. Adjust the current control loop. 2. In C00071 adjust the reset time of the speed controller to the filter time constant of the speed filter (C00497) and the equivalent time constant of the current control loop: C00071 = 16 * (C00497 + 200 μs) 3.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Optimise phase controller 5.2.3 Optimise phase controller M How to optimise the phase controller setting by means of the ramp response: 1. Run a typical speed profile and record the ramp response of the phase controller with the Oscilloscope. (C 416) • Motor control variables to be recorded: Speed.dnSpeedSetpoint (speed setpoint) Speed.dnActualMotorSpeed (actual speed value) Speed.
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9400 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Optimise the response to setpoint changes by means of the torque 5.2.4 Optimise the response to setpoint changes by means of the torque feedforward control Setting the load moment of inertia under C00273/2 does not always provide the optimum torque feedforward control.
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00 HighLine | Parameter setting & configuration Motor interface Extended commissioning | Optimise the response to setpoint changes by means of the torque M How to optimise the torque feedforward control: 1. Run a typical speed profile and record the inputs and outputs of the speed controller with the Oscilloscope. (C 416) • Motor control variables to be recorded: Speed.dnSpeedSetpoint (speed setpoint) Speed.dnActualMotorSpeed (actual speed value) Torque.
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9400 HighLine | Parameter setting & configuration Motor interface Signal flow 5.3 Signal flow MI_bTorqueSetpointLimited MI_dnTorqueSetpoint_n C00776 MCTRL_dnInputJerkCtrl Max. acceleration change C00274 Bandwitdh 1 Bandwidth 2 (1) (2) (3) MI_dnTorqueHighLimit_n Torque setpoint C00695 C00270/1 C00271/1 C00272/1 MI_dnTorqueLowLimit_n MI_dnFilteredTorqueSetpoint_n M I C00270/2 C00271/2 C00272/2 C02559/1...
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9400 HighLine | Parameter setting & configuration Motor interface Signal flow DI_bOVDetected const. DI_bUVDetected C00173 C00174 DC-bus voltage filter (15) DC-bus voltage MI_dnActualDCBusVoltage C00053 DC-bus voltage C00779 MCTRL_dnDCBusVoltage Error message "Failure of motor phase" C00597 C00599 Phase currents (16) U C00055/1 (17) V C00055/2 (18) W C00055/3 Error message "Earth fault detected" Error message "Overcurrent detected" const.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting 5.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Motor monitoring (I²xt) See also: 5.4.1 Display/edit motor data in the »Engineer« (C 67) Accept/adapt route data (C 69) Motor monitoring (I²xt) The "9400 Servo Drives" are provided with an extended, sensorless thermal I2xt motor monitoring which is based on a mathematical model that calculates a thermal motor utilisation from the detected motor currents.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Motor monitoring (I²xt) Structure of the I2xt monitoring The introduction of a two-component model with two time constants (one for the winding and the other for the housing/steel plates) serves to display the thermal behaviour of the motor up to 500% of the rated current: Iact Motor 2 Iperm Motor (n) k1 1 (1 + pt1) k2 1 (1 + pt2) n Thermal utilisation of the motor in [%] [5-11] Structure of the motor monitorin
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Motor monitoring (I²xt) Speed-dependent evaluation of the motor current By selecting a characteristic in C01196/1...8 the permissible motor current is evaluated depending on speed for calculating the thermal motor utilisation.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Motor monitoring (I²xt) 5.4.1.1 Example for entry of the characteristic for asynchronous servo motor Motor type: MDFMARS 090-32 Data from the catalog: r Rated speed nN: 1410 rpm Setting in C00087 r Rated current I: 6.1 A Setting in C00088 r Rated torque MN: 10.2 Nm r Characteristic of maximum torques (50 Hz, star connection): M 10.2 6.1 4.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Motor monitoring (I²xt) 5.4.1.2 Example for entry of the characteristic for synchronous servo motor Motor type: MCS 06C60 Data from the catalog: r Rated speed nN: 6000 rpm Setting in C00087 r Rated current I: 2.4 A Setting in C00088 r Rated torque MN: 0.5 Nm (in S1 operation: 0.55 Nm) r Characteristic - maximum torque: M 1.5 1.0 0.
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9400 HighLine | Parameter setting & configuration Motor interface Parameter setting | Special characteristic for motor temperature sensor 5.4.2 Special characteristic for motor temperature sensor If required you can select and activate a special characteristic for the motor temperature sensor. r The special characteristic is selected with two grid points which are to be set in C01191 and C01192. Both grid points define a line which is extrapolated to the right and to the left.
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9400 HighLine | Parameter setting & configuration Motor interface System block "LS_MotorInterface" 5.5 System block "LS_MotorInterface" The system block LS_MotorInterface displays the interface to the driving machine in the function block editor, which consists of phase controller, speed controller and motor control. r The interface contains all control functions which are not made available via other basic drive functions. r All input and output signals directly refer to the motor.
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9400 HighLine | Parameter setting & configuration Motor interface System block "LS_MotorInterface" Input Information/possible settings DIS code | Data type MI_bResetSpeedCtrlIntegrator C02569/2 | BOOL MI_dnTorqueHighLimit_n C02568/4 | DINT MI_dnTorqueLowLimit_n C02568/5 | DINT MI_dnReserved Reset integral action component in the speed controller Signal flow - speed follower (C 191) TRUE Integral action component is reset to "0".
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9400 HighLine | Parameter setting & configuration Motor interface System block "LS_MotorInterface" Output Value/meaning DIS code | Data type MI_bSpeedSetPointLimited C02569/5 | BOOL Status signal "Resulting speed setpoint in the limitation" Signal flow - position follower (C 184) Signal flow - speed follower (C 191) TRUE The resulting speed setpoint is limited to the limit values parameterised in C00909/1 and C00909/2.
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9400 HighLine | Parameter setting & configuration Motor interface System block "LS_MotorInterface" Output Value/meaning DIS code | Data type MI_dnActualMotorTorque_n Current motor torque DINT • 100 % ≡ C00057/2 • Display in C00774 in [Nm] MI_dnActualMotorSpeed_n DINT MI_dnActualMotorSpeed_s DINT MI_dnActualMotorPos_p DINT MI_dnActualDCBusVoltage_n DINT Signal flow - motor interface (C 95) Current speed of the motor shaft in [%] • 100 % ≡ Motor reference speed (C00011) Signal flow - encoder evaluati
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9400 HighLine | Parameter setting & configuration Encoder evaluation 6 Encoder evaluation This chapter informs how to use feedback systems for the motor control. Note! The encoder position is stored safe against mains failure in the memory module and is therefore known to the drive control even after the mains has been switched. The position resolution of higher-level applications follow the resolution of the encoder which will be activated for the position control.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Signal flow 6.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Parameter setting 6.2 Parameter setting Short overview of parameters for the encoder evaluation: Parameter Information Lenze setting C00058/1 Rotor displ. angle of resolver -90.0 ° C00058/2 Rotor displ. angle of encoder 0.0 ° C00058/3 Rotor displ. angle of module 0.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Parameter setting 6.2.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Parameter setting 6.2.2 System with motor encoder No encoder is installed on the load side. The motor position (angle of rotation) and motor speed are detected via the motor encoder selected inC00495 and converted with regard to the load side.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Parameter setting 6.2.3 System with motor encoder and position encoder The optional position encoder is used as feedback for the position control and transmits the position of slide or drive roll to the controller.
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9400 HighLine | Parameter setting & configuration Encoder evaluation Parameter setting 6.2.4 Use external position encoder. The FDB_dnActPosIn_p input of the system block LS_Feedback serves to evaluate an external encoder (CAN, SSI, Profibus). r Via this input an actual position of an external encoder in [increments] can be directly given to the encoder evaluation.
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9400 HighLine | Parameter setting & configuration Encoder evaluation System block "LS_Feedback" 6.3 System block "LS_Feedback" The system block LS_Feedback displays the encoder evaluation in the function block editor d.
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9400 HighLine | Parameter setting & configuration I/O terminals Overview 7 I/O terminals This chapter informs about possible parameter settings and configurations of the controller input and output terminals. O Tip! Information on wiring the terminals can be found in the Mounting Instructions of the controller! Overview X3 X4 X5 116 A2- A2+ A1R A1- A1- A1+ AO2 AO1 GA X2 SB 24E GE Terminal assignment DO4 DO3 DO2 DO1 24O GO Front view DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI 7.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog inputs 7.2 Analog inputs The controller has 2 analog inputs that can be used to detect differential voltage signals in the range of ±10 V, e.g. analog speed setpoint selections or the voltage signals of an external sensor (temperature, pressure, etc.). r Optionally, analog input 1 can also be used to detect current setpoints.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog inputs 7.2.2 Parameter setting Short overview of parameters for the analog inputs: Parameter Information C00034 Config. analog input 1 C00598 Resp.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog inputs 7.2.4 System block "LS_AnalogInput" The system block LS_AnalogInput displays the analog inputs in the function block editor.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog outputs 7.3 Analog outputs The controller has 2 analog outputs that can be used to output internal analog signals as voltage signals, e.g. for analog indicator control or as setpoint for slave drives. Note! Initialisation behaviour: • After mains switching up to the start of the application the analog outputs remain set to 0 V. Exception handling: • In case of a critical exception in the application (e.g.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog outputs 7.3.2 Parameter setting Short overview of parameters for the analog outputs: Parameter Information C02733/1 AOUT1: Gain C02733/2 AOUT2: Gain C02734/1 AOUT1: Offset C02734/2 AOUT2: Offset C02801/1 AOUT1: output signal C02801/2 AOUT2: output signal Highlighted in grey = display parameter L Firmware 1.
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9400 HighLine | Parameter setting & configuration I/O terminals Analog outputs 7.3.3 System block "LS_AnalogOutput" The system block LS_AnalogOutput displays the interface to the analog outputs in the function block editor. C02801/1 C02801/2 AOUT1_dnOut_n AOUT2_dnOut_n Input X3 AO2 AO1 GA LS_AnalogOutput Information/possible settings Data type AOUT1_dnOut_n DINT Analog output 1 • Scaling: ±230 ≡ ±10 V DINT Analog output 2 • Scaling: ±230 ≡ ±10 V AOUT2_dnOut_n 122 Firmware 1.
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9400 HighLine | Parameter setting & configuration I/O terminals Digital inputs 7.4 Digital inputs The controller has 8 freely configurable digital inputs. r All digital inputs can be used for touch probe. Touch probe detection (C 129) r Control input RFR of terminal strip X5 for controller enable is connected to the device control. Terminal assignment/electrical data X5 Terminal Use X5/DI1 Digital inputs 1 ... 8 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI 7.4.1 Electrical data LOW level: 0 ...
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9400 HighLine | Parameter setting & configuration I/O terminals Digital inputs 7.4.3 System block "LS_DigitalInput" The system block LS_DigitalInput displays the digital inputs and the status of the state bus in the function block editor. SB 24E GE DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI LS_DigitalInput X5 DriveInterface DIGIN_bCInh 1 DIGIN_bIn1 DIGIN_bIn2 DIGIN_bIn3 C00114/1...8 DIGIN_bIn4 0 1 DIGIN_bIn5 1 DIGIN_bIn6 C00443/1...
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9400 HighLine | Parameter setting & configuration I/O terminals Digital outputs 7.5 Digital outputs The controller has 4 freely configurable digital outputs. Note! Initialisation behaviour: • After mains switching up to the start of the application the digital outputs remain set to FALSE. Exception handling: • In case of a critical exception in the application (e.g. reset) the digital outputs are set to FALSE considering the terminal polarity parameterised in C00118.
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9400 HighLine | Parameter setting & configuration I/O terminals Digital outputs 7.5.3 System block "LS_DigitalOutput" DIGOUT_bOut1 C00118/1...4 DIGOUT_bOut2 DIGOUT_bOut3 DIGOUT_bOut4 X4 0 1 1 C00444/1...4 X2 DIGOUT_bStateBusOut SB 24E GE LS_DigitalOutput DO4 DO3 DO2 DO1 24O GO The system block LS_DigitalOutput displays the interface to the digital outputs, the state bus and the yellow user LED on the front of the controller in the function block editor.
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9400 HighLine | Parameter setting & configuration I/O terminals Monitoring function "State bus" 7.6 Monitoring function "State bus" X2 X2 SB 24E GE SB 24E GE SB 24E GE The state bus has been exclusively designed for Lenze controllers.
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9400 HighLine | Parameter setting & configuration I/O terminals Monitoring function "State bus" 7.6.1 Detecting the current status Use the output DIGIN_bStateBusIn of the system block LS_DigitalInput to display the current state bus status. If an error occurs, the output DIGIN_bStateBusIn is set to TRUE. SB 24E GE LS_DigitalInput 7.6.
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9400 HighLine | Parameter setting & configuration I/O terminals Touch probe detection 7.7 Touch probe detection A "touch probe" is a signal-controlled event that can, for instance, be activated via a digital input to detect an actual value (that rapidly changes) at the latch time and process it in the program.
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9400 HighLine | Parameter setting & configuration I/O terminals Touch probe detection 7.7.1 Actual value interpolation (principle) If a touch probe is detected, the (residual) time to the following task cycle is determined and a time stamp is created from it. Based on this time stamp the FB L_SdTouchProbe can execute a linear interpolation between both actual position points. The result is the exact actual position at the time of the physical touch probe event.
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9400 HighLine | Parameter setting & configuration I/O terminals Touch probe detection 7.7.2 Dead time compensation For dead time compensation during the detection of the touch probe event, it is possible to select a delay time (touch probe delay) in C02810 for each touch probe channel, which will be considered in the touch probe calculation.
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9400 HighLine | Parameter setting & configuration I/O terminals Touch probe detection 7.7.3 System block "LS_TouchProbe1...8" The system blocks LS_TouchProbe1 ... LS_TouchProbe8 display the touch probe channels 1 ... 8 which are assigned to the digital inputs DI1 ... DI8 in the function block editor. LS_TouchProbex TPx_bEnablePosEdge TPx_dnTouchProbeTimeLag TPx_bEnableNegEdge TPx_bTouchProbeReceived TP TPx_bTouchProbeLost TPx_bNegativeEdge x = 1 ...
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9400 HighLine | Parameter setting & configuration I/O terminals Touch probe detection 7.7.4 System block "LS_TouchProbeMotor" The system block LS_TouchProbeMotor displays the touch probe channel, which is assigned to the motor encoder zero pulse, in the function block editor.
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9400 HighLine | Parameter setting & configuration I/O terminals System bus "CAN on board" 7.8 System bus "CAN on board" The controller has an integrated CANopen system bus interface for process and parameter data exchange between different devices and the connection of additional modules such as distributed terminals, keypads and input devices ("HMIs") and external controls.
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9400 HighLine | Parameter setting & configuration Safety engineering 8 Safety engineering The 9400 HighLine controllers can be equipped with a safety module. The individual safety module types have a different range of functions to optimally meet different requirements. "Integrated safety technology" stands for user-related safety functions that are applicable to the protection of persons working with machines and the machine protection. The motion functions are executed by the controller.
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9400 HighLine | Parameter setting & configuration Safety engineering Integration into the application 8.1 Integration into the application If a safety function is required, the safety engineering activates a corresponding safe monitoring function. The standstill function, however, is only executed directly in case of the function "Safe torque off" (STO). In case of the other safety functions an action of the controller is required, which is safely monitored.
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9400 HighLine | Parameter setting & configuration Safety engineering Control word of the safety module SM3xx 8.3 Control word of the safety module SM3xx A safety function is requested via the control word transferred from the SM3xx safety module to the basic device SM_dwControl. r The corresponding actions (e.g. braking, braking to standstill, holding of the standstill position) must be executed by the application, e.g. via the basic function "Limiter".
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9400 HighLine | Parameter setting & configuration Safety engineering Status information of the SM3xx safety module 8.4 Status information of the SM3xx safety module In addition to the control word SM_dwControl the SM3xx safety module transfers the two status words SM_wState and SM_wIoState to the basic device. Status word SM_wState r The following table shows the bit coding of the status word SM_dwState. – The bits that are supported depend on the safety module used.
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9400 HighLine | Parameter setting & configuration Safety engineering System block "LS_SafetyModule" 8.5 System block "LS_SafetyModule" The LS_SafetyModule system block is used as interface to the (optional) safety module in the function block editor.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information 9 Basic drive functions This chapter describes the basic functions of the "Servo Drives 9400". 9.1 General information Before the basic functions are described in detail, the following subchapter provides general information on how to use the basic functions and the internal state machine which controls the execution of the basic functions. 9.1.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Internal state machine 9.1.2 Internal state machine The execution of the different basic functions is internally controlled by a state machine which can adopt the following "function states": DriveNotReady Init Drive has no torque (no error). Error Drive does nothing, basic functions are being initialised. 3 Drive does nothing due to an error.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Internal state machine Note! The basic functions "Limiter" and "Brake control" run autonomously, but are able to control the state machine to a certain function state, if required. The function states are not to be confused with the device states ("Operation", "Fault active", "Device is switched on", etc.) of the controller. Device states (C 45) O Tip! In C02530 the currently active function state is displayed.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Internal state machine 9.1.2.4 Status "Drive is stopped" This function state is automatically passed through when a basic function is deactivated. r If the drive does is not yet in the standstill state, it is decelerated to standstill via a parameterisable deceleration ramp.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Internal state machine 9.1.2.8 Status "Setpoint follower active" In this function state the drive directly follows the defined setpoint. r The setpoint can optionally be specified as speed, torque or position via three separate basic functions: – Speed follower (C 190) – Torque follower (C 196) – Position follower (C 183) 9.1.2.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Internal state machine 9.1.2.11 Interrupting/replacing states An active function state cannot be interrupted or replaced by the activation of another function state. However, the following exceptions apply: r The "Initialisation" state replaces all other states. r The "Error" state can replace all other states except "Initialisation".
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Requesting control via a basic function 9.1.3 Requesting control via a basic function Enable input "bEnable" The basic functions "Manual jog", "Homing" and "Positioning" and the three setpoint followers each possess an enable input bEnable, via which the control of the corresponding basic function can be requested.
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9400 HighLine | Parameter setting & configuration Basic drive functions General information | Requesting control via a basic function Re-deactivation the enable of a basic function When the enable input bEnable of the active basic function is reset to FALSE, the control inputs of the basic function are inhibited and the status outputs bEnabled, bActive and bDone are reset to FALSE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Standard stop 9.2 Standard stop The standard stop of the drive will be automatically activated by the internal state machine if a basic function is deactivated and the drive is not yet in standstill. r The drive is braked to standstill via a parameterisable deceleration ramp. – While the drive is braked to standstill, the state machine is in the function state "Drive is stopped".
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9400 HighLine | Parameter setting & configuration Basic drive functions Standard stop | Parameter setting 9.2.1 Parameter setting r Parameterisation dialog in the »Engineer«: Tab Application parameter Dialog level Overview All basic functions Stop r Short overview of parameters for standard stop : Parameters Information C02610 Deceleration time for stop C02611 S-ramp time for stop C02612 Ref. for decel.
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9400 HighLine | Parameter setting & configuration Basic drive functions Standard stop | Behaviour of the function (example) 9.2.2 Behaviour of the function (example) In the following example the enable of manual jog is deactivated during an active manual jog.
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9400 HighLine | Parameter setting & configuration Basic drive functions Standard stop | System block "LS_Stop" 9.2.3 System block "LS_Stop" The LS_Stop system block in the function block editor maps the basic function "Stop". LS_Stop Activate stopping (internal status machine) STP_dnState STP_bStopActive n t Outputs Identifier Value/meaning DIS code | Data type STP_dnState C02616 | DINT Status (bit-coded) • When the basic function is not active, all bits are set to "0".
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9400 HighLine | Parameter setting & configuration Basic drive functions Quick stop 9.3 Quick stop Compared to the Standard stop quick stop (QSP) is determined for a stop in the case of an error. If quick stop is activated, the drive is braked to standstill irrespective of the defined setpoint within the deceleration time set. Note! Through this, superimposed controls (e.g. synchronous or position control) may produce following errors.
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9400 HighLine | Parameter setting & configuration Basic drive functions Quick stop Parameter setting of quick stop n C00011 r The deceleration time set in C00105 for the quick stop function refers to a speed variation from the motor reference speed (C00011) to standstill. C00105 t bActivate1...3 TRUE FALSE [9-7] t Deceleration time referred to the motor reference speed n C00011 r When C00107 is set = "1", the deceleration time refers to the current speed.
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9400 HighLine | Parameter setting & configuration Basic drive functions Quick stop | Activating/Deactivating quick stop 9.3.2 Activating/Deactivating quick stop Quick stop through the application is activated/deactivated via the three inputs QSP_bActivate1...3 of the system block LS_Quickstop. (C 155) r The three control inputs are linked via a logic OR gate, i.e. in order to activate quick stop, only one of the three inputs must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Quick stop | System block "LS_quick stop" 9.3.3 System block "LS_quick stop" The LS_quick stop system block in the function block editor maps the basic function "Quick stop".
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog 9.4 Manual jog The basic function "Manual jog" serves to traverse the drive manually, e.g. to clean or exchange the tool. r Optionally, you can change over to a second manual speed during the process. r A "retracting" from operated travel range limit switches is also supported. Then, you can only traverse in the corresponding retracting direction.
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | Parameter setting 9.4.1.1 Smooth start and quick stop of the drive r Different values for acceleration and deceleration can be set in C02622/C02623 in order to implement a smooth start and a quick stop of the drive. n bJogPositive t TRUE FALSE r By entering a relative S-ramp time in C02624 both ramps can be set in S-shape for jerk reduction.
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | Executing manual jog 9.4.2 Executing manual jog Requirements r The controller is in the device state "Operation". r The basic function "manual jog" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input MAN_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | Executing manual jog 9.4.2.
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | Executing manual jog 9.4.2.2 Manual jog to limit position Note! Detailed information on travel range monitoring via limit switches and software limit positions can be found in the description of the basic function "Limiter".
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | Executing manual jog 9.4.2.3 Retracting of an activated limit switch By setting MAN_bReleaseLimitSwitch to TRUE a retraction from an activated limit switch is possible. Travel in the retracting direction until the limit switch is not active anymore.
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | System block "LS_ManualJog" 9.4.3 System block "LS_ManualJog" The LS_ManualJog system block in the function block editor maps the basic function "Manual jog".
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9400 HighLine | Parameter setting & configuration Basic drive functions Manual jog | System block "LS_ManualJog" Outputs Identifier Value/meaning DIS code | data type MAN_dnState C02638 | DINT Status (bit-coded) • When the basic function is not enabled, all bits are set to "0". • Bits which are not listed are not assigned with a status (always "0"). Bit 1 Manual jog active Bit 2 Manual jog is completed. Bit 3 Acceleration/deceleration phase is active. Bit 5 CCW rotation is active.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing 9.5 Homing The basic function "Homing" serves to transfer the measuring system to the physically possible travel range of the controller. r The reference (e.g. zero position of the drive axis in the machine measuring system) can be defined by reference search or reference setting. r In case of reference search, the drive travels according to the defined homing mode to detect the reference in the measuring system independently.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting 9.5.1 Parameter setting r Parameterisation dialog in the »Engineer«: Tab Application parameter dialog level Overview All basic functions Homing r Short overview of the parameters for homing: 9.5.1.1 Parameters Information C02528 Traversing range C02640 Ref. mode C02642 HM position C02643 HM target position C02644 Ref. speed 1 C02645 Home acceleration 1 C02646 Ref.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting r For reference setting, select the homing mode "100" in C02640. r The homing modes "0"..."15", which are described in detail in the following sections, are available for a reference search in C02640. – Depending on the mode selected the following switches/sensors are evaluated: Switch Input for digital input signal Reference switch HM_bHomingMark on SB LS_Homing Touch probe sensor DIGIN_bIn1 ...
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting bLimitSwitchNegative bHomingMark bLimitSwitchPositive Operation of mode 2: 1. Movement in positive direction. 2. Reversing to positive travel range limit switch. Z-Impulse Encoder 3. Negative edge at HM_bHomingMark enables home position detection. Reference position 4. The following positive edge of the encoder zero pulse/touch probe sensor set the reference.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting Operation of mode 8: Touch probe TP 1. Movement in positive direction. 2. The following positive edge of the touch probe sensor set the reference. Reference position Operation of mode 9: Touch probe TP 1. Movement in negative direction. 2. The following positive edge of the touch probe sensor set the reference.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting Operation of mode 14: Reference position 1. Movement in positive direction with reduced torque. 2. The reference is set if the torque limit has been exceeded via a defined period of time ("homing to end stop"). – If a reference offset is set, it is traversed by this offset with the correct sign and the reference is set at the end of this travel way. Operation of mode 15: 1.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting 9.5.1.3 Second homing speed For the homing modes 0...5 as well as 10 and 11 two different speeds can be parameterised to reduce the homing time and increase the accuracy: r The higher speed set in C02644 causes a quick approach of the limit switch/reference switch.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Parameter setting 9.5.1.4 Homing to end stop By selecting the homing modes 14 & 15, homing to end stop can be executed as follows: 1. The drive travels with reduced torque in positive direction (mode 14) or negative direction (mode 15). 2. When the drives hits an end stop so that the torque limit set in C02649 is exceeded for the period of time defined in C02650, the reference is set.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Executing homing 9.5.2 Executing homing Requirements r The controller is in the device state "Operation". r The basic function "Homing" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input HM_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | Executing homing 9.5.2.1 Setting reference search/setting reference directly By setting the control input HM_bActivateHoming to TRUE, the reference search in the selected homing mode is started. r During reference search, the status output HM_bActive is set to TRUE. r When the reference search is completed, the status output HM_bActive is reset to FALSE and the status output HM_bDone is set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | System block "LS_Homing" 9.5.3 System block "LS_Homing" The LS_Homing system block in the function block editor maps the basic function "Homing".
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9400 HighLine | Parameter setting & configuration Basic drive functions Homing | System block "LS_Homing" Outputs Identifier Value/meaning DIS code | data type HM_dnState C02657 | DINT Status (bit-coded) • When the basic function is not enabled, all bits are set to "0". • Bits which are not listed are not assigned with a status (always "0"). Bit 1 Reference search is active. Bit 2 Reference search is completed. Bit 3 Acceleration/deceleration phase is active. Bit 5 CCW rotation is active.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning 9.6 Positioning The basic function "Positioning" provides the functions for executing the (travel) profiles and supports an "override" of speed and acceleration. r A profile describes a motion request which can be implemented by the SB LS_Positioner into a rotary motion.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | Carrying out positioning 9.6.2 Carrying out positioning Requirements r The controller is in the device state "Operation". r The basic function "Positioning" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input POS_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | Carrying out positioning 9.6.2.1 Starting positioning By setting the control input POS_bStart to TRUE positioning starts. r The (travel) profile is executed which has been transferred to the basic function via the input POS_ProfileData. 9.6.2.2 Aborting/interrupting positioning By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or interrupted.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | Carrying out positioning 9.6.2.4 Activating override "Override" is the change of profile parameters and their acceptance during the positioning process. r When the input POS_bEnableOverride is set to TRUE, a speed and acceleration override occurs according to the override values applied to the inputs POS_dnSpeedOverride_n and POS_dnAccOverride_n.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | System block "LS_Positioner" 9.6.3 System block "LS_Positioner" The LS_Positioner system block in the function block editor maps the basic function "Positioning".
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | System block "LS_Positioner" Identifier Information/possible settings DIS code | data type POS_dnSpeedOverride_n C02677/1 | DINT POS_dnAccOverride_n C02677/2 | DINT POS_bDisableTP Value of speed override • Percentage multiplier for the current profile parameter "Speed". • Changes are accepted in each cycle. • 230 ≡ 100 % of the speed defined in the profile. • In case of values ≤ 1 % the status bit 18 is set.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positioning | System block "LS_Positioner" Identifier Value/meaning DIS code | data type POS_bEnabled Status output "Basic function is enabled" C02679/7 | BOOL POS_bActive TRUE Positioning via the control inputs is possible. • The enable input POS_bEnable is set to TRUE and the controller is in the function state "Positioning active".
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9400 HighLine | Parameter setting & configuration Basic drive functions Position follower 9.7 Position follower This basic function is used as setpoint interface for position-controlled drives. r The specified position setpoint can either refer to the encoder on the motor side or to the (load) encoder used additionally to detect the machine position. The selection of the encoder configuration serves to adapt the internal control structure accordingly.
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C02527 0 PF_dnTorqueAdd_n 1 0 PF_dnAccAdd_x 1 C00273 C00276 C02550/3 0 0 PF_dnSpeedAdd2_n FDB_dnActualPos_p 1 C00273 1 PF_dnSpeedAdd1_s i C02531/3 (1) Interpolator 2 0 1 0 C00273 C02556 Interpolator 1 Firmware 1.
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9400 HighLine | Parameter setting & configuration Basic drive functions Positionsfolger | Signalfluss Internal variables of the motor control (oscilloscope signals) r The red numbers specified in the signal flow represent internal variables of the motor control, which can be recorded with the Oscilloscope for diagnostic and documentation purposes. (C 416) No. L Variable or the motor control Meaning (1) Torque.dnTotalTorqueAdd Additive torque precontrol value (2) Torque.
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9400 HighLine | Parameter setting & configuration Basic drive functions Position follower | Parameter setting 9.7.
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9400 HighLine | Parameter setting & configuration Basic drive functions Position follower | Parameter setting 9.7.2.1 Setpoint interpolation When the setpoint interpolation is activated, the motor control creates intermediate values to "smoothly" follow the setpoints which may be transferred from a slower task. r C02550/1 = "1": The motor control follows the position setpoint in interpolated steps. r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
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9400 HighLine | Parameter setting & configuration Basic drive functions Position follower | Activating setpoint interface 9.7.3 Activating setpoint interface Requirements r The controller is in the device state "Operation". r The basic function "Position follower" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input PF_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Position follower | System block "LS_PositionFollower" 9.7.4 System block "LS_PositionFollower" The LS_PositionFollower system block in the function block editor maps the basic function "Position follower".
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower 9.8 Speed follower This basic function is used as setpoint interface for speed-controlled drives. r The motor control is automatically changed over to speed control with torque limitation. r As an option, an internal interpolation of the setpoints can be carried out in order to specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower | Signal flow 9.8.
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower | Parameter setting 9.8.
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower | Parameter setting 9.8.2.1 Setpoint interpolation When the setpoint interpolation is activated, the motor control creates intermediate values to "smoothly" follow the speed and/or torque setpoints which may be transferred from a slower task. r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps. r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps. 9.8.
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower | Activating setpoint interface 9.8.3 Activating setpoint interface Requirements r The controller is in the device state "Operation". r The basic function "Speed follower" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input SF_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Speed follower | System block "LS_SpeedFollower" 9.8.4 System block "LS_SpeedFollower" The LS_SpeedFollower system block in the function block editor maps the basic function "Speed follower".
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9400 HighLine | Parameter setting & configuration Basic drive functions Torque follower 9.9 Torque follower This basic function is used as setpoint interface for torque-controlled drives. r The motor control is automatically changed over to torque control with speed limitation. r As an option, an internal interpolation of the torque setpoint can be carried out in order to specify the setpoint with reduced cycle rates without the drive behaviour being unsteady.
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9400 HighLine | Parameter setting & configuration Basic drive functions Torque follower | Parameter setting 9.9.
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9400 HighLine | Parameter setting & configuration Basic drive functions Torque follower | Activating setpoint interface 9.9.3 Activating setpoint interface Requirements r The controller is in the device state "Operation". r The basic function "Torque follower" is part of the active application. r No other basic function is active. Activation To request the control via the basic function, the enable input T F_bEnable in the application must be set to TRUE.
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9400 HighLine | Parameter setting & configuration Basic drive functions Torque follower | System block "LS_TorqueFollower" 9.9.4 System block "LS_TorqueFollower" The LS_TorqueFollower system block in the function block editor maps the basic function "Torque follower".
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter 9.10 Limiter The basic function "Limiter" monitors the travel range limits via limit switches and parameterised software limit positions and can lead the drive to defined limit ranges when being asked accordingly by the safety module.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting 9.10.1 Parameter setting r Parameterisation dialog in the »Engineer«: Tab Application parameter dialog level Overview All basic functions Limiter r Short overview of the parameters for the limiter: Parameters Information C02700 Software limit positions are active C02701/1 Positive software limit position C02701/2 Negative software limit position C02702 Limitations effective C02703 Max.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting 9.10.1.1 Software limit positions The software limit positions serve to limit the travel range by means of software and prevent that travel commands are executed which would cause an exit of the permissible travel range. Note! The software limit positions are only evaluated and monitored if the drive knows the home position and the software limit positions are active (C02700 = "1").
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting r The positive software limit positions are set in C02701/1 and the negative software limit positions are set in C02701/2. C02701/2 ü C02701/1 n C02701/2: Negative software limit position o C02701/1: Positive software limit position p Travel command possible q Travel command not possible since the target position is outside the permissible traversing range.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting 9.10.1.2 Hardware limit positions (limit switch) The travel range limits are monitored via limit switch inputs LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative of the SB LS_Limiter. Both inputs react to the TRUE status and must be connected to the corresponding digital inputs which are connected with the limit switches.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting 9.10.1.3 Limitations Limit values for the basic functions "Manual jog", "Homing" and "Positioning" can be set via the following parameters: Parameters Information C02703 Max. speed • Max. permissible speed that can be driven by the system. • This parameter depends, among other things, by the max. motor speed. C02705 Max. acceleration • Max.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting Response if limit values are exceeded When the limit values are switched effectively and a set limit value is exceeded, the following reactions occur: r The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning") are changed (limited). r Via the output LIM_dnState of the SB LS_Limiter a corresponding status is output.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Parameter setting 9.10.1.4 Limited speed "Limited speeds" for the basic functions "Manual jog", "Homing" and "Positioning" can be set via the following parameters: Parameters Information C02708/1...4 Limited speed 1 .... 4 C02710/1...4 Delay lim. speed. 1 .... 4 C02711/1...4 S-ramp time lim. speed. 1 .... 4 C02712/1...4 Dec. time lim. speed. 1 ....
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | Control word of the safety module 9.10.
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | System block "LS_Limiter" 9.10.3 System block "LS_Limiter" The LS_Limiter system block in the function block editor maps the basic function "Limiter".
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9400 HighLine | Parameter setting & configuration Basic drive functions Limiter | System block "LS_Limiter" Outputs Identifier Value/meaning DIS code | data type LIM_dnState C02718 | DINT Status word (bit coded) • Bits which are not listed are not assigned with a status (always "0"). Bit 0 Controller inhibit is initiated. (Safe torque off is requested.) Bit 1 Quick stop is initiated. (Safe stop 1 is requested.) Bit 2 Quick stop is initiated. (Safe stop 2 is requested.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control 9.11 Brake control This basic function is used for wear free control and monitoring of a holding brake which is connected to the optionally available brake module. As an alternative, the holding brake can also be controlled and monitored via the digital inputs/outputs. Intended use Motor holding brakes are used to stop axes when controller inhibit or pulse inhibit is set.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.1.1 Operating mode Various operating modes are available in C02580 for different applications and tasks: r Mode 0: Brake control is switched off (C 222) r Mode 1/11: Direct control of the brake (C 222) – Without using a special logic or automatic, can be used, for instance, to check in a simple manner if the brake operates correctly.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.1.3 Standstill monitoring After the brake closing time and the waiting time for status monitoring have elapsed, the standstill monitoring becomes active, i.e. the stop position is memorised and compared with the permissible angle of rotation set in C02595 (Lenze setting: 5°) when the brake is applied.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.1.4 Brake activation in automatic operation Brake activation through N < Nmin Stopping t Standstill t n 0 1 r If the motor speed falls below the threshold for brake activation set in C02581, the brake is automatically triggered to close in the automatic operation (mode 2/12). r Here, only the absolute value of the motor speed is considered, the direction of rotation is disregarded.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting Brake activation through time-out If the waiting time for the brake activation is set > 0 s in C02593, time monitoring is active, i.e. the brake will be triggered to close not later than after the waiting time has elapsed even if the actual speed value is above the threshold for brake activation set in C02581. Note! In the Lenze setting the time monitoring function is not active (C02593 = "0 s").
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.1.5 Brake time response Closing and opening time Danger! A wrong setting of the closing and opening time can cause a wrong activation of the brake! • When the closing time is set too low, the controller is inhibited and the drive gets torqueless before the brake is closed completely.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting Waiting time for status monitoring Every time the brake status changes, the waiting time set in C02591 is awaited after the brake opening or brake closing time has elapsed, before the monitoring of the brake module/status input BRK_bBrakeApplied (if activated via C02583) and the standstill monitoring function are switched active again.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting 9.11.1.6 Torque feedforward control The motor control serves to precontrol the required torque of the drive when the brake is released. Here it must be ensured that the position controller is switched off and the speed setpoint is loaded with the actual value (no additional torque via the P component of the speed controller). Note! The torque is precontrolled for one second.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting r To ensure the correct direction at start-up, the speed controller is loaded with the following starting torques: Starting torque: Lifting Lowering C02586 = 50 Nm C02587 = 10 Nm r This results in the following behaviour depending on load and direction: Lifting Lowering Behaviour at max. load: Optimum behaviour Start-up a bit fast, but correct direction (non-critical).
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Parameter setting Further torque feedforward control options Speed controller r An additional precontrol value can be set via the input BRK_dnTorqueAdd_n. 0 CTRL 1 BRK_dnTorqueAdd_n [9-17] Feedforward control with parameterised starting torque Application example: The load for a hoist drive is always known.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Mode 0: Brake control is switched off 9.11.2 Mode 0: Brake control is switched off If the mode 0 is selected in C02580, the brake activation is switched off. r If a brake module is available, it will not be triggered. r The brake monitoring function is not active. r If a fault is reported by the brake control, it will be reset.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Mode 2/12: Automatic control of the brake 9.11.4 Mode 2/12: Automatic control of the brake If the mode 2 or 12 is selected in C02580, the brake is controlled automatically, i.e. if another basic function is activated which causes the drive to traverse, the brake is opened automatically and the operation is enabled.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Mode 2/12: Automatic control of the brake 9.11.4.1 Behaviour at pulse inhibit In case of pulse inhibit the brake is applied. This occurs according to the parameter setting in C02582 either immediately (default setting) or delayed when the threshold set for brake activation is fallen below, which can be selected to protect the brake if high centrifugal masses occur.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Mode 2/12: Automatic control of the brake 9.11.4.2 Process when brake is released The following process occurs when a basic function is requested which causes the drive to traverse: 1. The controller inhibit is deactivated. 2. A magnetic field is created in the motor required for the holding torque (is already available in synchronous machines). 3. The precontrol torque is loaded in the speed controller. 4.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Mode 2/12: Automatic control of the brake 9.11.4.3 Process when brake is closed The following process occurs if the enable of the requested basic function for traversing the drive is deactivated again: 1. The drive is braked to standstill via the basic function "Standard stop", or also via the basic function "Quick stop". 2.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Grinding the brake 9.11.5 Grinding the brake Function only implemented from bundle 1.1! This function is required if the brake is exchanged. The holding torque listed in the data sheet is only reached if the friction partners are ground after installation. Stop! If this function is activated, the drive is automatically accelerated to the grinding speed parameterised in C02596.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Grinding the brake Sequence When all conditions mentioned are fulfilled, the grinding process can be started by setting the input BRK_bBrakeGrindIn to TRUE. BRK_bBrakeGrindIn t CINH t n t 10 x r After the grinding speed has been reached, the friction partners in the brake are ground by a pulse-type control.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Carry out brake test 9.11.6 Carry out brake test Function only implemented from bundle 1.1! This function can be used to check the holding torque of the brake. O Tip! You can carry out this test regularly to early detect defects or wear of the brake in good time.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | Carry out brake test Sequence When all conditions mentioned are fulfilled, the brake test can be started by setting the input BRK_bBrakeTest to TRUE. BRK_bBrakeTest t CINH t M r By resetting the input BRK_bBrakeTest to FALSE the brake test can be aborted. 0 1 1s max. 4 s j r The specified test torque is created via a ramp generator with an acceleration time of 1 s and held max. 4 s.
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | System block "LS_Brake" 9.11.7 System block "LS_Brake" The LS_Brake system block in the function block editor maps the basic function "brake control".
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9400 HighLine | Parameter setting & configuration Basic drive functions Brake control | System block "LS_Brake" Outputs Identifier Value/meaning DIS code | data type BRK_dnState C02607 | BOOL Status (bit-coded) • Bits which are not listed are not assigned with a status (always "0"). Bit 1 Brake control is active. Bit 4 Brake module is used. Bit 8 Brake status (internal status signal). Bit 9 Torque feedforward control is active. Bit 10 Controller inhibit is active or set by brake.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Overview 10 Technology applications (TAs) Technology applications are block applications with parameter setting interface prepared by Lenze which form the basis of solving typical applications. Delivery The technology applications available for the 9400 Servo Drives can be selected in the »Engineer« from the application catalog.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Overview Technology application/application ranges Required license/delivery TA "Actuator – torque" (C 265) • Slave drives for material transport – Chain conveyors – S-shaped frame structure – Bilateral tandem drives • Test facilities – Test benches for tensile stress – Motor test benches – Brake assemblies • Support of higher-level technology solutions for e.g. traction-controlled winders Available in every license stage.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« 10.2 Commissioning using the »Engineer« Basic procedure 1. Start »Engineer«. 2. Open available project or create a new project. 3. Assign each controller to a technology application from the catalogue. 4. For a project with several interconnected devices: – Insert network and machine application . – Make suitable network settings.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« 10.2.1 Parameterise application In the »Engineer« all required settings for the technology application can be made via the Application parameter tab which contains several levels of parameter dialogs. r The top level Overview includes all parameters required to carry out a short setup.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« 10.2.2 Parameterise signal combinations In order to easily change existing signal combinations between the device interfaces and the application inputs and outputs, parameterisable "multiplexers" are implemented in all technology applications. r From a number of signal sources, each multiplexer combines exactly one with a signal target of the same data type ("combinatorial circuit").
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« Changing signal combinations via the parameters setting interface On the Application parameter tab all parameterisable signal combinations are marked by white buttons. r If you press one of such buttons, the I/O configuration for... dialog level is displayed via which another signal source can be selected.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« 10.2.3 Configure application The interconnection of the technology application defined by Lenze is indicated on the FBEditor tab. r The current values at the inputs and outputs are indicated in the online mode. r If you click the Activate editor button, the defined interconnection can be changed.
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9400 HighLine | Parameter setting & configuration Technology applications (TAs) Commissioning using the »Engineer« 10.2.
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9400 HighLine | Parameter setting & configuration Standard TAs 11 Standard TAs The technology applications described in this chapter are available for general drive tasks.
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9400 HighLine | Parameter setting & configuration Standard TAs Introduction 11.1 Introduction 11.1.
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9400 HighLine | Parameter setting & configuration Standard TAs Introduction Conveyor drive with adjustable tension Slave Master i1 d1 i2 v d2 M F n Master o Slave with technology application "actuator – torque" p System bus (CAN) v = speed of the material path F = tensile stress [11-2] Example: Conveyor drive with adjustable tension r The master drive is operated speed-controlled and determines the speed of the material path.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" 11.2 TA "Actuator – speed" The technology application "actuator – speed" enables the drive to create a speed to be defined. The speed setpoint can be complied with using a speed controller which adopts the motor torque to the prevailing load situation. r The speed setpoint of the drive can be specified for both directions. The driven machine parts accordingly moves forwards or backwards.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Basic signal flow 11.2.1 Basic signal flow Speed setpoint Basic drive functions DI1 Gain LS_Quickstop n LS_Stop n STOP LS_Brake internal status machine AIN1 6 0 DI4 DI3 Selection Invert setpoint DI2 Ramp generator 2 3 OUT DI6 15 % % t Status machine (basic drive functions) M LS_ManualJog 5 % M LS_Limiter ç è è DI7 ç DI8 8 LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Assignment of the I/O terminals 11.2.2 Assignment of the I/O terminals 11.2.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "actuator – speed".
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Assignment of the I/O terminals 11.2.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "actuator – speed". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Assignment of the I/O terminals Display elements User LED Signal (Lenze setting) Status "Speed follower enabled" • The speed follower has been enabled via the digital input DI2. Drive interface 248 Signal configuration C03100/6 LED status displays (C 34) Firmware 1.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Machine parameters 11.2.3 Machine parameters The machine parameters describe e.g. the motor end of the mechanics used. M The setting of the machine parameters in the »Engineer» is carried out on the Application parameters tab in the dialog level Overview Drive interface .
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed setpoint conditioning 11.2.4 Speed setpoint conditioning Speed setpoint DI4 Gain Selection DI3 Invert setpoint Ramp generator DI2 IN AIN1 OUT LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed setpoint conditioning 11.2.4.1 Change-over to fixed setpoint Speed setpoint DI4 Gain Selection DI3 Invert setpoint Ramp generator DI2 IN AIN1 OUT LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed setpoint conditioning 11.2.4.2 Setpoint inversion Speed setpoint DI4 Gain Selection DI3 Invert setpoint Ramp generator DI2 IN AIN1 OUT LS_Speed... Speed setpoint M Status machine (basic drive functions) M Fixed setpoints 1 2 % % 15 % v [11-6] Setpoint inversion (schematic diagram) Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if required.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed setpoint conditioning 11.2.4.3 Speed ramp generator Speed setpoint DI4 Gain Selection DI3 Invert setpoint Ramp generator DI2 IN AIN1 OUT LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed setpoint conditioning Use of further ramp parameter sets If required, 15 further ramp parameter sets can be parameterised. For the selection of the ramp parameter sets1 ... 15 the selection inputs are to be assigned with the corresponding signals. The selection of the ramp parameter sets is carried out in a binary coded manner.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Speed follower 11.2.5 Speed follower Speed setpoint Basic drive functions DI1 Gain LS_Quickstop n LS_Stop n STOP LS_Brake internal status machine AIN1 t DI4 DI3 Selection Invert setpoint DI2 Ramp generator LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Manual jog 11.2.6 Manual jog Speed setpoint Basic drive functions DI1 Gain LS_Quickstop n LS_Stop n STOP LS_Brake internal status machine AIN1 t DI4 DI3 Selection Invert setpoint DI2 Ramp generator LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Quick stop 11.2.7 Quick stop Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 t LS_Speed...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Limiter 11.2.8 Limiter Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 t LS_Speed... Status machine (basic drive functions) Speed setpoint M DI6 LS_ManualJog ç è è DI7 ç DI8 LS_Brake M The basic function "Limiter", where applicable, by means of limit switches monitors travel range limits.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Brake control 11.2.9 Brake control Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 LS_Speed... Status machine (basic drive functions) M LS_ManualJog ç è è DI7 ç DI8 The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. In the simplest case, an optionally available brake module is used.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Brake control r Parameter setting: Tab Application parameter Dialog level Overview Brake control Parameters Lenze setting Value Unit C02580 Operating mode - brake C02581 Brake activation threshold C02582 Brake resp. to pulse inhibit C02583 Status input monitoring C02585 Brake control polarity C02586 Starting torque 1 0.00 Nm C02587 Starting torque 2 0.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Signal configuration of drive and motor interface 11.2.10 Signal configuration of drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured per parameter setting of the assigned multiplexer parameters.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Signal configuration of the output ports 11.2.11 Signal configuration of the output ports If required, the preset signal configuration of the output ports can be easily reconfigured per parameter setting of the assigned multiplexer parameters. "LPortAxisOut1" output port The output port LPortAxisOut1 is intended for the connection with a following axis.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Signal configuration of the output ports Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control. Signal (Lenze setting) Output port Signal configuration Status word 1 Drive ready Status word 1 bit 00 C03121/1 FALSE Status word 1 bit 01 C03121/2 Operation enabled Status word 1 bit 02 C03121/3 Error is active.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – speed" | Application error messages 11.2.12 Application error messages For the output of application-specific error messages an FB instance ApplicationError of the function block L_DevApplErr is available in the network. r Via the 8 boolean inputs up to 8 different application error messages with parameterisable module ID, error ID and error response can be released by the application.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" 11.3 TA "Actuator – torque" When the technology application "actuator – torque" is used the drive creates a torque to be specified independent of the motor speed. A superimposed speed limitation prevents the drive from accelerating in an uncontrolled mode. The torque setpoint and torque limit value are the main setpoint values of the application. r The setpoint of the motor torque can be specified for both directions.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Basic signal flow 11.3.1 Basic signal flow Torque setpoint DI3 Gain Basic drive functions Invert setpoint DI1 Ramp generator LS_Quickstop n IN LS_Stop n STOP LS_Brake internal status machine AIN1 1 0 2 OUT 8 t 9 t : Speed limit DI4 Offset Selection DI2 Ramp generator IN AIN2 3 4 5 OUT DI6 15 % % Status machine (basic drive functions) M 6 Fixed setpoints 1 2 LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Assignment of the I/O terminals 11.3.2 Assignment of the I/O terminals 11.3.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "actuator – torque".
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Assignment of the I/O terminals 11.3.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "actuator – torque". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Assignment of the I/O terminals Display elements User LED Signal (Lenze setting) Status "Torque follower enabled" • The torque follower has been enabled via the digital input DI2. Drive interface L Signal configuration C03100/6 LED status displays (C 34) Firmware 1.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Machine parameters 11.3.3 Machine parameters The machine parameters describe e.g. the motor end of the mechanics used. M The setting of the machine parameters in the »Engineer» is carried out on the Application parameters tab in the dialog level Overview Drive interface .
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Torque setpoint conditioning 11.3.4 Torque setpoint conditioning Torque setpoint Gain DI3 Invert setpoint Ramp generator IN AIN1 OUT DI2 LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Torque setpoint conditioning 11.3.4.1 Setpoint inversion Torque setpoint Gain DI3 Invert setpoint Ramp generator DI2 LS_Torque... Torque setpoint IN AIN1 M OUT Status machine (basic drive functions) M v F [11-15] Setpoint inversion (schematic diagram) Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if required.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Speed limit value conditioning 11.3.5 Speed limit value conditioning Speed limit DI4 Offset Selection Ramp generator IN AIN2 OUT DI2 LS_Torque... Torque setpoint M Status machine (basic drive functions) M Fixed setpoints 1 2 % % v 15 % F [11-17] Speed limit value conditioning (schematic diagram) The speed limit value is defined in the Lenze setting via the analog input 2.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Speed limit value conditioning 11.3.5.1 Change-over to fixed setpoint Speed limit DI4 Offset Selection Ramp generator IN AIN2 OUT DI2 LS_Torque... Torque setpoint M Status machine (basic drive functions) M Fixed setpoints 1 2 % % v 15 % F [11-18] Additional offset for the speed limit value (schematic diagram) Via the digital input DI4 a change-over to a parameterisable fixed setpoint can take place.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Speed limit value conditioning 11.3.5.2 Speed ramp generator Speed limit DI4 Offset Selection Ramp generator IN AIN2 OUT DI2 LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Speed limit value conditioning Use of further ramp parameter sets If required, 15 further ramp parameter sets can be parameterised. For the selection of the ramp parameter sets1 ... 15 the selection inputs are to be assigned with the corresponding signals. The selection of the ramp parameter sets is carried out in a binary coded manner.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Torque follower 11.3.6 Torque follower Torque setpoint DI3 Gain Basic drive functions Invert setpoint DI1 Ramp generator LS_Quickstop n IN LS_Stop n STOP LS_Brake internal status machine AIN1 OUT t t Speed limit DI4 Offset Selection DI2 Ramp generator LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Manual jog 11.3.7 Manual jog Torque setpoint DI3 Gain Basic drive functions Invert setpoint DI1 Ramp generator LS_Quickstop n IN LS_Stop n STOP LS_Brake internal status machine AIN1 OUT t t Speed limit DI4 Offset Selection DI2 Ramp generator LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Quick stop 11.3.8 Quick stop Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 t LS_Torque...
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Limiter 11.3.9 Limiter Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 t LS_Torque... Status machine (basic drive functions) Torque setpoint M DI6 LS_ManualJog ç è è DI7 ç DI8 LS_Brake M The basic function "Limiter", where applicable, by means of limit switches monitors travel range limits.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Brake control 11.3.10 Brake control Basic drive functions DI1 LS_Quickstop n LS_Stop n STOP internal status machine t DI2 LS_Torque... Status machine (basic drive functions) M LS_ManualJog ç è è DI7 ç DI8 The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. In the simplest case, an optionally available brake module is used.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Brake control r Parameter setting: Tab Application parameter Dialog level Overview Brake control Parameters Lenze setting Value Unit C02580 Operating mode - brake C02581 Brake activation threshold C02582 Brake reaction in case of pulse inhibit C02583 Status input monitoring C02585 Brake control polarity C02586 Starting torque 1 0.00 Nm C02587 Starting torque 2 0.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Signal configuration of drive and motor interface 11.3.11 Signal configuration of drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured per parameter setting of the assigned multiplexer parameters.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Signal configuration of the output ports 11.3.12 Signal configuration of the output ports If required, the preset signal configuration of the output ports can be easily reconfigured per parameter setting of the assigned multiplexer parameters. "LPortAxisOut1" output port The output port LPortAxisOut1 is intended for the connection with a following axis.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Signal configuration of the output ports Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control. Signal (Lenze setting) Output port Signal configuration Status word 1 Drive ready Status word 1 bit 00 C03121/1 FALSE Status word 1 bit 01 C03121/2 Operation enabled Status word 1 bit 02 C03121/3 Error is active.
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9400 HighLine | Parameter setting & configuration Standard TAs TA "Actuator – torque" | Application error messages 11.3.13 Application error messages For the output of application-specific error messages an FB instance ApplicationError of the function block L_DevApplErr is available in the network. r Via the 8 boolean inputs up to 8 different application error messages with parameterisable module ID, error ID and error response can be released by the application.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft 12 TAs for interconnection via electrical shaft The technology applications described in this chapter are available for a DC-bus operation of several drives via the electrical shaft.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction 12.1 Introduction The following subchapters provide information on the electrical shaft. 12.1.1 Synchronisation of the drives via a master angle By coupling the drives via a master angle the positions are firmly allocated to each other like a mechanical shaft.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Virtual master/real master 12.1.2 Virtual master/real master Virtual master Virtual master / Slave 1 X10: DFout i d r In an interconnection, a drive takes over the task of the (virtual) master and is the first slave drive at the same time.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Transmission of the master angle 12.1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Speed or angular synchronism? Note! For detailed information about the ETHERNET Powerlink, please see the "Ethernet" Communication Manual. 12.1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Absolute or relative master angle processing? 12.1.7 Absolute or relative master angle processing? Absolute master angle processing All drives have a common fix reference to each other via the position of the master angle. Relative master value/master angle processing Stands for a high-precision transmission of the master value. However, there is no firm reference to the other drives (e.g.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Application examples Relative table synchronism (with mark synchronisation) Like "Relative synchronism", although the tools can also perform a non-linear movement. 12.1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Application examples Electronic gearbox as cascade The technology application "Electronic gearbox" is often operated as cascade since changes of speed/gearbox ratio of an upstream drive also have an effect on the subsequent drive. r Typical applications are, for instance, stretching machines, wire drawing machines and roller mills. r There is no position reference between tool and material.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Application examples Tighten the web via trimming function with cascade In case a clearance has developed, the web must be "tightened" again. Only then the machine can be accelerated again via the master. The subsequent slave (cascade structure) must run along in the set ratio. Thus, the trimming function acts directly before or after the stretching factor.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft Introduction | Application examples In case of the relative synchronism with mark synchronisation, there is a position reference between tool and web, which occurs in each register. For this, a slight correction is superimposed to the synchronous motion with regard to the web. Such applications are, for instance, printing machines.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" 12.2 TA "Electronic gearbox" The technology application "Electronic gearbox" serves to implement a synchronism with adjustable stretching ratio between the drives in the system. r The ratio can be freely adjusted, the values are input in the form of a fraction (numerator/denominator) with 32 bit resolution.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Basic signal flow 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Assignment of the I/O terminals 12.2.2 Assignment of the I/O terminals 12.2.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "Electronic gearbox".
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Assignment of the I/O terminals 12.2.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "Electronic gearbox". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Machine parameters 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Machine parameters 12.2.3.1 Master axis (master shaft) For scaling and imaging the master value in the application, the machine parameters of the higher-level drive (master shaft) must be set. Note! When setting (scaling) the electrical shaft, ensure that the ratio and encoder constants are identical for all drives in the system.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Machine parameters O Tip! Setting the cycle (C03938) ony is required if the selection "Modulo" is set as traversing range (C02528). For operation with a virtual master the following setting of the gearbox ratio is recommended to achieve a good resolution of the guiding angle/master value: • Numerator (C03930) = 100 • Denominator (C03931) = 1 12.2.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Machine parameters Example of determining the machine parameters for the slave axis 1. Set gearbox ratio for the motor in the form of a quotient (numerator and denominator): i2 = 12.612 = 12612/ 1000 – Numerator (C02520) = 12612 – Denominator (C02521) = 1000 i2 = 12.612 d2 = 200 mm 2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Selection of master value source and output 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Selection of master value source and output 12.2.4.1 Master value source: Virtual master If the "Virtual master" is selected as master value source, the master value is created in the TA and transmitted via a bus system or the digital frequency output to the other slave drives.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Selection of master value source and output 12.2.4.2 Master value source: Digital frequency input To use the digital frequency input as master value source, the controller must be provided with digital frequency extension module (E94AYFLF). To ensure the integration of the extension module in the application, the TA "Electronic gearbox" must be used as technology application.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Operating mode "Electronic gearbox" 12.2.5 Operating mode "Electronic gearbox" In the "Electronic gearbox" (C03006 = "0") operating mode the drive follows the master value of the electrical shaft if the clutch is engaged.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Operating mode "Electronic gearbox" 12.2.5.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Operating mode "Electronic gearbox" 12.2.5.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Operating mode "Electronic gearbox" 12.2.5.3 Master value trimming Real master/ Virtual master Dv C03006 = 0 v M t Slave v n Master value with clutch o Master value with trimming [12-15] "Master value trimming" function in the signal flow (schematic diagram) This function serves to adjust the master value.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Operating mode "Electronic gearbox" 12.2.5.4 Setpoint conditioning Real master/ Virtual master Dv C03006 = 0 v M t Slave v n Master value with trimming o Actual value [12-16] "Setpoint conditioning" function in the signal flow (schematic diagram) This function is used for speed ratio between the master shaft and the machine axis.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | "Homing" mode 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | "Homing" mode Control inputs of the function Lenze setting Signal configuration Control input (Multiplexer parameters) FALSE Start homing C03160/2 DigIn 2 Home mark C03160/3 C03011 Set home position C03160/4 C03012 Home position C03163 FALSE Reset home position C03160/5 O Tip! Detailed information on homing can be found in chapter "Basic drive functions" subchap
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | "Manual jog" mode 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | "Positioning" mode" 12.2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | "Positioning" mode" Profile data record management For the profile data record management the FB L_PosProfileTable is used. This FB serves to file and manage up to four (travel) profiles and to "teach" target positions. r A profile describes a motion request which can be implemented by the SB LS_Positioner into a rotary motion.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Following error monitoring 12.2.9 Following error monitoring In the Lenze setting the following error monitoring is active. r Parameter setting: Tab Application parameter Dialog level Overview Electronic gearbox Following error monitoring j n Switching threshold o Hysteresis Parameters Lenze setting Value Unit C03911 Switching threshold 1.0000 Unit C03916 Hysteresis 0.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Quick stop 12.2.10 Quick stop v M t t Slave LS_Quickstop n If the quick stop function is deactivated, the drive is led to the selected setpoint again via the set acceleration time.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Limiter 12.2.11 Limiter v M t t Slave LS_Quickstop n The basic function "Limiter" monitors the travel range limits via limit switches and parameterised software limit positions and can lead the drive to defined limit ranges when being asked accordingly by the safety module.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Limiter Control inputs of the function Lenze setting Signal configuration Control input (Multiplexer parameters) FALSE Positive limit switch C03150/1 FALSE Negative limit switch C03150/2 O Tip! Detailed information on the limiter function can be found in chapter "Basic drive functions" subchapter "Limiter". (C 200) L Firmware 1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Brake control 12.2.12 Brake control The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. LS_Brake In the simplest case, an optionally available brake module is used. M Alternatively the holding brake can also be controlled and monitored via the digital inputs/outputs.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Brake control r Parameter setting: Tab Application parameter Dialog level Overview Brake control Parameters Lenze setting Value Unit C02580 Operating mode - brake C02581 Brake activation threshold C02582 Brake resp. to pulse inhibit C02583 Status input monitoring C02585 Brake control polarity C02586 Starting torque 1 0.00 Nm C02587 Starting torque 2 0.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Signal configuration of drive and motor interface 12.2.13 Signal configuration of drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured per parameter setting of the assigned multiplexer parameters.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Signal configuration of the output ports 12.2.14 Signal configuration of the output ports If required, the preset signal configuration of the output ports can be easily reconfigured per parameter setting of the assigned multiplexer parameters. "LPortAxisOut1" output port The output port LPortAxisOut1 is intended for the connection with a following axis.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Signal configuration of the output ports Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control. Signal (Lenze setting) Output port Signal configuration Status word 1 Drive ready Status word 1 bit 00 C03121/1 FALSE Status word 1 bit 01 C03121/2 Drive is ready to start Status word 1 bit 02 C03121/3 Error is active.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Application error messages 12.2.15 Application error messages For the output of application-specific error messages an FB instance ApplicationError of the function block L_DevApplErr is available in the network. r Via the 8 boolean inputs up to 8 different application error messages with parameterisable module ID, error ID and error response can be released by the application.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN) 12.2.16 Step by step: Electrical shaft via system bus (CAN) The following instructions describe step by step the proceeding for commissioning the electrical shaft via the system bus (CAN). Create project view 1. Start »Engineer«. 2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN) Parameterising slave(s) 1. Go to Project view and select the first slave controller . 2. Go to the Application parameter tab and select the entry "Virtual master in the list field Virtual master (C03052). 3. Make the same settings for all other slave controllers. Establish network 1. Go to Project view and select the system module 2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN) Connect ports in the machine application 1. Go to Project view and select the machine application automatically with the insertion of the network. which has been inserted 2. Go to the Connections tab and connect the output port LPortAxisOut1 of the master controller with the input port LPortAxisIn1 of all slave controllers.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN) 3. Go to Project view and select the first slave controller . 4. Go to the Application parameter and change to the dialog level Electronic gearbox Electronic gearbox Master value extrapolation. 5. Set the number of extrapolation cycles to the same value than the transmission time set before.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" 12.3 TA "Synchronism with mark synchronisation" The technology application "Synchronism with register formation and mark synchronisation" serves to implement a high-precision angular synchronism between the drives in the system.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" Functions r Virtual master with inching, handwheel and reduced speed. r Conditioning of the master value (master shaft) with master value scaling, register generation, stretch factor, reversal of rotation direction, and mark synchronisation via profile generator. r Virtual clutch with emergency stop and basic speed r Trimming function via profile generator.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Basic signal flow 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Assignment of the I/O terminals 12.3.2 Assignment of the I/O terminals 12.3.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "Synchronism".
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Assignment of the I/O terminals 12.3.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "Synchronism". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Machine parameters 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Machine parameters 12.3.3.1 Master axis (master shaft) For scaling and imaging the master value in the application, the machine parameters of the higher-level drive (master shaft) must be set. Note! When setting (scaling) the electrical shaft, ensure that the ratio and encoder constants are identical for all drives in the system.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Machine parameters O Tip! Setting the cycle (C03938) only is required if the selection "Modulo" is set as traversing range (C02528). For operation with a virtual master the following setting of the gearbox ratio is recommended to achieve a good resolution of the guiding angle/master value: • Numerator (C03930) = 100 • Denominator (C03931) = 1 12.3.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Machine parameters Example of determining the machine parameters for the slave axis 1. Set gearbox ratio for the motor in the form of a quotient (numerator and denominator): i2 = 12.612 = 12612/ 1000 – Numerator (C02520) = 12612 – Denominator (C02521) = 1000 i2 = 12.612 d2 = 200 mm 2.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Selection of master value source and output 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Selection of master value source and output 12.3.4.1 Master value source: Virtual master If the "Virtual master" is selected as master value source, the master value is created in the TA and transmitted via a bus system or the digital frequency output to the other slave drives.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Selection of master value source and output 12.3.4.2 Master value source: Digital frequency input To use the digital frequency input as master value source, the controller must be provided with digital frequency extension module (E94AYFLF).
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5 "Synchronism" mode" In the "Synchronism" (C03006 = "0") operating mode the drive follows the master value of the electrical shaft if the clutch is engaged.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" TP profile parameters r Parameter setting: Tab Application parameter Dialog level Overview TP profile parameter Parameters Lenze setting Value Unit C03620 Positioning mode 0 C03621 Deactivation mode 0 C03623/1 Positive speed 3600.0000 Unit/t C03623/2 Negative speed 3600.0000 Unit/t C03626/1 Acceleration ramp 1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.4 Master value trimming Real master/ Virtual master Dj C03006 = 0 v M t Dj Dj TP TP Slave v n Master value with clutch o Master value with trimming [12-30] "Master value trimming" function in the signal flow (schematic diagram) This function serves to adjust the master value.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.5 Setpoint conditioning Real master/ Virtual master Dj C03006 = 0 v t Dj Dj TP TP M Slave v n Master value with trimming o Actual value [12-31] "Setpoint conditioning" function in the signal flow (schematic diagram) This function is used for position ratio between the master shaft and the machine axis.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" 12.3.5.6 Mark synchronisation (setpoint) Real master/ Virtual master Dj C03006 = 0 v t Dj Dj TP TP M Slave v n Master value with trimming o Actual value [12-32] "Mark synchronisation" function in signal flow (schematic diagram) This function serves to carry out a mark synchronisation of the setpoint via touch probe sensor.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Synchronism" mode" TP profile parameters r Parameter setting: Tab Application parameter Dialog level Overview Synchronism TP profile parameter Parameters Lenze setting Value Unit C03855 Positioning mode 0 C03856 Deactivation mode 0 C03858/1 Positive speed 1000.0000 Unit/t C03858/2 Negative speed 1000.0000 Unit/t C03861/1 Acceleration ramp 1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Homing" mode 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Homing" mode Control inputs of the function Lenze setting Signal configuration Control input (Multiplexer parameters) FALSE Start homing C03160/2 DigIn 2 Home mark C03160/3 C03011 Set home position C03160/4 C03012 Home position C03163 FALSE Reset home position C03160/5 O Tip! Detailed information on homing can be found in chapter "Basic drive f
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Manual jog" mode 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Positioning" mode" 12.3.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | "Positioning" mode" Profile data record management For the profile data record management the FB L_PosProfileTable is used. This FB serves to file and manage up to four (travel) profiles and to "teach" target positions. r A profile describes a motion request which can be implemented by the SB LS_Positioner into a rotary motion.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Quick stop 12.3.9 Quick stop v M t t Slave LS_Quickstop n If the quick stop function is deactivated, the drive is led to the selected setpoint again via the set acceleration time.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Limiter 12.3.10 Limiter v M t t Slave LS_Quickstop n The basic function "Limiter" monitors the travel range limits via limit switches and parameterised software limit positions and can lead the drive to defined limit ranges when being asked accordingly by the safety module.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Limiter Control inputs of the function Lenze setting Signal configuration Control input (Multiplexer parameters) FALSE Positive limit switch C03150/1 FALSE Negative limit switch C03150/2 O Tip! Detailed information on the limiter function can be found in chapter "Basic drive functions" subchapter "Limiter". (C 200) 360 Firmware 1.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Brake control 12.3.11 Brake control The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. LS_Brake In the simplest case, an optionally available brake module is used. M Alternatively the holding brake can also be controlled and monitored via the digital inputs/outputs.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Brake control r Parameter setting: Tab Application parameter Dialog level Overview Brake control Parameters Lenze setting Value Unit C02580 Operating mode - brake C02581 Brake activation threshold C02582 Brake resp. to pulse inhibit C02583 Status input monitoring C02585 Brake control polarity C02586 Starting torque 1 0.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Signal configuration of drive and motor interface 12.3.12 Signal configuration of drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured per parameter setting of the assigned multiplexer parameters.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Signal configuration of the output ports 12.3.13 Signal configuration of the output ports If required, the preset signal configuration of the output ports can be easily reconfigured per parameter setting of the assigned multiplexer parameters. "LPortAxisOut1" output port The output port LPortAxisOut1 is intended for the connection with a following axis.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Signal configuration of the output ports Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control.
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9400 HighLine | Parameter setting & configuration TAs for interconnection via electrical shaft TA "Synchronism with mark synchronisation" | Application error messages 12.3.14 Application error messages For the output of application-specific error messages an FB instance ApplicationError of the function block L_DevApplErr is available in the network.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks 13 TAs for positioning tasks The technology applications described in this chapter are available for positioning tasks. Technology application/application ranges Required license/delivery TA "Multi-purpose positioning" (C 371) Note: In this TA the sequence control is carried out through the controller.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks Introduction 13.1 Introduction Positioning means to move a workpiece/tool or a piece of material from a starting position n to a defined targeto. For this purpose a travel profile is to be provided in the controller, for which at least the following profile parameters are required: v [m/s] A B C D t [s] Icon Profile parameters A Position Target position or path distance to be traversed.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks Introduction | Application examples 13.1.1 Application examples Multi-purpose positioning Master control Sequence control for machine (PLC) PROFIBUS Drive 1 Drive 2 Multi-purpose positioning for single drives Multi-purpose positioning for single drives Table positioning Table positioning Firmware Firmware Motion Control Basic drive functions: • Positioning • Homing • Manual jog • etc.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks Introduction | Application examples Table positioning with higher-level positioning control Master control Sequence control for machine (PLC) Positioning control PROFIBUS Drive 1 Drive 2 Table positioning Table positioning Firmware Firmware Motion Control Basic drive functions: • Positioning • Homing • Manual jog • etc. Motion Control Basic drive functions: • Positioning • Homing • Manual jog • etc.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" 13.2 TA "Multi-purpose positioning" The technology application "Multi-purpose positioning" enables the drive to execute parameterisable travel profiles. The program sequence is defined by a sequence table. Functions r Sequence control for several successive positioning steps with a break and stop functions and different auxiliary functions (e. g. deriving, counting, waiting).
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Basic signal flow 13.2.1 Basic signal flow The functional core of the multi-purpose positioning is formed by the sequence table and the profile data management, which transmit the required control signals and profile data to the basic drive function "Positioning".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Assignment of the I/O terminals 13.2.2 Assignment of the I/O terminals 13.2.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "Multi-purpose positioning".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Assignment of the I/O terminals 13.2.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "Multi-purpose positioning". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Basic settings 13.2.3 Basic settings 13.2.3.1 Machine parameters The machine parameters describe e.g. the motor end of the mechanics used. M The setting of the machine parameters in the »Engineer» is carried out on the Application parameters tab in the dialog level Overview Machine parameters.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Basic settings 13.2.3.2 Traversing range By setting the traversing range the machine type/measuring system is set: Traversing range Unlimited The drive can traverse optionally in both directions without reaching limitations. • Positionings here generally are effected in the positioning modes "Relative with/without TP" or "Speed with/ without TP".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Basic settings 13.2.3.3 Position control The dialog level Overview S_Positioner and the subordinated and dialog levels serve to adapt the parameters relevant for the position control, if required. Parameters Lenze setting Value Unit L C00254 Phase controller gain 20.00 1/s C02553 Position controller gain 20.00 1/s C02556 Pos. contr. limitation Firmware 1.37 - 09/2006 214748.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4 Program flow The program flow of the multi-purpose positioning is selected according to a sequence table which can contain up to 100 references to "actions".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.1 Overview of action types Action type Function/parameter Homing In order to execute a homing process, the action type "Homing" is available which activates the basic function "Homing". Note: The "Homing" action does not have its own parameters. The settings for homing are made via the parameters of the basic function "Homing".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow Action type Function/parameter Variable branching 1 2 n For variable branches (jumps) 5 actions of type "Variable branching" are available. • The branch to one of 20 possible steps is executed depending on the value in C03001 ... C03005 at the time or processing. • The parameters C03001 ...
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow Action type Function/parameter Count 3 12 4 25 actions of type "Count" are available for counting processes. • With each action processing the counter content of the counter selected is increased or reduced by the specified step value depending on the setting (count upwards or downwards).
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.2 Action type "Homing" In order to execute a homing process, the action type "Homing" is available for the sequence table which activates the basic function "Homing".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow Control inputs of the function Lenze setting Signal configuration Control input (Multiplexer parameters) Sequencer Request homing Enable Homing Sequencer Start homing Activate Homing C03160/1 C03160/2 DigIn 2 Home mark C03160/3 FALSE Set home position C03160/4 FALSE Reset home position C03160/5 Zero position Home position C03163 O Tip! Detailed information on
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.4 Action type "Variable branching" For variable branches (jumps) 5 actions of type "Variable branching" are available for the sequence table. 1 Branch 1 value 2 C03001 n <1 >20 1 Following step [13.1] r The branch to one of 20 possible steps is executed in the Lenze setting depending on the value in C03001 ... C03005 at the time or processing.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow Example The following example illustrates the function of the variable branch based on a program flow which contains, among other things, two actions of the "Variable branching" type.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow r The following table lists the corresponding module outputs of the FB interconnection and the corresponding selection numbers for the multiplexer parameters: Module output SequencerOutput.bBit0 Signal type Selection no. Selection text { 551 Sequencer output 1 SequencerOutput.bBit1 552 Sequencer output 2 SequencerOutput.bBit2 553 Sequencer output 3 ... ... ...
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Program flow 13.2.4.8 Control of the sequence table A LOW/HIGH edge at the digital input DI6 starts the parameterised program flow if the controller is enabled and no error is pending. r The first step set in C03000 of the sequence table is executed. r By setting the digital input DI7 to HIGH level, the program flow can be stopped, if required (break).
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management 13.2.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management Icon Profile parameters (Standard) profile Profile data set (profile no. 1 ... 100) in which the profile data are stored. Mode Selection of the positioning mode. A Positioning modes (C 395) Position Target position or path distance to be traversed. The position is either indicated as absolute or relative position.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management Icon Profile parameters S-ramp time When the S-ramp time is selected for a profile, it is executed with S-shaped ramps, e.g. acceleration and deceleration processes are started smoothly to reduce the jerk and thus prevent the drive components from damage. • The acceleration/deceleration specified in the profile are only reached after the defined S-ramp time has elapsed.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management 13.2.5.2 Variable tables To simplify parameter handling, the four most important physical sizes for profile parameters are stored in separate "variable tables".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management r If e.g. in case of a profile chaining, several profiles are to be executed with the same speed, the corresponding profile parameters "speed" can all refer to the same table position. r For an easier assignment and identification of the entered values, each table position can be optionally provided with a comment in the »Engineer«. 394 Firmware 1.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management 13.2.5.3 Positioning modes According to the traversing range/application, different position modes are available for a positioning function which are described in the following table. Note! For absolute positioning the home position must be known! If an absolute positioning (positioning modes 1 ... 2 and 11 ...
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management Positioning mode 13 Absolute CCW The axis travels in CCW direction to an absolute position. • Only possible with "modulo" traversing range • Reference for the absolute position is zero position. • In this direction the zero position of the axis can be overtravelled. 14 Absolute CCW TP Like mode 13, but with profile change when a touch probe is detected.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management 13.2.5.4 Touch probe positioning In the touch probe positioning mode, the profile is first executed according to the Profile parameters set. If a touch probe is detected during the process, it is automatically changed to the profile specified in the profile parameter "Sequence profile with TP".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Profile data management 13.2.5.5 "Teach" function The "Teach" function of the profile data management enables the teaching of positions, speeds, accelerations and S-ramp times. The basic function "Manual jog" serves, for instance to approach the desired position manually and transmits it via "Teaching" to the variable table for positions.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Speed/acceleration override 13.2.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Following error monitoring 13.2.7 Following error monitoring In the Lenze setting a two-stage following error monitoring is active. j n Switching threshold o Hysteresis If the parameterisable switching threshold 1 is exceeded, a warning appears. If the higher-set switching threshold 2 is exceeded, a "warning locked" appears.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Manual jog 13.2.8 Manual jog For the setting-up operation and "Teaching" of positions the basic function "Manual jog" is available. Basic drive functions LS_Homing LS_Stop n LS_Brake internal status machine Manual jog is controlled via parameters (e. g. via HMI).
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Quick stop 13.2.9 Quick stop The basic function "Quick stop" brakes the drive to standstill within the deceleration time set for the quick stop function after a corresponding request independent of the setpoint selection. The sequence control is interrupted.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Limiter 13.2.10 Limiter Status machine (basic drive functions) The basic function "Limiter" monitors the travel range limits via limit switches and parameterisable software limit positions and after an according request from the safety module can lead the drive into defined limit ranges. Furthermore higherlevel limit values for travel profiles can be entered and activated.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Limiter Parameters Lenze setting Value Unit For manual jog only C02713 Max. path -manual jog 360.0000 Unit Limited speed 1 ... 4 (only for homing, positioning, and manual jog) C02708/1 Limited speed 1 C02710/1 Delay lim. speed 1 C02711/1 S-ramp time lim. speed 1 C02708/2 Limited speed 2 C02710/2 Delay lim. speed 2 3600.0000 Unit/s 100 ms 7200.0000 Unit/s C02711/2 S-ramp time lim.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Brake control 13.2.11 Brake control The basic function "Brake control" serves to the wear free control and monitoring of a holding brake. LS_Brake In the simplest case, an optionally available brake module is used. Status machine (basic drive functions) Alternatively the holding brake can also be controlled and monitored via the digital inputs/outputs.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Brake control r Parameter setting: Tab Application parameter Dialog level Overview Brake control Parameters Lenze setting Value Unit C02580 Operating mode - brake C02581 Brake activation threshold C02582 Brake resp. to pulse inhibit C02583 Status input monitoring C02585 Brake control polarity C02586 Starting torque 1 0.00 Nm C02587 Starting torque 2 0.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Signal configuration of drive and motor interface 13.2.12 Signal configuration of drive and motor interface If required, the preset signal configuration of the control and setpoint inputs of the drive and motor interface can be easily reconfigured per parameter setting of the assigned multiplexer parameters.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Signal configuration of the output ports 13.2.13 Signal configuration of the output ports If required, the preset signal configuration of the output ports can be easily reconfigured per parameter setting of the assigned multiplexer parameters. "LPortAxisOut1" output port The output port LPortAxisOut1 is intended for the connection with a following axis.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Signal configuration of the output ports Output port "LPortStatus1" The output port LPortStatus1 is intended for the connection with a higher-level control. Signal (Lenze setting) Output port Signal configuration Status word 1 Drive ready Status word 1 bit 00 C03121/1 FALSE Status word 1 bit 01 C03121/2 Operation enabled Status word 1 bit 02 C03121/3 Error is active.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Multi-purpose positioning" | Application error messages 13.2.14 Application error messages For the output of application-specific error messages, the FB instances ApplicationError1 and ApplicationError2 of the function block L_DevApplErr are available in the network.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Table positioning" 13.3 TA "Table positioning" The technology application "table positioning" enables the drive to execute parameterisable travel profiles. The sequence is controlled by a superimposed control (e.g. PLC).
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Table positioning" | Basic signal flow 13.3.1 Basic signal flow The functional core of the table positioning is the profile data management which transmits the required profile data to the basic drive function "Positioning". The true sequence control is carried out by a master control (e.g. PLC) which communicates with the application via predefined ports.
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Table positioning" | Assignment of the I/O terminals 13.3.2 Assignment of the I/O terminals 13.3.2.1 Setpoint and control signals The following tables contain the Lenze assignment of the analog and digital inputs for the technology application "Table positioning".
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9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Table positioning" | Assignment of the I/O terminals 13.3.2.2 Actual value and status signals The following tables contain the Lenze assignment of the analog and digital outputs for the technology application "Table positioning". r The default signal configuration if required can be easily changed by parameterising the multiplexer parameters assigned.
PAGE 415
9400 HighLine | Parameter setting & configuration TAs for positioning tasks TA "Table positioning" | Control of the program flow via predefined ports 13.3.3 Control of the program flow via predefined ports For a sequence control by a higher-level control (e.g. PLC) the application is provided with predefined ports the signals of which are linked with the setpoint and control inputs of the application via multiplexer parameters.
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9400 HighLine | Parameter setting & configuration Oscilloscope Technical data 14 Oscilloscope The integrated oscilloscope function of the 9400 High Line controller can be used as support for commissioning, maintenance and troubleshooting. Typical applications r Graphical representation of any measured values (e.g. speed setpoint, actual speed and torque) r Detection of process values without additional measuring instruments (e.g.
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9400 HighLine | Parameter setting & configuration Oscilloscope Function description 14.2 Function description With an online connection to the controller, use the oscilloscope user interface of the »Engineer« to set the trigger condition and the sample rate and select the variables to be recorded. When the measurement is started, the set parameters are transferred to the controller and checked. If invalid settings are found, the oscilloscope sends an error. Otherwise, the measurement is started.
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9400 HighLine | Parameter setting & configuration Oscilloscope User interface 14.3 User interface M How to go to the oscilloscope user interface: 1. Go to Project view and select the 9400 HighLine controller. 2. Select the Oscilloscope tab from the Workspace.
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9400 HighLine | Parameter setting & configuration Oscilloscope User interface 14.3.2 Oscilloscope function bar Icon Function Activate zoom function Adjusting the representation (C 424) Activate automatic scaling function Adjusting the representation (C 424) Delete offline data record 14.3.3 Oscillograph The oscillograph is used to visualise data records. r Use the zoom and the automatic scaling function to adjust the representation.
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9400 HighLine | Parameter setting & configuration Oscilloscope User interface 14.3.6 Trigger/cursor settings Trigger Use the Trigger tab to configure the trigger condition. Selecting the trigger condition (C 422) Cursor If the Cursor tab is on top, you can use a vertical measuring line to read individual measured values of a selectable channel in the oscilloscope. Using a second vertical measuring line, it is possible to indicate the difference between two measured values.
PAGE 421
9400 HighLine | Parameter setting & configuration Oscilloscope Operation 14.4 Operation This chapter describes step-by-step how to record the signal characteristics of controller variables and represent, analyse, document and process them in the oscilloscope. Note! In the oscilloscope, settings can only be selected and recording can only be started, when the controller is connected online. 14.4.1 Selecting the variables to be recorded The oscilloscope supports up to eight channels, i.e. max.
PAGE 422
9400 HighLine | Parameter setting & configuration Oscilloscope Operation M How to delete a selection: 1. Go to the Vertical group box and double-click the variable to be removed in the Variable column. 2. Click Delete channel in the Select variable dialog box. • The dialog box is closed and the selection is deleted. 14.4.2 Selecting the recording time/sample rate M How to select the recording time and the sample rate: 1.
PAGE 423
9400 HighLine | Parameter setting & configuration Oscilloscope Operation Setting Delay Function Delay between recording and trigger event. Pre-trigger Select a negative delay time to detect signals prior to the trigger event. Trigger event Trigger level Trigger delay (negative) • In the oscillograph, the trigger time is designated by a dotted line. • With triggering on occurrence of an event, it is thus possible to detect the values that have caused the event.
PAGE 424
9400 HighLine | Parameter setting & configuration Oscilloscope Operation 14.4.4 Starting recording M Click Start to start recording. For obtaining a maximum sample rate when recording the variable values, the data is first stored in the measured data memory of the controller and then transferred as a data record to the PC. r The current recording status is displayed in the status bar. 14.4.
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9400 HighLine | Parameter setting & configuration Oscilloscope Operation Zoom function Procedure Vertical stretching Hold down the left mouse button and move the mouse pointer on the vertical scale to the bottom to stretch the shown selection from the top. • Moving the mouse pointer in opposite direction continuously reduces the stretching. Hold down the right mouse button and move the mouse pointer on the vertical scale to the top to stretch the shown selection from the bottom.
PAGE 426
9400 HighLine | Parameter setting & configuration Oscilloscope Operation 14.4.6 Reading individual measured values In addition to the zoom and the scaling function, the oscilloscope offers a "cursor function" that can be used to display individual measured values of a selectable channel or the difference between two measured values. r If the Cursor tab is on top, the cursor function is active and two movable vertical measuring lines are shown in the oscillograph. M How to use the cursor function: 1.
PAGE 427
9400 HighLine | Parameter setting & configuration Oscilloscope Data records 14.5 Data records If several data records are loaded in the oscilloscope at the same time, the data record to be displayed is selected via the list field Data record. There are three types of data records: Online data record The online data record is the only data record serving to establish a connection to the target system.
PAGE 428
9400 HighLine | Parameter setting & configuration Oscilloscope Data records M How to export the data record to a file: 1. Go to Oscilloscope toolbar and click . • The Save data record dialog box appears. 2. Enter a name in the Name of the data record to be stored input field. 3. Click the Export to file button. 4. Specify the data record to be stored and the filing folder in the Save as dialog box. 5. Click Save. • The dialog box is closed and the current data record is saved. 14.5.
PAGE 429
9400 HighLine | Parameter setting & configuration Oscilloscope Data records 14.5.3 Deleting data record in the project M How to delete a data record to be saved in the project: 1. Go to Oscilloscope toolbar and click . • The Load data record dialog box appears. 2. Click the data record to be deleted with the right mouse key in the Data record list field to open the Context menu for the data record. 3. Select the Delete data record in the Context menu. 4. Click Abort to close the dialog box again. 14.5.
PAGE 430
9400 HighLine | Parameter setting & configuration Oscilloscope Data records 14.5.5 Copying data record to clipboard For documentation purposes, it is possible to copy the measured data of a data record as a table or, alternatively, the oscilloscope user interface as a picture, to the clipboard for use in other programs. M How to copy measured data or a picture of the user interface to the clipboard: 1. Go to Oscilloscope toolbar and click . • The Clipboard dialog box appears. 2.
PAGE 431
9400 HighLine | Parameter setting & configuration Oscilloscope Variables of the motor control (oscilloscope signals) 14.6 Variables of the motor control (oscilloscope signals) The internal variables of the motor control listed in the following table can be recorded with the oscilloscope for diagnostic and documentation purposes. O Tip! The exact position of a variable in the motor control can be obtained from the corresponding signal flow. No.
PAGE 432
9400 HighLine | Parameter setting & configuration Oscilloscope Variables of the motor control (oscilloscope signals) No. Variable or the motor control Meaning Signal flow - speed follower Speed.dnActualMotorSpeed Current motor speed Speed.dnSpeedSetpoint Speed setpoint Speed.dnTotalSpeedAdd Additive speed setpoint Torque.dnTorqueSetpoint Torque setpoint Torque.dnTotalTorqueAdd Additive torque precontrol value Signal flow - torque follower 432 Speed.
PAGE 433
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Drive diagnostics with the »Engineer« 15 Diagnostics & error analysis 15.1 Drive diagnostics with the »Engineer« With an online connection to the controller, you can use the »Engineer« to carry out a diagnostics for the connected controller and get a clear visualisation of important controller states: r Use the Reset error button to acknowledge an existing error message if the cause of the error has been eliminated.
PAGE 434
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Drive diagnostics via keypad/bus system 15.2 Drive diagnostics via keypad/bus system Keypad display of the controller state r When the keypad at the front of the controller is connected to the diagnostic interface X6, the status of the controller is displayed via different symbols on the LDC display in the area n. Icon Meaning Note b Controller is ready for operation. f Controller is enabled.
PAGE 435
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Drive diagnostics via keypad/bus system Parameters Display C00054 Motor current C00057/1 Maximum torque C00057/2 Torque at maximum current C00059 Motor - number of pole pairs C00060 Rotor position C00061 Heatsink temperature C00062 Temperature inside the controller C00063 Motor temperature C00064 Controller load (I x t) during the last 180 seconds C00065 External.
PAGE 436
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Logbook 15.3 Logbook The integrated logbook function of the controller chronologically logs important events within the system and plays an important role for troubleshooting and controller diagnostics.
PAGE 437
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Logbook 15.3.1 Function description The structure of the logbook corresponds to a ring buffer structure: r As long as free logbook memory capacity is available, the entries will be saved at the next free memory location. 0 n-1 n r If all memory locations are occupied, the oldest entries will be deleted to save new entries. n-2 Current event [15-1] Ring buffer structure 15.3.
PAGE 438
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Logbook 15.3.3 Reading logbook entries With an online connection, the existing logbook entries can simply be displayed in the »Engineer«. Alternatively, the logbook entries can also be read via the corresponding parameters (e.g. using the keypad). M How to display logbook entries in the »Engineer«: 1. Go to the Project view and select the 9400 HighLine controller whose logbook entries are to be read. 2.
PAGE 439
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Monitoring 15.4 Monitoring The controller includes different monitoring functions that protect the drive against impermissible operating conditions. r If a monitoring function responds, – an entry will be made into the Logbook of the controller, – the response (quick stop by trouble, warning, fault, etc.
PAGE 440
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Monitoring O Tip! When the response can be set for a monitoring function, the parameter for the setting and the preset response is listed in the description of the corresponding error message.
PAGE 441
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Monitoring Warning thresholds Some of the monitoring functions are activated if a defined warning threshold (e.g. temperature) have been exceeded.
PAGE 442
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Maloperation of the drive 15.5 Maloperation of the drive The motor does not rotate. Cause Remedy DC-bus voltage is too low. Check mains voltage. Controller is inhibited. Deactivate controller inhibit (can be set by several sources). Holding brake is not released Release holding brake. Quick stop is active Deactivate quick stop. Setpoint = 0 Select setpoint.
PAGE 443
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6 Error messages of the operating system This chapter describes all error messages of the controller operating system and possible causes & remedies. O Tip! All error messages are saved in chronological order in the logbook. For detailed information about the logbook, please see the chapter "Diagnostics & error analysis". Logbook (C 436) 15.6.
PAGE 444
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6.1.
PAGE 445
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6.1.3 Bit 28 Bit 27 Bit 26 Meaning 1 1 0 Instance-ID 6 1 1 1 Instance-ID 7 Module ID Bit 31 29 28 26 25 16 15 0 Use the module-ID to identify the module in which the error has occurred. r The following table lists the module-ID in hexadecimal format: Module-ID 15.6.1.
PAGE 446
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6.1.5 Example for bit coding of the error number C00168 displays the error number "1148911631".
PAGE 447
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6.2 Reset of error message An error message with the response "Fault", "Trouble", "Quick stop by trouble" or "Warning locked" must be explicitly reset (acknowledged) after the cause of the error has been eliminated. M To reset (acknowledge) a pending error message execute the device command C00002 = "43".
PAGE 448
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system 15.6.3 Error list The following sections describe all error messages of the controller operating system. r The error messages are described in ascending order of the hexadecimal number resulting from the Module-ID and the Error-ID . 2 Bit 31 0x 29 28 26 25 0 0...3 3 16 15 0...F 0...F 0...F 0 0...F 0...F 0...
PAGE 449
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Logbook: overflow [0x00650000] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy Too many events/errors have occurred in a very short time. It was therefore not possible to list all of them in the logbook. Check if application generates too many error messages.
PAGE 450
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Memory module is defective or missing [0x00680002] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Operating system could not identify the memory module.
PAGE 451
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Safety module has been removed [0x00680007] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy You have tried to remove or change the safety module during operation. Switch off the controller, plug in safety module and switch on the controller again.
PAGE 452
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Safety module is defective or missing [0x0068000d] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Operating system could not identify the safety module. • Use a different safety module. • Please contact Lenze.
PAGE 453
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Wrong safety module [0x00680013] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The safety module is not supported by the operating system. • Use a different module. • Please contact Lenze.
PAGE 454
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Combination MXI1/MXI2 not possible [0x00680019] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The combinations of the extension modules plugged into the module receptacles MXI1 & MXI2 is not supported. Create permitted module combination.
PAGE 455
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Combination memory module/device not possible [0x0068001f] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The memory module used is not supported by the controller according to the license model. Plug in supported module and switch the mains.
PAGE 456
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Internal error (LDS tasks) [0x00690003] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Serious device error or component failure. Switch off and on controller. • Please contact Lenze, if the problem occurs again.
PAGE 457
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Internal error (event mechanism) [0x00690009] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Serious device error or component failure. Switch off and on controller. • Please contact Lenze, if the problem occurs again.
PAGE 458
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Program download is faulty [0x006a0001] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Cause Warning locked Warning Information Remedy Transmission of the application to the controller is faulty Repeat transmission. (checksum error).
PAGE 459
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system User task 4: Overflow [0x006a0007] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Program runtime in user task 4 is too high. See remedy for "Overflow of user task 1".
PAGE 460
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Application has been stopped [0x006a000e] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy The application has been stopped using the device command C00002="32". All user tasks are stopped. Restart application with controller command C00002="31".
PAGE 461
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Application has been stopped [0x006a0014] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy The application in the controller has been stopped.
PAGE 462
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Read error - service register [0x00720000] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Cause Warning locked Warning Information Remedy An error has occurred while reading or writing the service Mains switching register. • Please contact Lenze, if the problem occurs again.
PAGE 463
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system PLC configuration is invalid [0x00750006] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Cause Remedy An invalid control configuration has occurred. Load other application.
PAGE 464
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system DC-bus capacitor: Temperature > CXXXXX [0x00770004] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information Cause Remedy Electrolytic capacitor temperature higher than warning threshold. • Check control cabinet temperature. • Clean filter. • Clean controller.
PAGE 465
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CPU: Overtemperature [0x00770009] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy CPU temperature higher than fixed limit temperature (85 °C). • Controller ambient temperature too high. • Dirty fan or ventilation slots. • Check control cabinet temperature. • Clean filter.
PAGE 466
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CPU: Temperature sensor defective [0x0077000e] Response (Lenze setting printed in bold) ; None System fault : Fault Trouble Setting: C00588 Quick stop by trouble Cause (; Adjustable response) Warning locked ; Warning Information Remedy Encoder for CPU temperature supplies undefined values. Check control cabinet temperature, maybe it is too low.
PAGE 467
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Motor load I²xt > C00127 [0x00780002] Response (Lenze setting printed in bold) ; None System fault ; Fault Trouble Setting: C00606 Quick stop by trouble (; Adjustable response) Warning locked : Warning Information Cause Remedy Motor is thermally overloaded, e.g. due to: • impermissible continuous current • frequent or too long acceleration • Check drive dimensioning.
PAGE 468
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Control card is defective (UB18 neg.) [0x00780008] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Cause Remedy Device error Please contact Lenze.
PAGE 469
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Motor: Calculated mutual inductance unrealistic [0x007b0002] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy Faulty motor parameterisation. Check motor parameters.
PAGE 470
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Motor: Calculated electromotive force factor unrealistic [0x007b000b] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy Faulty motor parameterisation. Check motor parameters.
PAGE 471
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Earth fault detected [0x007b0011] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy • Earth fault in motor cable. • Excessive capacitive charging current in the motor cable. • Check motor cable. • Use motor cable which is shorter or has a lower capacitance.
PAGE 472
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Motor: Calculated leakage inductance unrealistic [0x007b0019] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy Faulty motor parameterisation. Check motor parameters.
PAGE 473
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Resolver: Calculated acceleration unrealistic [0x007b001f] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Cause Remedy Resolver evaluation faulty (implausible acceleration at the resolver). Check set-up.
PAGE 474
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system EnDat encoder: Lamp error [0x007b0026] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy EnDat encoder defective. Check EnDat encoder.
PAGE 475
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Failure of motor phase U [0x007b002d] Response (Lenze setting printed in bold) : None Setting: C00597 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information Cause Remedy U phase interruption of motor cable. • Check cabling between controller and motor. • Check parameter setting (C00599).
PAGE 476
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Electronic nameplate: Unknown encoder signal [0x007b0033] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Cause Warning locked Warning : Information Remedy The connected motor with feedback is not supported by Check drive dimensioning. the controller firmware.
PAGE 477
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Memory module: File system has been formatted [0x007c0000] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy File system of the memory module has been formatted.
PAGE 478
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Invalid node address 0 [0x00830001] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information Cause Remedy CAN on board: Initialisation error • The node address has been selected via DIP switch by means of hardware and the DIP switches of the node address are set to zero.
PAGE 479
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Heartbeat error index 4 [0x00840003] Response (Lenze setting printed in bold) : None Setting: C00613/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: No heartbeat telegram received from node 4. See remedy for "Heartbeat error index 1".
PAGE 480
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Heartbeat error index 10 [0x00840009] Response (Lenze setting printed in bold) : None Setting: C00613/10 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: No heartbeat telegram received from node 10. See remedy for "Heartbeat error index 1".
PAGE 481
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Heartbeat error index 16 [0x0084000f] Response (Lenze setting printed in bold) : None Setting: C00613/16 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: No heartbeat telegram received from node 16. See remedy for "Heartbeat error index 1".
PAGE 482
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Heartbeat error index 22 [0x00840015] Response (Lenze setting printed in bold) : None Setting: C00613/22 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: No heartbeat telegram received from node 22. See remedy for "Heartbeat error index 1".
PAGE 483
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Heartbeat error index 28 [0x0084001b] Response (Lenze setting printed in bold) : None Setting: C00613/28 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: No heartbeat telegram received from node 28. See remedy for "Heartbeat error index 1".
PAGE 484
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Faulty NMT slave configuration [0x00840021] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CAN on board: A configuration error has occurred in the network management of the CAN slave.
PAGE 485
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Node guarding error 4 [0x00860003] Response (Lenze setting printed in bold) : None Setting: C00612/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN master has not received a response to a node guarding telegram from node 4. See remedy for "Node guarding error 1".
PAGE 486
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Node guarding error 10 [0x00860009] Response (Lenze setting printed in bold) : None Setting: C00612/10 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN master has not received a response to a node guarding telegram from node 10. See remedy for "Node guarding error 1".
PAGE 487
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Node guarding error 16 [0x0086000f] Response (Lenze setting printed in bold) : None Setting: C00612/16 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN master has not received a response to a node guarding telegram from node 16. See remedy for "Node guarding error 1".
PAGE 488
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Node guarding error 22 [0x00860015] Response (Lenze setting printed in bold) : None Setting: C00612/22 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN master has not received a response to a node guarding telegram from node 22. See remedy for "Node guarding error 1".
PAGE 489
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board: Node guarding error 28 [0x0086001b] Response (Lenze setting printed in bold) : None Setting: C00612/28 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN master has not received a response to a node guarding telegram from node 28. See remedy for "Node guarding error 1".
PAGE 490
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board RPDO1: Telegram not received or faulty [0x00870000] Response (Lenze setting printed in bold) : None Setting: C00591/1 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CAN on board: CAN-IN 1 error • Incorrect PDO telegram length. • Transmission error. • PDO time monitoring has released.
PAGE 491
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN on board SDO server: Faulty configuration [0x00880000] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CAN on board: A configuration error has occurred in the CAN SDO server. • Faulty project download.
PAGE 492
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system ProjectList.dat file missing [0x008c0004] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Internal error Reformat memory module (C00002="1030") and repeat project download. DeviceCFG.
PAGE 493
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Project is not available [0x008c000a] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Application not available. • Download application with the Engineer • Switch off controller and use a different memory module with an existing application.
PAGE 494
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system MXI1: Ethernet module missing or incompatible [0x008c0011] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Cause Warning locked Warning Information Remedy The communication module E94AYCEN (Ethernet) in the Use communication module supported by the module receptacle MXI1 is incompatible with the application. application.
PAGE 495
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system MXI1: CAN module missing or incompatible [0x008c0017] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The CANopen communication module in module receptacle MXI1 is incompatible with the application. Use communication module supported by the application.
PAGE 496
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Parameter set saved [0x00900002] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information Cause Remedy Parameter set has been saved.
PAGE 497
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Code number assigned twice [0x00900008] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Cause Warning Information Remedy Code number of the operating system has been assigned Remove error in the application and retransmit the to the application. application to the controller.
PAGE 498
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system No heartbeat signal detected [0x00910002] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Internal error If the error occurs frequently, please contact Lenze.
PAGE 499
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system System task 1: Task overflow [0x0091000a] Response (Lenze setting printed in bold) None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Cause Remedy System overload. Please contact Lenze.
PAGE 500
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Position value faulty [0x00910010] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy Internal error If the error occurs frequently, please contact Lenze.
PAGE 501
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system DFIN (MXI1): Z-/Z track error [0x00990002] Response (Lenze setting printed in bold) ; None Setting: C13040 (; Adjustable response) System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy Digital frequency extension module in MXI1: Interruption (open circuit) of the signal cable for track Z. • Check signal cable for track Z.
PAGE 502
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Invalid node address 0 [0x009d0001] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information Cause Remedy CANopen communication module in MXI1: Initialisation error • The node address has been selected via DIP switch by means of hardware and the DIP switches of the node address are set to
PAGE 503
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Heartbeat error index 4 [0x009e0003] Response (Lenze setting printed in bold) : None Setting: C13613/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 4.
PAGE 504
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Heartbeat error index 10 [0x009e0009] Response (Lenze setting printed in bold) : None Setting: C13613/10 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 10.
PAGE 505
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Heartbeat error index 16 [0x009e000f] Response (Lenze setting printed in bold) : None Setting: C13613/16 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 16.
PAGE 506
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Heartbeat error index 22 [0x009e0015] Response (Lenze setting printed in bold) : None Setting: C13613/22 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 22.
PAGE 507
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Heartbeat error index 28 [0x009e001b] Response (Lenze setting printed in bold) : None Setting: C13613/28 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 28.
PAGE 508
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Faulty NMT slave configuration [0x009e0021] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: A configuration error has occurred in the network management of the CAN slave.
PAGE 509
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Node guarding error 3 [0x00a00002] Response (Lenze setting printed in bold) : None Setting: C13612/3 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
PAGE 510
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Node guarding error 9 [0x00a00008] Response (Lenze setting printed in bold) : None Setting: C13612/9 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
PAGE 511
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Node guarding error 15 [0x00a0000e] Response (Lenze setting printed in bold) : None Setting: C13612/15 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
PAGE 512
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Node guarding error 21 [0x00a00014] Response (Lenze setting printed in bold) : None Setting: C13612/21 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
PAGE 513
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Node guarding error 27 [0x00a0001a] Response (Lenze setting printed in bold) : None Setting: C13612/27 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
PAGE 514
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1): Faulty NMT master configuration [0x00a00020] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: A configuration error has occurred in the network management of the CAN master. • Faulty download of an Engineer or PLC Designer project.
PAGE 515
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1) RPDO4: Telegram not received of faulty [0x00a10003] Response (Lenze setting printed in bold) : None Setting: C13591/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI1: CAN-IN 4 error • Incorrect PDO telegram length. • Transmission error.
PAGE 516
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI1: CAN-PDO configuration error • Faulty project download. • Invalid CAN settings according to DS301V402 in the Engineer or PLC Designer.
PAGE 517
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system DFIN (MXI2): Z-/Z track error [0x00aa0002] Response (Lenze setting printed in bold) ; None Setting: C14040 (; Adjustable response) System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy Digital frequency extension module in MXI2: Interruption (open circuit) of the signal cable for track Z. • Check signal cable for track Z.
PAGE 518
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Invalid node address 0 [0x00ac0001] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information Cause Remedy CANopen communication module in MXI2: Initialisation error • The node address has been selected via DIP switch by means of hardware and the DIP switches of the node address are set to
PAGE 519
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Heartbeat error index 4 [0x00ad0003] Response (Lenze setting printed in bold) : None Setting: C14613/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 4.
PAGE 520
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Heartbeat error index 10 [0x00ad0009] Response (Lenze setting printed in bold) : None Setting: C14613/10 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 10.
PAGE 521
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Heartbeat error index 16 [0x00ad000f] Response (Lenze setting printed in bold) : None Setting: C14613/16 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 16.
PAGE 522
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Heartbeat error index 22 [0x00ad0015] Response (Lenze setting printed in bold) : None Setting: C14613/22 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 22.
PAGE 523
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Heartbeat error index 28 [0x00ad001b] Response (Lenze setting printed in bold) : None Setting: C14613/28 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1". telegram received from node 28.
PAGE 524
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI2: A configuration error has occurred in the network management of the CAN slave.
PAGE 525
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Node guarding error 3 [0x00af0002] Response (Lenze setting printed in bold) : None Setting: C14612/3 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
PAGE 526
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Node guarding error 9 [0x00af0008] Response (Lenze setting printed in bold) : None Setting: C14612/9 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
PAGE 527
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Node guarding error 15 [0x00af000e] Response (Lenze setting printed in bold) : None Setting: C14612/15 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
PAGE 528
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Node guarding error 21 [0x00af0014] Response (Lenze setting printed in bold) : None Setting: C14612/21 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
PAGE 529
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Node guarding error 27 [0x00af001a] Response (Lenze setting printed in bold) : None Setting: C14612/27 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
PAGE 530
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2): Faulty NMT master configuration [0x00af0020] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI2: A configuration error has occurred in the network management of the CAN master. • Faulty download of an Engineer or PLC Designer project.
PAGE 531
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2) RPDO4: Telegram not received or faulty [0x00b00003] Response (Lenze setting printed in bold) : None Setting: C14591/4 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy CANopen communication module in MXI2: CAN-IN 4 error • Incorrect PDO telegram length. • Transmission error.
PAGE 532
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008] Response (Lenze setting printed in bold) None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information Cause Remedy CANopen communication module in MXI2: CAN-PDO configuration error • Faulty project download. • Invalid CAN settings according to DS301V402 in the Engineer or PLC Designer.
PAGE 533
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Negative limit switch has tripped [0x00b80002] Response (Lenze setting printed in bold) None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information Cause Remedy The travel range limit switch in negative traversing direction has tripped. Reset error message and retract limit switch.
PAGE 534
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Positive software limit switch has been overtravelled [0x00b80007] Response (Lenze setting printed in bold) ; None Setting: C02716/2 (; Adjustable response) System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy The positive software limit position parameterised in C02702/2 has been overtravelled.
PAGE 535
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Acceleration has been limited [0x00b8000c] Response (Lenze setting printed in bold) : None Setting: C02716/3 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy The requested profile acceleration is higher than the maximum acceleration set in C02705 and has been limited to this acceleration.
PAGE 536
9400 HighLine | Parameter setting & configuration Diagnostics & error analysis Error messages of the operating system Maximum speed has been exceeded [0x00b80010] Response (Lenze setting printed in bold) : None Setting: C02716/3 (; Adjustable response) System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information Cause Remedy The max. speed parameterised in C02703 has been exceeded. • Reduce speed. • Increase maximum speed (C02703).
PAGE 537
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16 Parameter reference All parameters for controller parameter setting or monitoring are stored within so-called "codes". r The codes are numbered and designated by a "C" in front of the code, e.g. "C00002". r For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".
PAGE 538
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16.1.
PAGE 539
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16.1.3 Parameters with write access Only parameters with a check mark (;) in front of the "write access" attribute can be changed by the user. The Lenze setting for these parameters is printed in bold. r The settings are either selected by means of a selection list or through direct value entry. r Values outside the valid setting range are represented in red in the »Engineer«. 16.1.3.
PAGE 540
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16.1.3.3 Parameters with bit-code setting Description structure Parameter | Name: Data type: _______ Index: _______ Cxxxxx | _____________ Description Value is bit-coded: Bit 0 ...
PAGE 541
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16.1.3.4 Parameters with subcodes Description structure Parameter | Name: Data type: _______ Index: _______ Cxxxxx | _____________ Description Setting range (min. value | unit | max.
PAGE 542
9400 HighLine | Parameter setting & configuration Parameter reference Structure of the parameter descriptions 16.1.4 Parameter attributes Type of access r The first four attributes provide information about the parameter access: Attribute Meaning ; Read access Read access to parameter possible. ; Write access Write access to parameter possible. • Please also observe the following attributes: ; CINH Parameter value can only be changed when the controller is inhibited.
PAGE 543
9400 HighLine | Parameter setting & configuration Parameter reference Abbreviations used in parameter & selection texts 16.
PAGE 544
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00002 C00002 Parameter | Name: Data type: UNSIGNED_32 Index: 24573d = 5FFDh C00002 | Controller commands Controller commands • C00003 shows the status of the last executed controller command. • Under C00150 you can query the current status of the device control. Selection list (Lenze setting printed in bold) Information 0 Load Lenze setting Resets parameters to Lenze setting.
PAGE 545
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00002 Parameter | Name: Data type: UNSIGNED_32 Index: 24573d = 5FFDh C00002 | Controller commands L 51 Set rotor displacement angle Executes rotor position adjustment • The function can only be activated when the controller is inhibited. • After this, the adjustment starts automatically when the controller is enabled. • During the rotor position adjustment, the motor makes one electrical revolution.
PAGE 546
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00003 Parameter | Name: Data type: UNSIGNED_32 Index: 24573d = 5FFDh C00002 | Controller commands 203 Activate parameter set 3 Loads parameter set 3 from the memory module. • Only possible when the application has stopped and the controller is inhibited. 204 Activate parameter set 4 Loads parameter set 4 from the memory module. • Only possible when the application has stopped and the controller is inhibited.
PAGE 547
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00005 C00005 Parameter | Name: Data type: INTEGER_32 Index: 24570d = 5FFAh C00005 | Application selection Application selection • Use the controller command C00002="5" to activate the selected application. Setting range (min. value | unit | max.
PAGE 548
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00022 C00022 Parameter | Name: Data type: UNSIGNED_32 Index: 24553d = 5FE9h C00022 | Maximum current Note: In order that the motor does not start unintentionally without adjusting the route data, the maximum current in the Lenze setting is set to "0 A"! Lenze setting Setting range (min. value | unit | max. value) C00034 0.00 A ; Read access ; Write access CINH 21474836.47 0.
PAGE 549
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00055 C00055 Parameter | Name: Data type: INTEGER_32 Index: 24520d = 5FC8h C00055 | Phase currents Display range (min. value | unit | max. value) -500.00 500.
PAGE 550
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00061 C00061 Parameter | Name: Data type: INTEGER_32 Index: 24514d = 5FC2h C00061 | Heatsink temperature Display range (min. value | unit | max. value) -200 ; Read access C00062 °C Write access CINH 200 PLC STOP No transfer COM MOT Parameter | Name: Data type: INTEGER_32 Index: 24513d = 5FC1h C00062 | Temp. inside the controller Display range (min. value | unit | max.
PAGE 551
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00069 C00069 Parameter | Name: Data type: INTEGER_32 Index: 24506d = 5FBAh C00069 | CPU temperature Display range (min. value | unit | max. value) -200 ; Read access C00070 °C Write access CINH 200 PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 24505d = 5FB9h C00070 | Speed controller gain Setting range (min. value | unit | max.
PAGE 552
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00078 C00078 Parameter | Name: Data type: UNSIGNED_32 Index: 24497d = 5FB1h C00078 | Field contr. reset time Setting range (min. value | unit | max. value) 1.0 ; Read access ; Write access C00079 Lenze setting ms CINH 6000.0 15.1 ms PLC STOP No transfer COM ; MOT Scaling factor: 10 Parameter | Name: Data type: UNSIGNED_32 Index: 24496d = 5FB0h C00079 | Motor - mutual inductance Display range (min.
PAGE 553
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00087 C00087 Parameter | Name: Data type: UNSIGNED_32 Index: 24488d = 5FA8h C00087 | Rated motor speed Setting range (min. value | unit | max. value) 50 ; Read access ; Write access ; CINH C00088 Lenze setting rpm 50000 4050 rpm PLC STOP No transfer COM ; MOT Parameter | Name: Data type: UNSIGNED_32 Index: 24487d = 5FA7h C00088 | Motor - rated current Setting range (min. value | unit | max. value) 0.
PAGE 554
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00105 C00105 Parameter | Name: Data type: UNSIGNED_32 Index: 24470d = 5F96h C00105 | Quick stop decel. time Time between quick stop activation and standstill plus relative inaccuracy time (C00106). "Basic functionQuick stop" Setting range (min. value | unit | max. value) C00106 0.000 s ; Read access ; Write access CINH Lenze setting 999.999 0.
PAGE 555
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00120 C00120 Parameter | Name: Data type: UNSIGNED_32 Index: 24455d = 5F87h C00120 | Mot. overload protection (I²xt) Threshold for I2 x t disconnection • Disconnection is carried out if the thermal motor load (C00066) is higher than the set threshold. • A 100 % thermal motor load corresponds to a permanently flowing rated motor current Setting range (min. value | unit | max.
PAGE 556
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00128 C00128 Parameter | Name: Data type: UNSIGNED_32 Index: 24447d = 5F7Fh C00128 | Therm. motor time constant Setting range (min. value | unit | max. value) 0.1 min Subcodes Lenze setting Information C00128/1 1.0 min Therm. time constant coil C00128/2 5.0 min Therm. time constant plates ; Read access ; Write access C00129 600.
PAGE 557
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00150 C00150 Parameter | Name: Data type: BITFIELD_16 Index: 24425d = 5F69h C00150 | Status word 1 Status word 1 of the drive interface Value is bit-coded: Bit 0 User-defined status (bit 0) Bit 1 Pulse inhibit active Bit 2 User-defined status (bit 2) Bit 3 User-defined status (bit 3) Bit 4 User-defined status (bit 4) Bit 5 User-defined status (bit 5) Bit 6 Actual speed value = 0 Bit 7 Controller inhibit active Bit 8
PAGE 558
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00156 C00156 Parameter | Name: Data type: UNSIGNED_32 Index: 24419d = 5F63h C00156 | Status/Control word MCTRL Status and control word of the motor interface Display range (min. value | unit | max.
PAGE 559
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00159 C00159 Parameter | Name: Data type: BITFIELD_16 Index: 24416d = 5F60h C00159 | Quick stop by (source) Value is bit-coded: Bit 0 Reserved Bit 1 Reserved Bit 2 Reserved Bit 3 Reserved Bit 4 Application Bit 5 Controller command Bit 6 Error response Bit 7 Internal PLC Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved ; Read access C00166 Write access CINH PLC STOP N
PAGE 560
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00173 C00173 Parameter | Name: Data type: UNSIGNED_8 Index: 24402d = 5F52h C00173 | Mains voltage 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 561
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00177 C00177 Parameter | Name: Data type: UNSIGNED_32 Index: 24398d = 5F4Eh C00177 | Service code This code is used internally by the controller and must not be overwritten by the user! C00178 Parameter | Name: Data type: UNSIGNED_32 Index: 24397d = 5F4Dh C00178 | Elapsed-time meter Display range (min. value | unit | max.
PAGE 562
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00185 C00185 Parameter | Name: Data type: UNSIGNED_32 Index: 24390d = 5F46h C00185 | Threshold - mains recov. detect. Setting range (min. value | unit | max.
PAGE 563
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00203 C00203 Parameter | Name: Data type: VISIBLE_STRING Index: 24372d = 5F34h C00203 | HW product types Subcodes Information C00203/1 Type: Control card C00203/2 Type: Power section C00203/3 Type: Module in MXI1 C00203/4 Type: Module in MXI2 C00203/5 Type: Memory module C00203/6 Type: Safety module C00203/7 Type: Standard device C00203/8 Type: Complete device C00203/9 Type: ENP ; Read access C0
PAGE 564
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00206 C00206 Parameter | Name: Data type: VISIBLE_STRING Index: 24369d = 5F31h C00206 | HW manufacturing data Subcodes Information C00206/1 Date: Control card C00206/2 Date: Power section C00206/3 Date: Module in MXI1 C00206/4 Date: Module in MXI2 C00206/5 Date: Memory module C00206/6 Date: Safety module C00206/7 Date: Standard device C00206/8 ; Read access C00208 Date: Complete device Write access
PAGE 565
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00211 C00211 Parameter | Name: Data type: VISIBLE_STRING Index: 24364d = 5F2Ch C00211 | Application: Version ; Read access C00212 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: VISIBLE_STRING Index: 24363d = 5F2Bh C00212 | Application: Type code ; Read access C00213 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: VISIBLE_STRING Index: 24362d
PAGE 566
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00270 C00270 Parameter | Name: Data type: UNSIGNED_32 Index: 24305d = 5EF1h C00270 | Freq. - current setpoint filter Setting range (min. value | unit | max. value) 1.0 Hz Subcodes Lenze setting Information C00270/1 200.0 Hz Freq. current setpoint filter 1 C00270/2 400.0 Hz ; Read access ; Write access C00271 1000.0 CINH Freq.
PAGE 567
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00275 C00275 Parameter | Name: Data type: UNSIGNED_16 Index: 24300d = 5EECh C00275 | Signal source - speed setpoint Selection list (Lenze setting printed in bold) 0 SpeedAdd signal 1 Differentiated PosSet signal ; Read access ; Write access C00276 CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_16 Index: 24299d = 5EEBh C00276 | Signal source - torque setpoint Selection list (Lenze se
PAGE 568
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00312 C00312 Parameter | Name: Data type: BITFIELD_8 Index: 24263d = 5EC7h C00312 | CAN TPDO2 mask byte x A mask can be parameterised for each byte of the TPDO2 in the assigned subcode. • In case of an event-controlled PDO transmission, only the masked bits will be considered for event control. • Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
PAGE 569
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00320 C00320 Parameter | Name: Data type: BITFIELD_32 Index: 24255d = 5EBFh C00320 | CAN TPDOx identifier Identifier for TPDO1 ... TPDO4 • If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated (see DS301V402). • The basic setting is according to the "Predefined Connection Set" of DS301V402. Value is bit-coded: Information Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID • Bit 11 ...
PAGE 570
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00322 C00322 Parameter | Name: Data type: UNSIGNED_8 Index: 24253d = 5EBDh C00322 | CAN TPDOx Tx mode TPDO transmission mode according to DS301V402 • Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled device-profile-specific) are supported. • The basic PDO setting is "254" (event-controlled). Setting range (min. value | unit | max.
PAGE 571
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00327 C00327 Parameter | Name: Data type: BITFIELD_32 Index: 24248d = 5EB8h C00327 | Service code This code is used internally by the controller and must not be overwritten by the user! C00328 Parameter | Name: Data type: BITFIELD_32 Index: 24247d = 5EB7h C00328 | Service code This code is used internally by the controller and must not be overwritten by the user! C00329 Parameter | Name: Data type: BITFIELD_32
PAGE 572
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00346 C00346 Parameter | Name: Data type: BITFIELD_32 Index: 24229d = 5EA5h C00346 | CAN heartbeat activity Value is bit-coded: Bit 0 Heartbeat node 1 ... ...
PAGE 573
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00350 C00350 Parameter | Name: Data type: UNSIGNED_8 Index: 24225d = 5EA1h C00350 | CAN node address • A change of the node address only gets active after a CAN reset node. • The basic server channel RX/TX is automatically provided by the node address (C00372 and C00373; subcode 1). • Overwriting the value deactivates a possible node address selection entered by means of hardware. Setting range (min.
PAGE 574
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00356 C00356 Parameter | Name: Data type: UNSIGNED_16 Index: 24219d = 5E9Bh C00356 | CAN TPDOx cycle time TPDO event time from DS301V402. • With a value unequal "0", the TPDO will be sent after the set time without considering the transmission type. Setting range (min. value | unit | max. value) 0 ms 65535 Subcodes Lenze setting Information C00356/1 0 ms Cycle time for TPDO1 ... TPDO4 C00356/...
PAGE 575
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00360 C00360 Parameter | Name: Data type: UNSIGNED_16 Index: 24215d = 5E97h C00360 | CAN telegram and error counter • After mains connection, counting restarts with "0". • After the maximum value has been reached, counting restarts with "0". Display range (min. value | unit | max. value) 0 Subcodes Information C00360/1 Stuffing bit error counter • More than five identical bits have been detected.
PAGE 576
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00368 C00368 Parameter | Name: Data type: UNSIGNED_32 Index: 24207d = 5E8Fh C00368 | CAN SYNC Tx identifier Identifier with which the sync master is to send sync telegrams. • Connected with CANopen index 0x1005 of DS301V402. Setting range (min. value | unit | max.
PAGE 577
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00373 C00373 Parameter | Name: Data type: BITFIELD_32 Index: 24202d = 5E8Ah C00373 | CAN SDO server Tx identifier Identifier with which the assigned SDO server is able to transmit. • Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO server (see DS301V402). Value is bit-coded: Information Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID • Bit 11 ... 30: Reserved • Bit 31: SDO invalid ... ...
PAGE 578
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00375 C00375 Parameter | Name: Data type: BITFIELD_32 Index: 24200d = 5E88h C00375 | CAN SDO client Rx identifier Identifier which serves to reach the assigned SDO client. • Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO client channel (see DS301V402). • The client channels need not be parameterised right now. Their functionality will only be required when using the Gateway services.
PAGE 579
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00378 C00378 Parameter | Name: Data type: UNSIGNED_16 Index: 24197d = 5E85h C00378 | CAN boot-up delay - operational Time after mains switching after which the CAN NMT master sends the "Start remote node" telegram to the bus. • The delay time is only used when the master bit is activated (C00352) and the controller has been restarted. Setting range (min. value | unit | max.
PAGE 580
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00385 C00385 Parameter | Name: Data type: BITFIELD_32 Index: 24190d = 5E7Eh C00385 | CAN heartbeat consumer time The 32 subcodes represent the nodes to be monitored by means of heartbeat. • Each subcode entry contains the expected "heartbeat" time and the node ID (node address) from which the heartbeat telegram is expected in the form of a bit code.
PAGE 581
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00388 C00388 Parameter | Name: Data type: UNSIGNED_8 Index: 24187d = 5E7Bh C00388 | CAN node guarding status Selection list (display only) 0 Unknown 4 Stopped 5 Operational 127 Pre-operational Subcodes Information C00388/1 Status node 1 ... 32 C00388/...
PAGE 582
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00393 C00393 Parameter | Name: Data type: UNSIGNED_8 Index: 24182d = 5E76h C00393 | CAN result - bus scan Result of CAN bus scanning (see controller commands under C00002). • Subcode number 1 ... 128 corresponds to CAN node address 1 ... 128. Display range (min. value | unit | max. value) 0 1 Subcodes Information C00393/1 Result of CAN bus scanning for CAN node address 1 ...
PAGE 583
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00416 C00416 Parameter | Name: Data type: UNSIGNED_32 Index: 24159d = 5E5Fh C00416 | Resolver error correction Setting range (min. value | unit | max. value) Lenze setting 0 99999999 0 ; Read access ; Write access ; CINH C00420 PLC STOP No transfer COM ; MOT Parameter | Name: Data type: UNSIGNED_16 Index: 24155d = 5E5Bh C00420 | Number of increments of the encoder Setting range (min. value | unit | max.
PAGE 584
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00443 C00443 Parameter | Name: Data type: UNSIGNED_8 Index: 24132d = 5E44h C00443 | DIx status Display range (min. value | unit | max.
PAGE 585
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00465 C00465 Parameter | Name: Data type: UNSIGNED_8 Index: 24110d = 5E2Eh C00465 | Keypad: Welcome screen time-out Selection list (Lenze setting printed in bold) 0 Never show welcome screen 5 5 min 15 15 min 30 30 min 60 60 min ; Read access ; Write access C00466 CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_16 Index: 24109d = 5E2Dh C00466 | Keypad: Default parameters Setting rang
PAGE 586
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00494 C00494 Parameter | Name: Data type: UNSIGNED_32 Index: 24081d = 5E11h C00494 | Motor standstill time constant Setting range (min. value | unit | max.
PAGE 587
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00573 C00573 Parameter | Name: Data type: UNSIGNED_32 Index: 24002d = 5DC2h C00573 | Resp.
PAGE 588
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00579 C00579 Parameter | Name: Data type: UNSIGNED_32 Index: 23996d = 5DBCh C00579 | Resp.
PAGE 589
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00582 C00582 Parameter | Name: Data type: UNSIGNED_32 Index: 23993d = 5DB9h C00582 | Resp. to heatsink temp.
PAGE 590
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00586 C00586 Parameter | Name: Data type: UNSIGNED_32 Index: 23989d = 5DB5h C00586 | Resp.
PAGE 591
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00591 C00591 Parameter | Name: Data type: UNSIGNED_8 Index: 23984d = 5DB0h C00591 | Resp. to CAN-RPDOx error Response, if the corresponding CAN RPDO has not been received in the configured time or with the configured sync.
PAGE 592
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00597 C00597 Parameter | Name: Data type: UNSIGNED_32 Index: 23978d = 5DAAh C00597 | Resp.
PAGE 593
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00601 C00601 Parameter | Name: Data type: UNSIGNED_32 Index: 23974d = 5DA6h C00601 | Resp. to comm.
PAGE 594
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00610 C00610 Parameter | Name: Data type: UNSIGNED_32 Index: 23965d = 5D9Dh C00610 | Resp. to heatsink fan failure Response if fan speed of heatsink fan is too low. Selection list (Lenze setting printed in bold) 0 No response 1 Error 5 Warning ; Read access ; Write access C00611 CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 23964d = 5D9Ch C00611 | Resp.
PAGE 595
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00613 C00613 Parameter | Name: Data type: UNSIGNED_8 Index: 23962d = 5D9Ah C00613 | Resp. to CAN heartbeat error Response, if the corresponding heartbeat telegram is not received. Selection list 0 No response 1 Error 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information Subcodes Lenze setting Information C00613/1 0: No response Response to non received telegram for monitoring entry 1 ...
PAGE 596
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00618 C00618 Parameter | Name: Data type: UNSIGNED_32 Index: 23957d = 5D95h C00618 | Number of CRC cycles Display range (min. value | unit | max. value) 0 ; Read access C00619 4294967295 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 23956d = 5D94h C00619 | Resp. to max.
PAGE 597
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00636 C00636 Parameter | Name: Data type: UNSIGNED_32 Index: 23939d = 5D83h C00636 | Resp. to new module in MXI1 Selection list (Lenze setting printed in bold) 0 No response 1 Error 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information ; Read access ; Write access C00637 CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 23938d = 5D82h C00637 | Resp.
PAGE 598
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00695 C00695 Parameter | Name: Data type: INTEGER_32 Index: 23880d = 5D48h C00695 | Total torque setpoint Display range (min. value | unit | max. value) -200.00 ; Read access C00696 % Write access CINH 200.00 PLC STOP No transfer COM MOT Scaling factor: 100 Parameter | Name: Data type: INTEGER_32 Index: 23879d = 5D47h C00696 | Torque setpoint Display range (min. value | unit | max. value) -200.
PAGE 599
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00736 C00736 Parameter | Name: Data type: INTEGER_32 Index: 23839d = 5D1Fh C00736 | GDO channel 6 This code is used internally by the controller and must not be overwritten by the user! C00737 Parameter | Name: Data type: INTEGER_32 Index: 23838d = 5D1Eh C00737 | GDO channel 7 This code is used internally by the controller and must not be overwritten by the user! C00738 Parameter | Name: Data type: INTEGER_32 I
PAGE 600
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00773 C00773 Parameter | Name: Data type: INTEGER_32 Index: 23802d = 5CFAh C00773 | MCTRL_dnLoadSpeedAct Internal motor control (MCTRL) signal Display range (min. value | unit | max.
PAGE 601
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00779 C00779 Parameter | Name: Data type: INTEGER_32 Index: 23796d = 5CF4h C00779 | MCTRL_dnDCBusVoltage Internal motor control (MCTRL) signal Display range (min. value | unit | max.
PAGE 602
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00786 C00786 Parameter | Name: Data type: INTEGER_32 Index: 23789d = 5CEDh C00786 | MCTRL_dnIxtLoad Internal motor control (MCTRL) signal Display range (min. value | unit | max. value) -200.00 ; Read access C00787 % Write access CINH 200.
PAGE 603
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00792 C00792 Parameter | Name: Data type: INTEGER_32 Index: 23783d = 5CE7h C00792 | MCTRL_dnOutputPosCtrlMotor_s Internal motor control (MCTRL) signal Display range (min. value | unit | max.
PAGE 604
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00806 C00806 Parameter | Name: Data type: INTEGER_32 Index: 23769d = 5CD9h C00806 | MCTRL_dnTorqueLowLimit Internal motor control (MCTRL) signal Display range (min. value | unit | max. value) -21474836.47 ; Read access C00807 Nm Write access CINH 21474836.
PAGE 605
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00812 C00812 Parameter | Name: Data type: UNSIGNED_32 Index: 23763d = 5CD3h C00812 | MCTRL_dnMotorPosRefValue Internal motor control (MCTRL) signal Display range (min. value | unit | max. value) 0 Incr.
PAGE 606
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C00854 C00854 Parameter | Name: Data type: UNSIGNED_32 Index: 23721d = 5CA9h C00854 | ID status Display range (min. value | unit | max. value) 0 ; Read access C00878 100 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_8 Index: 23697d = 5C91h C00878 | Status DCTRL control input Display range (min. value | unit | max.
PAGE 607
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01121 C01121 Parameter | Name: Data type: UNSIGNED_32 Index: 23454d = 5B9Eh C01121 | Sync cycle time Setting range (min. value | unit | max. value) 250 ; Read access ; Write access C01122 Lenze setting μs CINH 13000 1000 μs PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 23453d = 5B9Dh C01122 | Sync phase position Setting range (min. value | unit | max.
PAGE 608
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01124 C01124 Parameter | Name: Data type: UNSIGNED_8 Index: 23451d = 5B9Bh C01124 | Sync PLL increment Selection list (Lenze setting printed in bold) 1 10 ns 2 21 ns 3 31 ns 4 41 ns 5 52 ns 6 63 ns 7 73 ns 8 83 ns 9 94 ns 10 104 ns 11 115 ns 12 125 ns 13 135 ns 14 146 ns 15 156 ns 16 167 ns 17 174 ns 18 182 ns 19 190 ns 20 198 ns 21 206 ns 22 213 ns 23 221 ns 24 229 ns 25 237 ns 26 245 ns 27 252 ns ; Read access ; Wri
PAGE 609
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01191 C01191 Parameter | Name: Data type: UNSIGNED_32 Index: 23384d = 5B58h C01191 | Temperature for spec. characteristic The special thermal sensor characteristic is selected by setting C01190="1" Setting range (min. value | unit | max. value) 0 °C Lenze setting Information C01191/1 25 °C Value 1 for spec.
PAGE 610
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01196 C01196 Parameter | Name: Data type: UNSIGNED_32 Index: 23379d = 5B53h C01196 | S1 torque characteristic I²xt mon. I2xt motor monitoring: Speed-dependent evaluation of the motor current • By selecting a characteristic the permissible motor current is evaluated depending on speed for calculating the thermal motor utilisation. Setting range (min. value | unit | max.
PAGE 611
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01209 C01209 Parameter | Name: Data type: UNSIGNED_16 Index: 23366d = 5B46h C01209 | Counter: housing overtemp. Display range (min. value | unit | max. value) 0 ; Read access C01210 65535 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_8 Index: 23365d = 5B45h C01210 | Electrolyt. capacitor av. temp. Display range (min. value | unit | max.
PAGE 612
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01502 C01502 Parameter | Name: Data type: UNSIGNED_32 Index: 23073d = 5A21h C01502 | Resp. to comm.
PAGE 613
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C01902 C01902 Parameter | Name: Data type: UNSIGNED_32 Index: 22673d = 5891h C01902 | Diagnostics X6: Max. baud rate Maximum permissible baud rate of the basic device after determination of the baud rate at the diagnostics interface X6 • Communication starts with the default baud rate 19200 of the basic device. Selection list (Lenze setting printed in bold) 9600 9600 baud 19200 19.200 baud 38400 38.
PAGE 614
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02109 C02109 Parameter | Name: Data type: UNSIGNED_16 Index: 22466d = 57C2h C02109 | Program runtime Display range (min. value | unit | max.
PAGE 615
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02521 C02521 Parameter | Name: Data type: INTEGER_32 Index: 22054d = 5626h C02521 | Gearbox fact. denom. motor Drive interface Setting range (min. value | unit | max. value) Lenze setting 1 2147483647 1 ; Read access ; Write access ; CINH C02522 PLC STOP No transfer COM MOT Parameter | Name: Data type: INTEGER_32 Index: 22053d = 5625h C02522 | Gearbox fact. numer.
PAGE 616
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02527 C02527 Parameter | Name: Data type: UNSIGNED_32 Index: 22048d = 5620h C02527 | Motor mounting direction Drive interface Selection list (Lenze setting printed in bold) 0 Motor rotating CW 1 Motor rotating CCW ; Read access ; Write access ; CINH C02528 PLC STOP No transfer COM MOT Parameter | Name: Data type: UNSIGNED_32 Index: 22047d = 561Fh C02528 | Traversing range Drive interface Selection list (Lenz
PAGE 617
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02530 C02530 Parameter | Name: Data type: INTEGER_32 Index: 22045d = 561Dh C02530 | Active function state Displays the basic drive function that currently controls the drive.
PAGE 618
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02533 C02533 Parameter | Name: Data type: UNSIGNED_32 Index: 22042d = 561Ah C02533 | Time unit Drive interface Selection list (display only) 2 s ; Read access C02534 Write access CINH PLC STOP No transfer COM MOT Parameter | Name: Data type: VISIBLE_STRING Index: 22041d = 5619h C02534 | User-defined time unit Drive interface ; Read access C02535 Write access CINH PLC STOP No transfer COM MOT Parame
PAGE 619
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02541 C02541 Parameter | Name: Data type: INTEGER_32 Index: 22034d = 5612h C02541 | Max. accel. to be displayed Drive interface Display range (min. value | unit | max. value) -214748.3647 ; Read access C02542 Unit/s² Write access CINH 214748.
PAGE 620
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02549 C02549 Parameter | Name: Data type: UNSIGNED_32 Index: 22026d = 560Ah C02549 | Drive interface: Signals Display of the boolean signals of the drive interface (LS_DriveInterface).
PAGE 621
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02553 C02553 Parameter | Name: Data type: UNSIGNED_32 Index: 22022d = 5606h C02553 | Position controller gain Motor interface Setting range (min. value | unit | max. value) 0.00 1/s ; Read access ; Write access C02554 Lenze setting CINH 1000.00 20.00 1/s PLC STOP No transfer COM MOT Scaling factor: 100 Parameter | Name: Data type: UNSIGNED_32 Index: 22021d = 5605h C02554 | Int.-act.
PAGE 622
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02559 C02559 Parameter | Name: Data type: INTEGER_32 Index: 22016d = 5600h C02559 | Internal torque limits Motor interface Display range (min. value | unit | max. value) -200.00 % 200.00 Subcodes Information C02559/1 Upper int. torque limit C02559/2 ; Read access C02560 Lower int.
PAGE 623
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02569 C02569 Parameter | Name: Data type: UNSIGNED_32 Index: 22006d = 55F6h C02569 | Motor interface: Dig. signals Display of the boolean signals of the motor interface (LS_MotorInterface).
PAGE 624
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02574 C02574 Parameter | Name: Data type: INTEGER_32 Index: 22001d = 55F1h C02574 | Actual speed Encoder evaluation Display range (min. value | unit | max. value) -214748.3647 ; Read access C02575 Unit/s Write access CINH 214748.
PAGE 625
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02580 C02580 Parameter | Name: Data type: UNSIGNED_32 Index: 21995d = 55EBh C02580 | Brake operating mode Basic function "Brake control" Selection list (Lenze setting printed in bold) 0 Brake control off 1 Directly with brake module 2 Autom. with brake module 11 Direct - external switching 12 Autom.
PAGE 626
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02586 C02586 Parameter | Name: Data type: INTEGER_32 Index: 21989d = 55E5h C02586 | Starting torque 1 Basic function "Brake control" Setting range (min. value | unit | max. value) -21474836.47 Nm ; Read access ; Write access C02587 Lenze setting CINH 21474836.47 0.
PAGE 627
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02593 C02593 Parameter | Name: Data type: UNSIGNED_32 Index: 21982d = 55DEh C02593 | Waiting time - brake activation Basic function "Brake control" Setting range (min. value | unit | max. value) C02594 0.000 s ; Read access ; Write access CINH Lenze setting 1000.000 0.
PAGE 628
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02599 C02599 Parameter | Name: Data type: UNSIGNED_32 Index: 21976d = 55D8h C02599 | Grinding OFF time Basic function "Brake control" Setting range (min. value | unit | max. value) C02607 0.2 s ; Read access ; Write access CINH Lenze setting 2.0 0.
PAGE 629
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02611 C02611 Parameter | Name: Data type: UNSIGNED_32 Index: 21964d = 55CCh C02611 | S-ramp time - stop function Basic function"Stop" Setting range (min. value | unit | max. value) C02612 0.000 s ; Read access ; Write access CINH Lenze setting 10.000 0.100 s PLC STOP No transfer COM MOT Scaling factor: 1000 Parameter | Name: Data type: UNSIGNED_32 Index: 21963d = 55CBh C02612 | Ref. for decel.
PAGE 630
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02620 C02620 Parameter | Name: Data type: INTEGER_32 Index: 21955d = 55C3h C02620 | Manual control speed 1 Basic function "Manual jog" Setting range (min. value | unit | max. value) 0.0000 Unit/s ; Read access ; Write access C02621 Lenze setting CINH 214748.3647 360.
PAGE 631
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02639 C02639 Parameter | Name: Data type: UNSIGNED_32 Index: 21936d = 55B0h C02639 | Manual control: Dig. signals Display of the boolean signals of the basic function "Manual jog" (LS_ManualJog).
PAGE 632
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02643 C02643 Parameter | Name: Data type: INTEGER_32 Index: 21932d = 55ACh C02643 | Ref. target position Basic function "Homing" Setting range (min. value | unit | max. value) -214748.3647 Unit ; Read access ; Write access C02644 Lenze setting CINH 214748.3647 0.0000 Unit PLC STOP No transfer COM MOT Scaling factor: 10000 Parameter | Name: Data type: INTEGER_32 Index: 21931d = 55ABh C02644 | Ref.
PAGE 633
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02649 C02649 Parameter | Name: Data type: INTEGER_32 Index: 21926d = 55A6h C02649 | Ref. torque limit Basic function "Homing" Setting range (min. value | unit | max. value) C02650 0.00 % ; Read access ; Write access CINH Lenze setting 200.00 10.00 % PLC STOP No transfer COM MOT Scaling factor: 100 Parameter | Name: Data type: UNSIGNED_32 Index: 21925d = 55A5h C02650 | Ref.
PAGE 634
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02657 C02657 Parameter | Name: Data type: INTEGER_32 Index: 21918d = 559Eh C02657 | HM_dnState Status of the basic function "Homing" (LS_Homing). Display range (min. value | unit | max.
PAGE 635
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02676 C02676 Parameter | Name: Data type: INTEGER_32 Index: 21899d = 558Bh C02676 | POS_dnProfileSpeed_s Display of the max. speed of the current profile of the basic function "Positioning" (LS_Positioner). Display range (min. value | unit | max. value) -214748.3647 ; Read access C02677 214748.
PAGE 636
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02680 C02680 Parameter | Name: Data type: UNSIGNED_32 Index: 21895d = 5587h C02680 | Source position setpoint Basic function "Positioning" Selection list (Lenze setting printed in bold) 0 Position setpoint input 1 From add.
PAGE 637
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02689 C02689 Parameter | Name: Data type: UNSIGNED_32 Index: 21886d = 557Eh C02689 | Position follower: Dig. signals Display of the boolean signals of the basic function "Position follower" (LS_PositionFollower).
PAGE 638
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02698 C02698 Parameter | Name: Data type: INTEGER_32 Index: 21877d = 5575h C02698 | Torque follower: % signals Display of the boolean input/output signals of the basic function "Torque follower" (LS_TorqueFollower). Display range (min. value | unit | max. value) -200.00 200.
PAGE 639
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02703 C02703 Parameter | Name: Data type: INTEGER_32 Index: 21872d = 5570h C02703 | Max. speed Basic function "Limiter" Setting range (min. value | unit | max. value) 0.0000 Unit/s ; Read access ; Write access C02704 Lenze setting CINH 214748.3647 3600.0000 Unit/s PLC STOP No transfer COM MOT Scaling factor: 10000 Parameter | Name: Data type: INTEGER_32 Index: 21871d = 556Fh C02704 | Max.
PAGE 640
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02708 C02708 Parameter | Name: Data type: INTEGER_32 Index: 21867d = 556Bh C02708 | Limited speed Basic function "Limiter" Setting range (min. value | unit | max. value) 0.0000 Unit/s Lenze setting Information C02708/1 3600.0000 Unit/s Limited speed 1 ... 4 C02708/2 7200.0000 Unit/s C02708/3 14400.0000 Unit/s C02708/4 28800.0000 Unit/s ; Read access ; Write access C02709 214748.
PAGE 641
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02712 C02712 Parameter | Name: Data type: UNSIGNED_32 Index: 21863d = 5567h C02712 | Decel. time lim. speed Basic function "Limiter" Display range (min. value | unit | max. value) 0 ms 10000 Subcodes Information C02712/1 Deceleration times for limited speed 1 ...
PAGE 642
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02716 C02716 Parameter | Name: Data type: UNSIGNED_32 Index: 21859d = 5563h C02716 | Resp. to limitation Basic function "Limiter" Selection list 0 No response 1 Error 2 Trouble 3 Quick stop by trouble 4 Warning locked 5 Warning 6 Information Subcodes Lenze setting Information C02716/1 0: No response Resp. to rotation limitation C02716/2 3: Quick stop by trouble Resp. to SW limit pos.
PAGE 643
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02730 C02730 Parameter | Name: Data type: INTEGER_32 Index: 21845d = 5555h C02730 | AINx: Gain Setting range (min. value | unit | max. value) -200.00 % Subcodes Lenze setting Information C02730/1 100.00 % Gain of analog input 1 C02730/2 100.00 % ; Read access ; Write access C02731 200.
PAGE 644
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02800 C02800 Parameter | Name: Data type: INTEGER_16 Index: 21775d = 550Fh C02800 | AINx: Input signal Scaling: -16384 ≡ -100 %, +16383 ≡ +100 % Display range (min. value | unit | max.
PAGE 645
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02810 C02810 Parameter | Name: Data type: UNSIGNED_32 Index: 21765d = 5505h C02810 | Delay time for TPx The set delay time will be considered when the position is determined at the touch probe time and will be used to compensate for dead times, if necessary. • Please observe the setting of the input filter for the digital inputs (C02830). Setting range (min. value | unit | max.
PAGE 646
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02852 C02852 Parameter | Name: Data type: UNSIGNED_16 Index: 21723d = 54DBh C02852 | Service code This code is used internally by the controller and must not be overwritten by the user! C02853 Parameter | Name: Data type: UNSIGNED_16 Index: 21722d = 54DAh C02853 | Vp Lss saturat. characteristic Setting range (min. value | unit | max.
PAGE 647
9400 HighLine | Parameter setting & configuration Parameter reference Parameter list | C02857 C02857 Parameter | Name: Data type: VISIBLE_STRING Index: 21718d = 54D6h C02857 | Service code This code is used internally by the controller and must not be overwritten by the user! C02858 Parameter | Name: Data type: UNSIGNED_8 Index: 21717d = 54D5h C02858 | Service code This code is used internally by the controller and must not be overwritten by the user! C02859 Parameter | Name: Data type: UNSIGNED_8
PAGE 648
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table 16.4 Attribute table The Attribute table contains information required for communicating with the controller via parameters. How to read the table of attributes: Column Meaning Entry Code Parameter designation Cxxxxx Name Index Data Short parameter text (display text) Text hex Index under which the parameter is addressed. The subindex of array variables corresponds to the Lenze subcode number.
PAGE 649
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code L Name Index Data dec hex DS DA 24521 5FC9 E 1 DT C00054 Motor current UNSIGNED_32 C00055 Phase currents 24520 5FC8 A 4 C00056 Torque setpoint 24519 5FC7 E 1 C00057 Torque 24518 5FC6 A 2 UNSIGNED_32 C00058 Rotor displacement angle 24517 5FC5 A 3 INTEGER_32 C00059 Motor - number of pole pairs 24516 5FC4 E 1 UNSIGNED_32 C00060 Rotor position 24515 5FC3 E 1 C00061
PAGE 650
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code 650 Name Index Data dec hex DS DA DT Access Factor R W C00130 Max. power brake resistor 24445 5F7D E 1 INTEGER_32 1 ; ; C00131 Therm. capacity brake resistor 24444 5F7C E 1 INTEGER_32 1 ; ; C00132 Max. temp. of brake resistor 24443 5F7B E 1 INTEGER_32 1 ; ; C00142 Autom.
PAGE 651
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code L Name Index Data dec hex DS DA DT 5EBF A 4 BITFIELD_32 Access Factor R W 1 ; ; C00320 CAN TPDOx identifier 24255 C00321 CAN RPDOx identifier 24254 5EBE A 4 BITFIELD_32 1 ; ; C00322 CAN TPDOx Tx mode 24253 5EBD A 4 UNSIGNED_8 1 ; ; C00323 CAN RPDOx Rx mode 24252 5EBC A 4 UNSIGNED_8 1 ; ; C00324 CAN TPDOx delay time 24251 5EBB A 4 UNSIGNED_16 1 ; ; C00345
PAGE 652
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code 652 Name Index Data dec hex DS DA E 1 C00469 Keypad: Fct. STOP key 24106 5E2A C00490 Position encoder 24085 5E15 E C00494 Motor standstill time constant 24081 5E11 E C00495 Motor encoder 24080 5E10 E C00497 Speed act. val. time const. 24078 5E0E C00573 Resp. to overload brake chopper 24002 5DC2 C00574 Resp. to overtemp. brake resist.
PAGE 653
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code L Name Index Data dec hex DS DA 23879 5D47 E 1 DT C00696 Torque setpoint C00697 Filtered torque setpoint 23878 5D46 E 1 C00698 Actual torque 23877 5D45 E 1 C00770 MCTRL_dnMotorPosAct 23805 5CFD A 2 UNSIGNED_32 C00771 MCTRL_dnLoadPosAct 23804 5CFC A 2 C00772 MCTRL_dnMotorSpeedAct 23803 5CFB E 1 C00773 MCTRL_dnLoadSpeedAct 23802 5CFA E C00774 MCTRL_dnTorqueAct 2380
PAGE 654
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code 654 Name Index Data dec hex DS DA DT Access Factor R W 1 ; ; CINH C01191 Temperature for spec. characteristic 23384 5B58 A 2 UNSIGNED_32 C01192 Resistor for spec. characteristic 23383 5B57 A 2 UNSIGNED_32 1 ; ; C01193 Motor temp.
PAGE 655
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code L Name Index Data dec hex DS DA 22034 5612 E 1 Access DT Factor R INTEGER_32 10000 ; W C02541 Max.
PAGE 656
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code 656 Name Index Data dec hex DS DA 21964 55CC E 1 DT R W 1000 ; ; ; C02611 S-ramp time for stop C02612 Ref. for decel. time of stop 21963 55CB E 1 UNSIGNED_32 1 ; C02616 STP_dnState 21959 55C7 E 1 INTEGER_32 1 ; C02617 STP_bStopActive 21958 55C6 E 1 UNSIGNED_32 1 ; C02619 Quick stop: Dig.
PAGE 657
9400 HighLine | Parameter setting & configuration Parameter reference Attribute table Code L Name Index Data dec hex DS DA 21872 5570 E 1 DT R W 10000 ; ; CINH C02703 Max. speed C02704 Max. speed [rpm] 21871 556F E 1 INTEGER_32 10 ; C02705 Max. acceleration 21870 556E E 1 INTEGER_32 10000 ; ; C02706 Min.
PAGE 658
9400 HighLine | Parameter setting & configuration Index 17 Index A Absolute value encoder Communication error 472 Acc./dec.
PAGE 659
9400 HighLine | Parameter setting & configuration Index C129 556 C130 556 C131 556 C132 556 C142 556 C150 557 C1501 611 C1502 612 C1510 612 C1511 612 C155 557 C156 558 C158 558 C159 559 C166 559 C167 559 C168 559 C169 559 C171 559 C173 560 C174 560 C175 560 C176 560 C177 561 C178 561 C179 561 C18 547 C180 561 C181 561 C183 561 C185 562 C186 562 C187 562 C188 562 C19 547 C1902 613 C1903 613 C1905 613 C199 562 C2 544 C200 562 C201 562 C203 563 C204 563 C205 563 C206 564 C208 564 C209 564 C210 564 C2104 613
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9400 HighLine | Parameter setting & configuration Index C2572 C2573 C2574 C2575 C2576 C2577 C2578 C2579 C2580 C2581 C2582 C2583 C2585 C2586 C2587 C2588 C2589 C2590 C2591 C2593 C2594 C2595 C2596 C2597 C2598 C2599 C2607 C2608 C2609 C2610 C2611 C2612 C2616 C2617 C2619 C2620 C2621 C2622 C2623 C2624 C2638 C2639 C2640 C2642 C2643 C2644 C2645 C2646 C2647 C2648 C2649 C2650 C2651 660 623 623 624 624 624 624 624 624 625 625 625 625 625 626 626 626 626 626 626 627 627 627 627 627 627 628 628 628 628 628 629 629 629
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9400 HighLine | Parameter setting & configuration Index C2734 643 C274 566 C275 567 C276 567 C280 567 C2800 644 C2801 644 C2802 644 C2803 644 C2810 645 C2830 645 C2850 645 C2851 645 C2852 646 C2853 646 C2854 646 C2855 646 C2856 646 C2857 647 C2858 647 C2859 647 C2860 647 C2861 647 C2996 647 C2997 647 C2998 647 C2999 647 C3 546 C308 567 C309 567 C310 567 C311 567 C312 568 C313 568 C314 568 C320 569 C321 569 C322 570 C323 570 C324 570 C325 570 C326 570 C327 571 C328 571 C329 571 C330 571 C335 571 C336 571 C
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9400 HighLine | Parameter setting & configuration Index C495 586 C497 586 C5 547 C50 548 C51 548 C512 586 C513 586 C514 586 C515 586 C516 586 C52 548 C53 548 C54 548 C55 549 C56 549 C57 549 C573 587 C574 587 C576 587 C577 587 C578 587 C579 588 C58 549 C580 588 C581 588 C582 589 C583 589 C584 589 C585 589 C586 590 C587 590 C588 590 C589 590 C59 549 C591 591 C594 591 C595 591 C596 591 C597 592 C598 592 C599 592 C6 547 C60 549 C600 592 C601 593 C604 593 C606 593 C607 593 C61 550 C610 594 C611 594 C612 594 C61
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9400 HighLine | Parameter setting & configuration Index C780 601 C781 601 C782 601 C783 601 C784 601 C786 602 C787 602 C788 602 C789 602 C79 552 C790 602 C791 602 C792 603 C80 552 C800 603 C802 603 C803 603 C804 603 C805 603 C806 604 C807 604 C808 604 C809 604 C81 552 C810 604 C811 604 C812 605 C813 605 C814 605 C815 605 C816 605 C817 605 C82 552 C83 552 C84 552 C85 552 C854 606 C87 553 C878 606 C88 553 C89 553 C90 553 C909 606 C91 553 C92 553 C99 553 CAN - DIP switch setting (C349) 572 CAN baud rate (C35
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9400 HighLine | Parameter setting & configuration Index Node guarding error 18 511 Node guarding error 19 511 Node guarding error 2 508 Node guarding error 20 511 Node guarding error 21 512 Node guarding error 22 512 Node guarding error 23 512 Node guarding error 24 512 Node guarding error 25 512 Node guarding error 26 512 Node guarding error 27 513 Node guarding error 28 513 Node guarding error 29 513 Node guarding error 3 509 Node guarding error 30 513 Node guarding error 31 513 Node guarding error 32 51
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9400 HighLine | Parameter setting & configuration Index Node guarding error 8 525 Node guarding error 9 526 CAN module (MXI2) PDO manager Faulty configuration 532 CAN module (MXI2) RPDO1 Telegram not received or faulty 530 CAN module (MXI2) RPDO2 Telegram not received or faulty 530 CAN module (MXI2) RPDO3 Telegram not received or faulty 530 CAN module (MXI2) RPDO4 Telegram not received or faulty 531 CAN module (MXI2) RPDO5 Telegram not received or faulty 531 CAN module (MXI2) RPDO6 Telegram not received o
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9400 HighLine | Parameter setting & configuration Index CAN on-board 134 CAN result - bus scan (C393) 582 CAN RPDOx identifier (C321) 569 CAN RPDOx monitoring time (C357) 574 CAN RPDOx Rx mode (C323) 570 CAN SDO client node address (C374) 577 CAN SDO client Rx identifier (C375) 578 CAN SDO client Tx identifier (C376) 578 CAN SDO server node address (C377) 578 CAN SDO server Rx identifier (C372) 576 CAN SDO server Tx identifier (C373) 577 CAN slave/master (C352) 573 CAN status (C359) 574 CAN status DIP swit
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9400 HighLine | Parameter setting & configuration Index A-/A track error 500 B-/B track error 500 Enable/lamp control signal error 501 Supply cannot be corrected anymore 501 Z-/Z track error 501 DFIN (MXI2) A-/A track error 516 B-/B track error 516 Enable/lamp control signal error 517 Supply cannot be corrected anymore 517 Z-/Z track error 517 DFOUT (MXI1) Maximum frequency reached 501 DFOUT (MXI2) Maximum frequency reached 517 DI_bErrors (C2548) 619 DI_dnState (C2547) 619 Diagnostics X6 Change baud rate
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9400 HighLine | Parameter setting & configuration Index 0x00690003 456 0x00690004 456 0x00690005 456 0x00690006 456 0x00690007 456 0x00690008 456 0x00690009 457 0x0069000a 457 0x0069000b 457 0x0069000c 457 0x0069000d 457 0x006a0000 457 0x006a0001 458 0x006a0002 458 0x006a0003 458 0x006a0004 458 0x006a0005 458 0x006a0006 458 0x006a0007 459 0x006a0008 459 0x006a0009 459 0x006a000a 459 0x006a000b 459 0x006a000c 459 0x006a000d 459 0x006a000e 460 0x006a000f 460 0x006a0010 460 0x006a0011 460 0x006a0012 460 0x006
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9400 HighLine | Parameter setting & configuration Index 0x007b0030 475 0x007b0031 475 0x007b0032 475 0x007b0033 476 0x007b0034 476 0x007b0036 476 0x007b0037 476 0x007b0038 476 0x007b0039 476 0x007c0000 477 0x007c0001 477 0x007d0000 477 0x007d0001 477 0x007f0002 477 0x00830000 477 0x00830001 478 0x00830002 478 0x00840000 478 0x00840001 478 0x00840002 478 0x00840003 479 0x00840004 479 0x00840005 479 0x00840006 479 0x00840007 479 0x00840008 479 0x00840009 480 0x0084000a 480 0x0084000b 480 0x0084000c 480 0x00
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9400 HighLine | Parameter setting & configuration Index 0x008c001a 495 0x008c001d 495 0x00900000 495 0x00900001 495 0x00900002 496 0x00900003 496 0x00900004 496 0x00900005 496 0x00900006 496 0x00900007 496 0x00900008 497 0x00900009 497 0x0090000a 497 0x0090000b 497 0x00910000 497 0x00910001 497 0x00910002 498 0x00910003 498 0x00910004 498 0x00910005 498 0x00910006 498 0x00910008 498 0x00910009 498 0x0091000a 499 0x0091000b 499 0x0091000c 499 0x0091000d 499 0x0091000e 499 0x0091000f 499 0x00910010 500 0x009
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9400 HighLine | Parameter setting & configuration Index 0x00a10006 515 0x00a10007 515 0x00a10008 516 0x00a20000 516 0x00a30000 516 0x00aa0000 516 0x00aa0001 516 0x00aa0002 517 0x00aa0003 517 0x00aa0004 517 0x00aa0005 517 0x00ac0000 517 0x00ac0001 518 0x00ac0002 518 0x00ad0000 518 0x00ad0001 518 0x00ad0002 518 0x00ad0003 519 0x00ad0004 519 0x00ad0005 519 0x00ad0006 519 0x00ad0007 519 0x00ad0008 519 0x00ad0009 520 0x00ad000a 520 0x00ad000b 520 0x00ad000c 520 0x00ad000d 520 0x00ad000e 520 0x00ad000f 521 0x00
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9400 HighLine | Parameter setting & configuration Index External actual position (C2577) 624 External error 462 F Failure of motor phase U 475 Failure of motor phase V 475 Failure of motor phase W 475 Faulty application parameter 460 Faulty device command transmission 468 Faulty program download 458 Feed constant (C2524) 615 Feedback 38 Feedback system motor temperature (C1193) 609 Feedback to Lenze 679 Feedforward control of torque 93 Field controller gain (C77) 551 Field controller reset time (C78) 552
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9400 HighLine | Parameter setting & configuration Index J Jerk has been limited 535 K Keypad Default parameter (C466) 585 Default welcome screen (C467) 585 Fct.
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9400 HighLine | Parameter setting & configuration Index MCTRL_dnMotorFreqAct (C784) 601 MCTRL_dnMotorPosAct (C770) 599 MCTRL_dnMotorPosRefValue (C812) 605 MCTRL_dnMotorSpeedAct (C772) 599 MCTRL_dnOutputPosCtrlMotor_s (C792) 603 MCTRL_dnOutputSpeedCtrl (C775) 600 MCTRL_dnPosCtrlAdapt (C811) 604 MCTRL_dnPosCtrlOutLimit (C808) 604 MCTRL_dnPosSet (C800) 603 MCTRL_dnSpeedAdd (C802) 603 MCTRL_dnSpeedCtrlAdapt (C810) 604 MCTRL_dnSpeedCtrlIntegrator (C815) 605 MCTRL_dnSpeedLowLimit (C805) 603 MCTRL_dnSpeedSet_s (C
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9400 HighLine | Parameter setting & configuration Index CAN module is missing or incompatible 495 Digital frequency module is missing or incompatible 494 Ethernet module is missing or incompatible 494 ICM module missing or incompatible 494 Module changed during operation 450 Module has been changed 453 Module is defective or missing 451 Module is missing or incompatible 493 PROFIBUS module is missing or incompatible 493 Wrong module 452 N Negative direction of rotation limited 534 Negative limit switch h
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9400 HighLine | Parameter setting & configuration Index Ref. deceleration time quick stop (C107) 554 Ref. for dec. time of stop (C2612) 629 Ref. mode (C2640) 631 Ref. speed 1 (C2644) 632 Ref. speed 2 (C2646) 632 Ref. S-ramp time (C2648) 632 Ref. torque limit (C2649) 633 Ref. touch probe configuration (C2651) 633 Reference search 165 Reference setting 165 Required license missing 493 Required safety module (C214) 565 Reset of error message 44, 447 Resistor for spec.
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9400 HighLine | Parameter setting & configuration Index Service code (C338) 571 Service code (C379) 579 Service code (C395) 582 Service code (C396) 582 Service code (C397) 582 Service code (C468) 585 Service code (C512) 586 Service code (C513) 586 Service code (C514) 586 Service code (C515) 586 Service code (C516) 586 Service code DataFlash (C1213) 611 Service password (C4) 546 Setpoint interpolation (C2550) 620 Setting for test mode (C399) 582 Setting the error response 439 SF_dnMotorAcc_x (C2692) 637 SF
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9400 HighLine | Parameter setting & configuration Index User task 2 Overflow 458 User task 3 Overflow 458 User task 4 Overflow 459 User task 5 Overflow 459 User task 6 Overflow 459 User task 7 Overflow 459 User task 8 Overflow 459 User task 9 Overflow 459 User-defined time unit (C2534) 618 User-defined unit (C2526) 615 User-defined unit (C2535) 618 V Violation of the time dial 468 Vp Lss saturat.
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)(('%$&. L Your opinion is important to us These Instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product. If you have suggestions for improvement, please e-mail us to: feedback-docu@Lenze.de Thank you for your support.