Inverter i700 13410788 Ä.J(yä i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ E70ACM...
Contents ________________________________________________________________ 1 1.1 1.2 1.3 1.
Contents ________________________________________________________________ 4.5 4.6 5 5.1 5.
Contents ________________________________________________________________ 5.9.4 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol _ _ _ 91 5.9.5 Detection of changed settings of the feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.10 Synchronous motor (SM): Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.10.
Contents ________________________________________________________________ 5.13 Parameterising filter elements in the setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.13.1 Jerk limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x2945 | 0x3145 - Torque: Setpoint jerk limitation 5.13.2 132 132 Notch filters (band-stop filters) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132 5.
Contents ________________________________________________________________ 7 7.1 7.2 7.
Contents ________________________________________________________________ 7.7 Velocity mode (vl) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7.7.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7.7.
Contents ________________________________________________________________ 7.11 Touch probe (TP) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7.11.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7.11.2 General functional principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7.11.
Contents ________________________________________________________________ 9 9.1 9.2 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Indication of fault and warning (error code) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 0x603F | 0x683F - Error code 259 260 261 0x284F | 0x304F - Current fault 9.2.
Contents ________________________________________________________________ Error code 0xFF03: Fatal internal error - overflow task [value] Error code 0xFF04: PLI - motor movement too large Error code 0xFF05: STO inhibited Error code 0xFF06: Max.
Contents ________________________________________________________________ 11 Appendix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11.1 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11.2 Structure of the parameter set file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11.2.
1 About this documentation ________________________________________________________________ 1 About this documentation Danger! The controller is a source of danger which may lead to death or severe injury of persons. To protect yourself and others against these dangers, observe the safety instructions before switching on the controller. Please read the safety instructions in the mounting instructions and in the hardware manual for the i700 servo inverter.
1 About this documentation 1.1 Conventions used ________________________________________________________________ 1.1 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Writing Examples/notes Spelling of numbers Decimal separator Point The decimal point is always used. Example: 1234.56 Hexadecimal number 0x For hexadecimal numbers, the prefix "0x" is used.
1 About this documentation 1.2 Terminology used ________________________________________________________________ 1.
1 About this documentation 1.3 Definition of notes used ________________________________________________________________ 1.
1 About this documentation 1.4 Structure of the parameter descriptions ________________________________________________________________ 1.4 Structure of the parameter descriptions All parameters which you can use to parameterise or monitor the i700 servo inverter are stored within "objects". • For the purpose of addressing, each object is provided with a unique index. In this documentation the index is represented as a hexadecimal value and is identified by a prefixed "0x", e.g. "0x1000".
1 About this documentation 1.4 Structure of the parameter descriptions ________________________________________________________________ Parameter attributes Name Meaning Write access = Parameter can be written to. = Parameter can only be read. CINH = Parameter can only be written to if controller inhibit is set. OSC = Parameter can be recorded by means of the oscilloscope function. P = Parameter can be persisted. Tx = Parameter can be mapped into the TPDO.
2 Parameter handling 2.1 Parameter transfer during initialisation ________________________________________________________________ 2 Parameter handling 2.1 Parameter transfer during initialisation During the acceleration of the system, the controller and the controllers exchange configuration data (e.g. bus cycle and PDO mapping).
2 Parameter handling 2.2 Storage parameter set (par001.*) and total parameter set (par000.*) ________________________________________________________________ 2.2 Storage parameter set (par001.*) and total parameter set (par000.*) For the storage of the i700 servo inverter parameters, two different parameter sets are provided, which are stored in different parameter set files in the higher-level controller: Storage parameter set (par001.
2 Parameter handling 2.2 Storage parameter set (par001.*) and total parameter set (par000.*) ________________________________________________________________ 2.2.1 Saving a parameter set from the i700 to a file (export) Reading out and storing the parameters from the i700 servo inverter is initiated and controlled from the higher-level controller. For reading out a parameter set, the corresponding parameter values are summarised in a parameter set file (par001.* or par000.
2 Parameter handling 2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum ________________________________________________________________ 2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum Each parameter set features an individual checksum (CRC32), which is composed of the settings of all storable indexes (P-flag) of the parameter set. When a setting changes, there is also a change in the checksum.
3 Communication with the controller 3.1 Acceleration of the system (initialisation) ________________________________________________________________ 3 Communication with the controller "EtherCAT control technology" communication manual Here you will find detailed information on the EtherCAT configuration and commissioning of Lenze devices in the EtherCAT network.
3 Communication with the controller 3.1 Acceleration of the system (initialisation) ________________________________________________________________ Note! If no data for the initialisation of the controller are transmitted, the i700 servo inverter uses the "Lenze setting" for the parameters. Power up/Power down In the case of "Power up" and "Power down", no undefined states can occur that cause damage to the device or motor movements which are not requested or not braked.
3 Communication with the controller 3.2 Process data (cyclic PDO transfer) and PDO mapping ________________________________________________________________ 3.2 Process data (cyclic PDO transfer) and PDO mapping "EtherCAT control technology" communication manual Here you will find some detailed information on the configuration of the process data objects (PDO mapping) with the »PLC Designer«.
3 Communication with the controller 3.
3 Communication with the controller 3.3 Parameter data transfer (SDO communication) ________________________________________________________________ 3.3 Parameter data transfer (SDO communication) In addition to the cyclic process data transfer, parameter data can be transferred as so-called SDOs (Service Data Objects) in a non-cyclic manner within an individual datagram between the controller (master) and the controllers (slaves).
3 Communication with the controller 3.3 Parameter data transfer (SDO communication) ________________________________________________________________ 3.3.2 SDO abort codes If an SDO request is evaluated negatively, a corresponding abort code is output: SDO abort code 3.3.3 Description 0x0000 0000 No error 0x0503 0000 The status of the toggle bit has not changed. 0x0504 0000 SDO protocol time-out 0x0504 0005 The space in the main memory is not sufficient.
3 Communication with the controller 3.4 Activating the control via PDO ________________________________________________________________ 3.4 Activating the control via PDO 0x2824 | 0x3024 - Device control via PDO: Activation This object serves to switch off all RPDOs (from the device's point of view) so that the device is exclusively controlled via SDOs. • This is, for instance, required for manual enable of commissioning functions and test modes via the (0x6040 control word 0x6840 for axis B).
3 Communication with the controller 3.5 Lenze control and status word ________________________________________________________________ 0x2831 | 0x3031 - Lenze status word In the Lenze status word, messages are combined that go beyond the CiA specification. Display area (min. value | unit | max.
3 Communication with the controller 3.5 Lenze control and status word ________________________________________________________________ 0x2833 | 0x3033 - Lenze statusword 2 From version 01.03 Display area (min. value | unit | max. value) 0x0000 Initialisation 0xFFFF Value is bit-coded: Info Bit 0 Feedback modification Changes in the settings of the feedback system have been executed. The status bit is reset at controller enable.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6 Ethernet over EtherCAT (EoE) From version 01.05, the i700 servo inverter supports the "Ethernet over EtherCAT (EoE)" protocol. The "Ethernet over EtherCAT (EoE)" protocol serves to send standard Ethernet telegrams via the EtherCAT network without the real-time communication of the EtherCAT process data being affected.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.2 Supported protocols and services • ARP • DHCP Client • ESDCP • ICMP (ping) • IP • UDP/TCP • GCI-SDO communication (TCP port 9410) 3.6.3 Display of EoE-specific information The following object serves to read out the EoE-specific information for diagnostic purposes. 0x2020 - EoE information From version 01.05 • The subcodes 1 ...
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4 GCI-SDO communication (TCP port 9410) The TCP port 9410 serves to establish a parameter communication with the i700 servo inverter.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.1 Structure of the EtherCAT data telegram The GCI protocol is used for communication. The EtherCAT data telegram is shown below. Here, the GCI header represents the part of the program that is independent of the type of command transmitted. EtherCAT IP Header Header GMT [3-2] GSV TCP/IP Header GCI Header GMQ GTI P0 ...
3 Communication with the controller 3.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.2 Assignment of user data areas P0 ... P4 Range Byte 1 Byte 3 Byte 4 Status/error code Data type Reserved P1 Index Reserved Reserved P2 Subindex Reserved Reserved* P0 Byte 2 P3 Parameter value P4 Parameter value * When the data type VISIBLE_STRING is transmitted, byte 4 contains the number of the characters attached.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.3 Error codes The error code is located in the User data area P0, byte 1 and byte 2. User data area P0 Byte 1 Byte 2 Error code Byte 3 Byte 4 Data type Reserved Example error code 0x9002 Low byte High byte 0x02 0x90 Note! The other user data contents correspond to those of an error-free message.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request) The heatsink temperature of the i700 servo inverter is to be read.
3 Communication with the controller 3.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.5 Telegram example 2: Querying the software version of the i700 (read request) The software version of the i700 servo inverter is to be read. • Object to be read: 0x100A • Assumption: Software version = "1.5.0.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ Response • GCI Message Qualifier (GMQ) = 0x80 = 0b10000000 = "Response" • Length of the user data = 20 bytes of standard user data area P0 ... P4 plus 21 bytes of attached string (incl.
3 Communication with the controller 3.6 Ethernet over EtherCAT (EoE) ________________________________________________________________ 3.6.4.6 Telegram example 3: Setting the LV warning threshold in the i700 (write request) The warning threshold for the low-voltage detection (LV) is to be set in the i700 servo inverter to 400 V.
3 Communication with the controller 3.
4 Device settings 4.1 Behaviour in case of error ________________________________________________________________ 4 Device settings Objects described in this chapter 4.
4 Device settings 4.1 Behaviour in case of error ________________________________________________________________ Tip! It is reasonable to set a value ≥"4" in 0x10F1:2 to tolerate a failed PDO and prevent two PDO failures in a row. The following table lists some possible settings: Permitted PDO failures in a row Monitoring threshold (0x10F1:2) 0 1 ... 2 1 4 ... 5 2 7 ... 8 3 10 ... 11 From version 01.
4 Device settings 4.2 Device identification data ________________________________________________________________ 4.2 Device identification data 0x2000 - Device: Data Type code (Lenze ID), serial number and manufacturing date of the device Sub. Name Lenze setting Data type 1 Device: Product designation STRING(50) 2 Device: Serial number STRING(50) 3 Device: Manufacturing date STRING(50) Write access CINH OSC P RX TX 0x2001 - Device: Name Any device name (e.g.
4 Device settings 4.4 Device commands ________________________________________________________________ 4.
4 Device settings 4.5 Monitoring of the DC-bus voltage ________________________________________________________________ 4.5 Monitoring of the DC-bus voltage For the device as a whole, the DC-bus voltage is monitored with regard to undervoltage and overvoltage. • The voltage monitoring is active in the device statuses "Ready to switch on", "Switched on", "Operation enabled" and "Quick stop is active".
4 Device settings 4.5 Monitoring of the DC-bus voltage ________________________________________________________________ Subindex 3: Undervoltage (LU): Error threshold Display of the error threshold for monitoring with regard to undervoltage • If the DC-bus voltage of the i700 servo inverter falls below the threshold value shown here, the device reports an error and the motor module changes to the "Fault" error status. An automatic restart after mains recovery is not possible. Display area (min.
4 Device settings 4.6 Real-time information (distributed clock) ________________________________________________________________ 4.6 Real-time information (distributed clock) 0x2580 - ECAT DC: Real-time information All time information provided in this object is based on UTC and transmitted in the format defined by EtherCAT for this purpose: In nanoseconds, at a width of 64 bits, based on a date of January 01, 2000, (2000-01-01) and a time of 00:00.
4 Device settings 4.6 Real-time information (distributed clock) ________________________________________________________________ Subindex 4: ECAT DC: Current time Display of the time information the i700 servo inverter is currently using (time of the device if you will). • The contents are updated every time this subindex is read.
5 Motor control & motor settings ________________________________________________________________ 5 Motor control & motor settings This chapter describes the commissioning of the motor control in a recommended sequence.
5 Motor control & motor settings ________________________________________________________________ Object Name Data type Axis A Axis B 0x2B05 0x3305 VFC: Voltage vector control parameter RECORD 0x2B06 0x3306 VFC: Voltage boost UNSIGNED_16 0x2B07 0x3307 VFC: Load adjustment - parameter RECORD 0x2B08 0x3308 VFC: Imax controller - parameter RECORD 0x2B09 0x3309 VFC: Slip compensation - parameter RECORD 0x2B0A 0x330A VFC: Oscillation damping - parameter RECORD 0x2B0B 0x330B VFC:
5 Motor control & motor settings 5.1 Required commissioning steps (short overview) ________________________________________________________________ 5.1 Required commissioning steps (short overview) The following subchapters provide information on the individual commissioning steps required for a specific control mode/motor type combination. 5.1.1 Servo control for synchronous motor (SM) Required commissioning steps 1. Wiring check by means of manual test modes 2. Setting the control mode 3.
5 Motor control & motor settings 5.1 Required commissioning steps (short overview) ________________________________________________________________ 5.1.2 Servo control for asynchronous motor (ASM) Required commissioning steps 1. Wiring check by means of manual test modes 2. Setting the control mode 3. Accepting/adapting plant parameters 4. Setting the motor parameters for the servo control 5. Set motor monitoring: • Monitoring of the motor utilisation (I²xt) • Motor temperature monitoring 6.
5 Motor control & motor settings 5.1 Required commissioning steps (short overview) ________________________________________________________________ 5.1.3 V/f characteristic control for asynchronous motor (ASM) Required commissioning steps 1. Wiring check by means of manual test modes 2. Setting the control mode 3. Accepting/adapting plant parameters 4. Compensating for inverter influence on output voltage 5.
5 Motor control & motor settings 5.2 Commissioning functions (short overview) ________________________________________________________________ 5.2 Commissioning functions (short overview) For a quick commissioning, the i700 servo inverter provides various functions which serve to automatically calculate and set the parameters.
5 Motor control & motor settings 5.2 Commissioning functions (short overview) ________________________________________________________________ 0x2825 | 0x3025 - Axis: Operating mode This object serves to activate different commissioning test modes and procedures for the automatic parameter identification. Via the cross-reference in the information column, a detailed description of the respective function is provided.
5 Motor control & motor settings 5.2 Commissioning functions (short overview) ________________________________________________________________ 5.2.1 Enable/inhibit operation via control word The operating mode can only be selected in 0x2825 (or 0x3025f or axis B) when operation is inhibited (pulse inhibit). In order to start the corresponding procedure after the selection, the operation must be enabled explicitly. Required steps to enable the operation after an STO: 1.
5 Motor control & motor settings 5.2 Commissioning functions (short overview) ________________________________________________________________ 5.2.2 Saving changed parameters safe against mains failure If control parameters are changed during the commissioning phase, e.g. by the functions for automatic parameter identification, the changed control parameters must be uploaded from the i700 servo inverter into the controller for permanent storage.
5 Motor control & motor settings 5.3 Wiring check by means of manual test modes ________________________________________________________________ 5.3 Wiring check by means of manual test modes Before the parameterisation of the actual control is started, the wiring of the motor (power and encoder connection) should be checked for errors and, if required, should be corrected.
5 Motor control & motor settings 5.3 Wiring check by means of manual test modes ________________________________________________________________ 5.3.1 Manual test mode "voltage/frequency" Functional description In this test mode, a rotating field voltage with the set output frequency fout is output at the motor terminals after controller enable. • If the frequency selection is positive, the motor should rotate clockwise when one is looking at the A-side of the motor.
5 Motor control & motor settings 5.3 Wiring check by means of manual test modes ________________________________________________________________ Preconditions for the execution • The motor must be able to rotate freely. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution The motor rotates as a function of the set output frequency. How to activate the manual test mode "voltage/frequency": 1.
5 Motor control & motor settings 5.3 Wiring check by means of manual test modes ________________________________________________________________ Preconditions for the execution • The motor must be able to rotate freely. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution The motor rotates as a function of the set output frequency.
5 Motor control & motor settings 5.4 Manual control ________________________________________________________________ 5.4 Manual control As an alternative wiring check, the "Manual control" mode can be activated. Functional description The "manual control" mode enables manual operation of the i700 servo inverter via the »EASY Starter« PC tool . • In the manual control mode both the current and the frequency are run to the set final value via a parameterisable ramp time.
5 Motor control & motor settings 5.4 Manual control ________________________________________________________________ Comparison of the test mode "current/frequency" and the "manual control" mode The following table shows the differences between the two modes: Test mode "Current/frequency" Mode "Manual control" Current setpoint is pending immediately after controller Current setpoint is run to the final value via a enable. parameterisable ramp time after controller enable.
5 Motor control & motor settings 5.4 Manual control ________________________________________________________________ Preconditions for the execution • The motor must be able to rotate freely. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution The motor rotates according to the manual jog commands. How to activate the manual control: 1. If the controller is enabled, inhibit the controller.
5 Motor control & motor settings 5.4 Manual control ________________________________________________________________ Subindex 3: Manual jog: Ramp time - current Time span during which the current setpoint is run from zero to the final value set. Setting range (min. value | unit | max. value) 0 ms Lenze setting 1000 0 ms Write access CINH OSC P RX TX UNSIGNED_16 Subindex 4: Manual jog: Ramp time - frequency Time span during which the frequency is run from zero to the final value set.
5 Motor control & motor settings 5.5 Setting the control mode ________________________________________________________________ 5.
5 Motor control & motor settings 5.6 Accepting/adapting plant parameters ________________________________________________________________ 5.6 Accepting/adapting plant parameters The "plant parameters" summarise all parameters which result from the combination of motor and load. These characterise the transfer behaviour of the entire controlled system including the required monitoring modes. • The plant parameters depend on the application in which the controller and motor are used.
5 Motor control & motor settings 5.7 Compensating for inverter influence on output voltage ________________________________________________________________ 5.7 Compensating for inverter influence on output voltage Note! In the V/f characteristic control mode the procedure described below is recommended because a well-adapted inverter characteristic leads to a significantly improved drive behaviour during V/f operation.
5 Motor control & motor settings 5.7 Compensating for inverter influence on output voltage ________________________________________________________________ Preconditions for the execution • The motor may be firmly braked. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution If the motor is not firmly braked, it will move slightly. How to determine the inverter characteristic: 1. If the controller is enabled, inhibit the controller.
5 Motor control & motor settings 5.7 Compensating for inverter influence on output voltage ________________________________________________________________ Advanced settings For characteristic detection, the current controller is parameterised automatically at the beginning of the identification process. For motors with a very low stator leakage inductance (< 1 mH), an automatic parameter setting may fail and the actual identification process is aborted with an error message like e.g. "short circuit".
5 Motor control & motor settings 5.7 Compensating for inverter influence on output voltage ________________________________________________________________ 0x2947 | 0x3147 - Inverter characteristic: Voltage grid points (y) y values of the 17 grid points of the inverter characteristic Sub. Lenze setting Data type 1 IC: y1 = U01 (x = 0.00 %) Name 0.00 V UNSIGNED_16 2 IC: y2 = U02 (x = 6.25 %) 0.00 V UNSIGNED_16 3 IC: y3 = U03 (x = 12.50 %) 0.00 V UNSIGNED_16 4 IC: y4 = U04 (x = 18.75 %) 0.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 5.8 Setting the motor parameters for the servo control If the servo control (SM, ASM) is applied, it is required to parameterise the so-called motor model first. These are electrical variables which are provided in the i700 servo inverter as parameters. 5.8.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 5.8.2.1 Enter motor nameplate data If the equivalent circuit data of the motor required for the motor model are not known, they can automatically be determined by approximation by the i700 servo inverter by means of the motor nameplate data before they are set. How to have the equivalent circuit data determined by the i700 servo inverter: 1.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ Motor equivalent circuit Async. motor Synchronous motor IPhase Rs Lss Lsr IPhase Rs Ls IµN UPhase Lh Rr s UPhase Axis A Axis B 0x2C01:2 0x3401:2 Symbol Description Rs Motor stator resistance (value at 20°C) 0x2C01:3 0x3401:3 Lss Motor stator leakage inductance (ASM) e.m.f.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 5.8.2.3 Determine motor parameters automatically via "motor parameter identification" Danger! This procedure may only be carried out during commissioning, not during operation! • During the procedure the motor is energised so that: • it cannot be excluded that the connected mechanical components may move! • the windings heat up.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ After the parameters have been extracted from the impedance, they are checked for consistency with the required rated values. If an inconsistent parameter set is detected, is this an indication of faulty rated values on the nameplate. Preconditions for the execution • The synchronous motor must be able to rotate freely.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ How to carry out the motor parameter identification: 1. If the controller is enabled, inhibit the controller. Enable/inhibit operation via control word ( 59) 2. Set object 0x2825 (or 0x3025 for axis B) to "9" to change to the "Motor: Parameter identification" operating mode. 3. Enable the controller to start the procedure.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 5.8.3 Motor parameters (object descriptions) 0x2C01 | 0x3401 - Motor: Common parameters Sub. Name Lenze setting 1 Motor: Number of pole pairs Data type UNSIGNED_8 2 Motor: Stator resistance 13.5000 ohms UNSIGNED_32 3 Motor: Stator leakage inductance 51.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ Subindex 7: Motor: Rated voltage Setting range (min. value | unit | max. value) 0 Lenze setting V 65535 225 V Write access CINH OSC P RX TX UNSIGNED_16 Subindex 8: Motor: Rated cosine phi Setting range (min. value | unit | max. value) Lenze setting 0.00 655.35 0.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 0x2C03 | 0x3403 - Motor (SM): Parameter Sub. Lenze setting Data type 1 Motor (SM): e.m.f. constant (KELL) Name 41.8 V/1000 rpm UNSIGNED_32 2 Motor (SM): Pole position resolver -90.0 ° INTEGER_16 3 Motor (SM): Temperature coefficient magnets (kTN) -0.110 %/°C INTEGER_16 4 Motor (SM): Pole position encoder 0.
5 Motor control & motor settings 5.8 Setting the motor parameters for the servo control ________________________________________________________________ 0x6076 | 0x6876 - Motor rated torque The rated motor torque set here serves as a reference value for the following objects: • 0x6071 | 0x6872 - Target torque • 0x6072 | 0x6872 - Max.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ 5.9 Setting the feedback system for the servo control After setting the motor parameters, the feedback system for the servo control must be set. Note! The feedback system has already been preselected by the hardware of the available device version. Either the objects for resolver evaluation or the objects for encoder evaluation are effective.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ 5.9.1 General settings Encoder open-circuit monitoring In the Lenze setting the resolver/encoder cable is monitored for open circuit.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ 0x2C5F | 0x345F - Feedback system: Parameter CRC From version 01.03 Display area (min. value | unit | max. value) 0 Initialisation 4294967295 Write access CINH OSC P RX TX 5.9.2 UNSIGNED_32 Settings for "resolver" version 0x2C43 | 0x3443 - Resolver: Number of pole pairs Setting range (min. value | unit | max.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ Preconditions for the execution • The motor is operated in speed open-loop control and servo control. • During the resolver error identification, the speed should be constant, if possible, and greater than 500 rpm. Response of the motor during the execution • The response of the motor corresponds to the speed setpoint.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ Subindex 2: Resolver error compensation: Cosine track gain Setting range (min. value | unit | max. value) 0 Lenze setting % 100 100 % Write access CINH OSC P RX TX UNSIGNED_16 Subindex 3: Resolver error compensation: Sine track gain Setting range (min. value | unit | max.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ Subindex 3: Encoder: Angle drift - Actual angle error From version 01.03 Display area (min. value | unit | max. value) -3276.8 ° Initialisation 3276.7 Write access CINH OSC P RX TX Scaling: 1/10 INTEGER_16 Subindex 4: Encoder: Signal quality - Actual amplitude From version 01.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ 5.9.4 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol Absolute value encoders are especially suitable for: • Synchronous motors operated in the "servo control" mode. The synchronous motor (SM) servo control requires a pole position angle.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ 0x2C41 | 0x3441 - Hiperface: Parameter Sub. Lenze setting Data type 1 Hiperface: Determined type code Name 0 UNSIGNED_8 2 Hiperface: User def. encoder - type code 0 UNSIGNED_8 3 Hiperface: User def.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ Subindex 5: Hiperface: Serial number From version 01.03 The displayed serial number can be used for detecting an encoder exchange Write access CINH OSC P RX TX STRING(50) Subindex 6: Hiperface: Raw data - Actual position From version 01.03 The encoder-internal position value is output without being converted Display area (min.
5 Motor control & motor settings 5.9 Setting the feedback system for the servo control ________________________________________________________________ Communication error monitoring Communication with the encoder is monitored by the protocol and by generating a checksum.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ 5.10 Synchronous motor (SM): Pole position identification Note! Only required: • For servo control with synchronous motor of a third-party manufacturer. • For servo control with synchronous motor and use of incremental encoders (TTL or sin/cos encoders as well as resolvers). • After changes of the motor feedback system, e.g. encoder exchange.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ 5.10.1 Monitoring of the pole position identification If an error occurs during the pole position identification or the pulse inhibit gets active (e.g. due to short-time undervoltage), the procedure is terminated with controller inhibit without a change in settings.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ Preconditions for the execution • The motor must not be braked or blocked during the pole position identification. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution During the pole position identification the rotor aligns itself. The motor shaft moves by max.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ 0x2C61 | 0x3461 - Pole position identification PPI (360°) Sub.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ Subindex 5: PPI (360°): Absolute current amplitude Display of the absolute current amplitude Display area (min. value | unit | max. value) 0.00 A Initialisation 42949672.95 Write access CINH OSC P RX TX 5.10.3 Scaling: 1/100 UNSIGNED_32 Pole position identification PPI (min.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ How to execute the pole position identification PPI (min. movement): 1. If the controller is enabled, inhibit the controller. Enable/inhibit operation via control word ( 59) 2. Set object 0x2825 (or 0x3025 for axis B) to "6" to change to the "Pole position identification (min. movement)" operating mode. 3.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ 0x2C62 | 0x3462 - Pole position identification PPI (min. movement) Sub. Lenze setting Data type 1 PPI (min. movement): Current amplitude Name 25 % UNSIGNED_16 2 PPI (min. movement): Ramp time - current 10 s UNSIGNED_16 3 PPI (min. movement): Gain 0% UNSIGNED_16 4 PPI (min. movement): Reset time 62.5 ms UNSIGNED_16 5 PPI (min.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ Subindex 5: PPI (min. movement): Max. move permitted Adjustment of the permitted movement • The pole position identification comprises a monitoring function for the follow-up control.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ Preconditions for the execution • The motor may be firmly braked. • The controller is free of errors and is in the "Switched on" device status. Response of the motor during the execution Only a few short "knocks" can be heard from the motor, caused by the current test pulses. How to execute the pole position identification (without movement): 1.
5 Motor control & motor settings 5.10 Synchronous motor (SM): Pole position identification ________________________________________________________________ Optional settings (starting performance) Optionally, a PLI without motion can be activated after switching on the i700 servo inverter.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11 Setting control loops Subsequent to the motor parameterisation, the different control loops must be set. For quick commissioning, the calculations and settings can be carried out automatically using the commissioning functions of the servo inverter. For manual setting, applicable equations are offered in the following subchapters, too.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ For the automatic calculation of the two controller parameters, the "Current controller: Calculate controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B). • The calculating function is based on the stator resistance (0x2C01:2 or 0x3401:2 for axis B) and the stator leakage inductance (0x2C01:3 or 0x3401:3 for axis B).
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 0x2941 | 0x3141 - Current controller: Feedforward control Activate/deactivate the current controller feedforward control • Since the positioning movements are known, they can be precontrolled in order to slightly increase the achievable dynamic performance of the control loop. Note! A successful feedforward control requires knowledge of the equivalent circuit data of the motor.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.1.1 Manual test mode "Current pulse" The current controller must be adapted to the electrical characteristics of the motor – stator resistance and stator inductance. For an experimental adjustment, the manual test mode "Current pulse" can be used.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ Preconditions for the execution • The motor has to be completely parameterised. • The monitoring of the motor utilisation (I²xt) has to be parameterised and switched actively. Monitoring of the motor utilisation (I²xt) ( 241) • The motor must be able to rotate freely. • The controller is free of errors and is in the "Switched on" device status.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 6. Record the step response of the motor current with the oscilloscope function of the »PLC Designer«/»EASY Starter«. • Parameters to be recorded: Actual D current (0x2DD1:1 or 0x35D1:1 for axis B) Setpoint D current (0x2DD1:3 or 0x35D1:3 for axis B) D voltage (0x2DD7:4 or 0x35D7:4 for axis B) • Oscilloscope settings: Sampling rate = 0.0625 ms; time base = 2 ...
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ Note! The reduced moment of inertia of the load (0x2910:2 or 0x3110:2 for axis B) is included • directly in the calculation of the speed controller (0x2822 or 0x3022 = 5) and • indirectly in the calculation of the position controller (0x2822 or 0x3022 = 6). Thus, give the data with all due consideration. 0x2910 | 0x3110 - Moments of inertia Sub.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.3 Setting the speed controller For the automatic calculation of the gain and the reset time, the "Speed controller: Calculate controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B). This serves to calculate speed controller starting values. To ensure optimal operation, we recommend a manual follow-up optimisation.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 0x2900 | 0x3100 - Speed controller: Parameter Sub. Lenze setting Data type 1 Speed controller: Gain Name 0.00033 Nm/rpm UNSIGNED_32 2 Speed controller: Reset time 17.6 ms UNSIGNED_16 3 Speed controller: Rate time 0.00 ms UNSIGNED_16 Subindex 1: Speed controller: Gain Setting range (min. value | unit | max. value) 0.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 0x2904 | 0x3104 - Speed: Actual speed - filter time Time constant for actual speed filter • In order to maximise the dynamics of the speed control loop, the actual speed filter should be operated with a time constant as low as possible. The lower the time constant the higher the gain of the speed controller.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.4 Setting the position controller For the automatic calculation of the gain, the "Position controller: Calculate controller parameters" function is provided via object 0x2822 (or 0x3022 for axis B).
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 0x2984 | 0x3184 - Determine target position: Mode Selection list (Lenze setting printed in bold) 0 Absolute: (target position = 0x2983) 1 Relative: (actual position = actual position + 0x2983) Write access CINH OSC P RX TX Lenze · i700 servo inverter · Reference manual · DMS 1.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.5 Setting the field controller (ASM) For motors with great rotor time constants or small rotor resistances, very high gain factors are calculated. Since the setting range of the field controller is limited to the double rated magnetising current, the field control loop in the case of these motors tends to a two-point response when the values calculated are entered.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ Subindex 2: Field controller: Reset time Setting range (min. value | unit | max. value) 1.0 Lenze setting ms 6000.0 15.1 ms Write access CINH OSC P RX TX 5.11.6 Scaling: 1/10 UNSIGNED_16 Setting the field weakening controller (ASM) Since the controlled system gain changes with the speed, the field weakening controller is corrected via the speed.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ Subindex 2: Field weakening controller: Reset time Setting range (min. value | unit | max. value) 1.0 ms Write access CINH OSC P RX TX Lenze setting 240000.0 2000.0 ms Scaling: 1/10 UNSIGNED_32 0x29E1 | 0x31E1 - field: Field set value limitation Setting range (min. value | unit | max. value) 5.00 % Write access CINH OSC P RX TX Lenze setting 100.
5 Motor control & motor settings 5.11 Setting control loops ________________________________________________________________ 5.11.7 Field weakening operation - synchronous motor (SM) The control of the i700 servo inverter permits the operation of a synchronous motor outside the voltage range. If a motor is selected in the »Easy Starter«, the control is automatically parameterised.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 5.12 Fine adjustment des motor model The further commissioning steps are only required for servo controls if more stringent requirements with regard to the torque linearity have to be met. During the commissioning process of Lenze motors, typical values for the relevant parameters are provided.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ Note! The saturation characteristic is not only used to correct the current controller, but it also influences the current controller feedforward control (can be activated via object 0x2941 or 0x3141 for axis B). Distribution of the grid points • The saturation characteristic is represented by means of 17 grid points.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y) From version 01.05, the correction by means of saturation characteristic via the subindex 18 can also be switched off. Sub. Name Lenze setting Data type 1 Lss: y1 = L01 (x = 0.00 %) 165 % UNSIGNED_16 2 Lss: y2 = L02 (x = 6.25 %) 200 % UNSIGNED_16 3 Lss: y3 = L03 (x = 12.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 5.12.1.1 Example for determining the saturation characteristic Given values: • Rated motor current: 5 A • Maximum motor current: 20 A • Maximum process current: 15 A Procedure: 1. Deactivate correction: Set all subindices of object 0x2C04 (or 0x3404 for axis B) to 100 %. 2.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 4. Set the characteristic by means of the determined values for Vp (but do not enter any values in 0x2C04 or 0x3404 for axis B yet). • Here, the values of the grid points which have not been adjusted must be determined by interpolation between two values. • Note: In this example it was assumed that the inductance does not change considerably below 3.75 A.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 7. Enter the Vp values in per cent from the grid points into the subindices of object 0x2C04 (or 0x3404 for axis B): Setting for grid points 1 ... 17 in [%] y1 y2 y3 y4 y5 y6 y7 y8 y9 y10 y11 y12 y13 y14 y15 y16 y17 137 137 137 137 137 109 92 80 68 61 53 45 37 32 26 22 19 x11 x12 x13 x14 x15 x16 x17 62.5 68.75 75 81.25 87.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 5.12.2 Synchronous motor (SM): Compensating for temperature and current influences The properties of the permanent magnets of permanently excited synchronous motors (SM, PSM) depend on the temperature and the amperage. The relationship between motor current and resulting torque changes correspondingly.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 5.12.3 Asynchronous motor (ASM): Identifying the Lh saturation characteristic In case of an asynchronous motor, the relationship between current and torque is basically determined by the saturation behaviour of the mutual inductance.
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ Loading the standard Lh saturation characteristic If an incorrect Lh saturation characteristic has been determined or none at all, it is possible to load a device-typical standard Lh characteristic. How to load the standard Lh saturation characteristic: 1. Set object 0x2822 (or 0x3022 for axis B) to "13".
5 Motor control & motor settings 5.12 Fine adjustment des motor model ________________________________________________________________ 5.12.4 Estimating the optimal magnetising current In case of the given Lh saturation behaviour, there is (usually) a magnetising current where the torque efficiency is highest. This magnetising current can be determined by the i700 servo inverter.
5 Motor control & motor settings 5.13 Parameterising filter elements in the setpoint path ________________________________________________________________ 5.13 Parameterising filter elements in the setpoint path 5.13.1 Jerk limitation Max. acceleration change 0x2945 | 0x3145 - Torque: Setpoint jerk limitation Setting range (min. value | unit | max. value) 0.1 % Lenze setting 400.0 400.0 % Write access CINH OSC P RX TX 5.13.
5 Motor control & motor settings 5.
5 Motor control & motor settings 5.13 Parameterising filter elements in the setpoint path ________________________________________________________________ Note! Readjust the speed controller after setting the notch filters. Setting the speed controller. ( 113) For permanent storage, the changed settings must be uploaded to the controller from the i700 servo inverter. The »EASY Starter« serves to save the parameter settings of the i700 servo inverter as parameter file (*.gdc).
5 Motor control & motor settings 5.13 Parameterising filter elements in the setpoint path ________________________________________________________________ Subindex 6: Notch filter 2: Damping Setting range (min. value | unit | max. value) 0 dB Write access CINH OSC P RX TX Lenze · i700 servo inverter · Reference manual · DMS 1.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 5.14 Parameterising the V/f characteristic control In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter is determined by means of a linear or quadratic characteristic depending on the field frequency or motor speed to be generated. The voltage follows a preselected characteristic.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ Parameterisable functions Optionally the following functions can be activated for the V/f characteristic control: • "DC-injection braking" function • "Flying restart" function In the Lenze setting these two functions are deactivated. 5.14.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 0x2B01 | 0x3301 - VFC: V/f characteristic - define reference point Sub. Name 1 VFC: V/f characteristic - voltage at reference point Lenze setting Data type 225 V UNSIGNED_16 2 VFC: V/f characteristic - frequency at reference 270 Hz point UNSIGNED_16 Subindex 1: VFC: V/f characteristic - voltage at reference point Setting range (min.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 0x2B02 | 0x3302 - VFC: User-definable V/f characteristic - frequency grid points (x) Sub.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 5.14.2 Activating the voltage vector control (lmin controller) The voltage vector control that can be activated is used if a comparatively high starting torque has to be ensured. The voltage vector control makes sure that the motor current required is kept at smaller speeds in the speed range.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ Subindex 2: VFC: Voltage vector controller - reset time Reset time for voltage vector control Setting range (min. value | unit | max. value) 0.01 Lenze setting ms 2000.00 3.77 ms Write access CINH OSC P RX TX 5.14.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ V V Voltage at ref. point Voltage at ref. point UBoost 0 0 fset Frequency at ref. point UBoost 0 0 fset Frequency at ref.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ Subindex 2: VFC: Load adjustment - value Load adjustment in [%] proportionally to the rated torque, in order to obtain a correspondingly "rigid" drive behaviour even after the starting action. • When starting torque = rated torque, a load adjustment of 50 % is suitable for most applications. Setting range (min. value | unit | max. value) 0.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ If the connected mechanics and the conditions in the machine allow it, it may be helpful to determine the optimal parameters of the current controller by a practical acceleration test with a reduced maximum current (0x6073 or 0x6873 for axis B). Mass inertia and acceleration/deceleration considerably determine the requirements of the Imax control loop.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 5.14.6 Setting the slip compensation The slip compensation serves to automatically compensate a load-dependent speed loss. In order that the slip compensation can operate correctly, the rated slip of the motor is required. It is calculated from the rated motor frequency and the rated motor speed, thus both parameters must be parameterised correctly.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 5.14.7 Setting the oscillation damping The oscillation damping serves to reduce the oscillations during no-load operation which are caused by energy oscillating between the mechanical system (mass inertia) and the electrical system (DC bus). Furthermore, the oscillation damping can also be used to compensate resonances.
5 Motor control & motor settings 5.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ Subindex 4: VFC: Oscillation damping - final ramp frequency Ramp end frequency from which the gain factor is to have reached its rated value. • By setting a ramp end frequency, a possible negative impact of the oscillation damping on the concentricity factor in the lower speed range can be reduced.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 5.14.10 "Flying restart" function As a protective function against high compensation currents, the i700 servo inverter provides the flying restart function. High compensation currents may occur in the case of the V/f characteristic control if the drive is not at standstill at the time of controller enable.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ Flying restart process If the "flying restart process" function is activated, the flying restart process will start after controller enable: 1. The i700 servo inverter reports the started flying restart process to the controller via bit 8 in the Lenze status word (0x2831 or 0x3031 for axis B). 2.
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ The actual flying restart process can be adjusted via the following parameters: 0x2BA1 | 0x33A1 - Flying restart: Current Current injected in the motor by the flying restart algorithm to identify the current speed. • Selection in [%] based on the rated motor current (0x6075 or 0x6875 for axis B).
5 Motor control & motor settings 5.14 Parameterising the V/f characteristic control ________________________________________________________________ 0x2BA5 | 0x33A5 - Flying restart: Delay time To avoid starting a flying restart process at short-time controller inhibit, a time can be set here for the minimum active controller inhibit time before a flying restart process is activated. • Since a pulse inhibit > 500 ms causes a controller inhibit, this also applies to the pulse inhibit. Setting range (min.
5 Motor control & motor settings 5.15 "DC-injection braking" function ________________________________________________________________ 5.15 "DC-injection braking" function The control modes for asynchronous motors provide the opportunity to use "DC-injection braking" for the braking process. DC-injection braking can be • parameterised via bit 6 in the Lenze control word (0x2830 or 0x3030 for axis B) or • as response to light errors.
5 Motor control & motor settings 5.16 "Short-circuit braking" function ________________________________________________________________ 5.16 "Short-circuit braking" function The control modes for synchronous motors provide the opportunity to use "short-circuit braking" for the braking process. Short-circuit braking can be • parameterised via bit 6 in the Lenze control word (0x2830 or 0x3030 for axis B) or • as response to light errors.
5 Motor control & motor settings 5.17 Setting the switching frequency ________________________________________________________________ 5.17 Setting the switching frequency The i700 servo inverter can be operated with the switching frequencies listed below. 0x2939 | 0x3139 - Switching frequency Note: In case of "8 kHz variable" and "16 kHz variable", variable switching frequencies are involved.
5 Motor control & motor settings 5.18 Frequency and speed limitations ________________________________________________________________ 5.
6 Holding brake control 6.1 Operating modes ________________________________________________________________ 6 Holding brake control This device function is used to control a motor holding brake connected to the i700 servo inverter. Note! In the "Fault" device status, the holding brake is applied. Objects described in this chapter Object 6.
6 Holding brake control 6.1 Operating modes ________________________________________________________________ 6.1.1 Triggering via control word via external control (Lenze setting) Object Axis A Axis B 0x2820:1 0x3020:1 Name Required setting Brake: Operating mode 1: Activation via control word by ext. control system In this preset operating mode, the triggering takes place via the application program in the Controller via bit 14 in the CiA402 control word (0x6040 or 0x6840 for axis B).
6 Holding brake control 6.2 Display of the holding brake status ________________________________________________________________ 6.1.3 No brake connected Object Axis A Axis B 0x2820:1 0x3020:1 Name Required setting Brake: Operating mode 2: No brake connected In this operating mode, no control, detection and monitoring of the brake takes place during normal operation. 6.
t xBrakeReleased BrakeReleased t t CINH CINH t lrActTorque M Brake release time (lrBrakeOpeningTime) Brake application time (lrBrakeClosingTime) Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05 1 0 0 1 lrStartingTorque1 lrStartingTorque2 Brake release time (0x2820:3 | 0x3020:3) Brake application time (0x2820:2 | 0x3020:2) t 2 *0.
6 Holding brake control 6.4 Settings ________________________________________________________________ 6.4 Settings 0x2820 | 0x3020 - brake control: settings Sub. Name Lenze setting Data type 1 Brake: Operating mode 1: Activation via control word by ext.
6 Holding brake control 6.4 Settings ________________________________________________________________ Subindex 5: Brake: Control logic The control logic of the holding brake can be inverted. Selection list (Lenze setting printed in bold) 0 Positive logic Info Positive logic means: • Release of the holding brake: The 1-signal serves to trigger the brake output via bit 14 in the CiA402 control word or by the device state machine (relay contact closed).
7 CiA402 device profile ________________________________________________________________ 7 CiA402 device profile The CiA402 device profile describes predefined functions or modes of a variable-speed drive. The individual process data for the modes are clearly defined. The axis parameterisation and the bus configuration (PDO mapping) are carried out via standardised indexes.
7 CiA402 device profile ________________________________________________________________ Object Name Data type Axis A Axis B 0x60B1 0x68B1 Velocity offset INTEGER_32 0x60B2 0x68B2 Torque offset INTEGER_16 0x60B8 0x68B8 Touch probe function UNSIGNED_16 0x60B9 0x68B9 Touch probe status UNSIGNED_16 0x60BA 0x68BA Touch probe pos1 pos value INTEGER_32 0x60BB 0x68BB Touch probe pos1 neg value INTEGER_32 0x60BC 0x68BC Touch probe pos2 pos value INTEGER_32 0x60BD 0x68BD Touch p
7 CiA402 device profile 7.1 Supported drive modes ________________________________________________________________ 7.1 Supported drive modes CiA402 - drive modes Can be used with Servo control V/f characteristic control Velocity mode (vl) • Speed control Cyclic sync velocity mode (csv) • Speed control with interpolation of the speed setpoint. Cyclic sync torque mode (cst) • Torque control with interpolation of the torque setpoint.
7 CiA402 device profile 7.3 General CiA402 parameters ________________________________________________________________ 7.3 General CiA402 parameters This chapter describes the general CiA402 parameters. All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.3 General CiA402 parameters ________________________________________________________________ 0x6404 | 0x6C04 - Motor manufacturer Write access CINH OSC P RX TX STRING(50) 0x6502 | 0x6D02 - Supported drive modes Bit coded display of the operating modes in which the drive can be actuated. 0: Operating mode is not supported. 1: Operating mode is supported. Display area (min. value | unit | max.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4 Device control The objects described in this chapter serve to control the states of the controller and select the operating mode. All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 0x6041 | 0x6841 - Statusword Status word from the drive Display area (min. value | unit | max.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 0x6060 | 0x6860 - Modes of operation Selection of the operating mode: 0 = no operating mode (standstill) 2 = Velocity mode 8 = Cyclic sync position mode 9 = Cyclic sync velocity mode 10 = Cyclic sync torque mode Setting range (min. value | unit | max.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.1 Shutdown This command changes the device status from "Switch on disabled" to "Ready to switch on". Power-on Not ready to switch on If the pulse inhibit has already been deactivated and the device status of the controller is "Operation enabled", this command can be used to set the pulse inhibit again.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.2 Switch on This command serves to deactivate the switch on inhibit which is active after switch on or after the reset (acknowledgement) of an error. Power-on Not ready to switch on Fault reaction active 0 Switch-on disabled • A changeover to the "Switched on" device status takes place.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.3 Enable operation This command serves to enable the operation and stop an active quick stop again. Power on Power-on Not ready to switch on • A changeover to the "Operation enabled" device status takes place. Fault reaction active 0 • The output stages of the controller become active.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.4 Activate quick stop This command serves to activate quick stop when operation is enabled. Power-on Not ready to switch on • Irrespective of the setpoint specified, the drive is brought to a standstill with the deceleration set for quick stop (0x6085 or 0x6885 for axis B). Fault reaction active 0 • A changeover to the "Quick stop is active" device status takes place.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.5 Disable operation This command serves to inhibit the enabled operation again. Power-on Not ready to switch on • The pulse inhibit is set. Fault reaction active 0 Switch-on disabled • If automatic brake operation is activated, the parameterised brake closing time is observed: The system waits until the brake is applied before the pulse inhibit is set.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.6 Disable voltage This command serves to inhibit the output stages of the controller again. Power-on Not ready to switch on • The pulse inhibit is set (unless they are set already), i.e. the pulses of the controller are inhibited. Fault reaction active 0 • The motor becomes torqueless. Switch-on disabled • A changeover back to the "Switch on disabled" device status takes place.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.1.7 Fault reset This command serves to reset an existing fault if the cause of the fault has been eliminated. Power-on Not ready to switch on • The pulse inhibit remains set. Fault reaction active 0 Switch-on disabled • A changeover to the "Switch on disabled" device status takes place, i. e. the switch on inhibit is active.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ Further Lenze-specific status bits (bits 8 ...
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.1 Not ready to switch on This is the status of the controller directly after switching on the supply voltage. Power on • In this device status, the device is initialised. Fault reaction active Not ready to switch on • Communication is not possible yet. • The controller cannot be parameterised yet and no device commands can be carried out yet.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.2 Switch on disabled This is the controller's status after the device has been initialised successfully. Power on • The process data monitoring is active. Fault reaction active Not ready to switch on • Communication is possible. • DC-bus voltage is available. • The inverter can be parameterised. Fault active Switch on disabled • The motor brake, if available, is closed.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.3 Ready to switch on This is the device status of the controller after the device has been initialised successfully and after the controller has received the "Shutdown" command. Power on Fault reaction active Not ready to switch on • The process data monitoring is active. • Communication is possible. • DC-bus voltage is available.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.4 Switched on This is the status of the controller after, in the "Ready to switch on" device status, it has received the "Switch on". Power on Fault reaction active Not ready to switch on • The process data monitoring is active. • Communication is possible. • DC-bus voltage is available. • The inverter can be parameterised.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.5 Operation enabled This device status represents normal operation. The operation in the operating mode selected is enabled and no errors are pending. Power on Fault reaction active Not ready to switch on • Only the parameters of the inverter can be changed which do not require controller inhibit.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.6 Quick stop is active This device status is active if quick stop is executed or is active. Power on • Only the parameters of the inverter can be changed which do not require controller inhibit. Fault reaction active Not ready to switch on • The motor brake, if available, is opened. • The drive control is working.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.7 Fault reaction active If a minor fault occurs, i. e. the drive is still able to actuate the motor in a controlled manner, this device status becomes active and the drive is brought to a standstill irrespective of the setpoint specified with the deceleration set for quick stop (0x6085 or 0x6885 for axis B).
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.2.8 Fault If a grave error occurs, i.e. the drive is not able to operate the motor in a controlled manner anymore, the drive is switched off immediately and this device state becomes active. Power on Fault reaction active Not ready to switch on • The pulse inhibit is set, i.e. the pulses of the controller are inhibited. • The motor is torqueless.
7 CiA402 device profile 7.4 Device control ________________________________________________________________ 7.4.3 Selection of the operating mode The drive behaviour depends on the selected operating mode. The operating mode is selected by the Controller via the 0x6060 object (or 0x6860 for axis B) in the communication statuses "PreOperational" or "Operational". Access can be effected via SDO or PDO. • Only one operating mode at a time can be active.
7 CiA402 device profile 7.5 Parameters for the scaling of physical values ________________________________________________________________ 7.
7 CiA402 device profile 7.5 Parameters for the scaling of physical values ________________________________________________________________ 0x608F | 0x688F - Position encoder resolution Resolution of the position detection by the motor encoder Sub. Name Lenze setting Data type 1 Encoder increments 0x00010000: 16 Bit UNSIGNED_32 2 Motor revolutions 1 UNSIGNED_32 Subindex 1: Encoder increments Setting of the number of bits with which a mechanical motor revolution is to be resolved.
7 CiA402 device profile 7.6 Parameters for actuation of the position control ________________________________________________________________ 7.6 Parameters for actuation of the position control The objects described in this chapter actuate the position control (including the following error and in-position recognition). All objects comply with the CiA402 specification.
7 CiA402 device profile 7.6 Parameters for actuation of the position control ________________________________________________________________ 0x6062 | 0x6862 - Position demand value Interpolated set position for the position control Display area (min. value | unit | max. value) -2147483648 [Pos unit] Initialisation 2147483647 0 [Pos unit] Write access CINH OSC P RX TX INTEGER_32 0x6063 | 0x6863 - Position actual internal value Actual position in internal unit Display area (min.
7 CiA402 device profile 7.
7 CiA402 device profile 7.7 Velocity mode (vl) ________________________________________________________________ 7.7 Velocity mode (vl) Selection of the operating mode "Velocity mode" is selected with the setting "2" in 0x6060 (or 0x6860 for axis B). 7.7.
7 CiA402 device profile 7.7 Velocity mode (vl) ________________________________________________________________ 7.7.2 Object description The following two tables provide an overview of the most important objects for this operating mode (without motor parameters, motor control parameters, and feedback parameters). All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.7 Velocity mode (vl) ________________________________________________________________ 0x6044 | 0x6844 - vl velocity actual value Display area (min. value | unit | max. value) -32768 Initialisation r/min 32767 Write access CINH OSC P RX TX INTEGER_16 0x6046 | 0x6846 - vl velocity min max amount Sub.
7 CiA402 device profile 7.7 Velocity mode (vl) ________________________________________________________________ 0x6049 | 0x6849 - vl velocity deceleration Sub. Lenze setting Data type 1 Delta speed Name 0 rpm UNSIGNED_32 2 Delta time 10 s UNSIGNED_16 Subindex 1: Delta speed Setting range (min. value | unit | max. value) 0 Lenze setting r/min 2147483647 0 rpm Write access CINH OSC P RX TX UNSIGNED_32 Subindex 2: Delta time Setting range (min. value | unit | max.
7 CiA402 device profile 7.
7 CiA402 device profile 7.7 Velocity mode (vl) ________________________________________________________________ 7.7.
7 CiA402 device profile 7.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ 7.8 Cyclic sync position mode (csp) This operating mode provides a quick position follower with speed/torque/feed force feedforward control. The motion profile to be processed is defined by the controller. Note! This operating mode can only be actuated reasonably by the use of a servo control.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ 7.8.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ 7.8.2 Object description The following two tables provide an overview of the most important objects for this operating mode (without motor parameters, motor control parameters, and feedback parameters). All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ 0x607A | 0x687A - Target position Setting range (min. value | unit | max. value) -2147483648 [Pos unit] Lenze setting 2147483647 0 [Pos unit] Write access CINH OSC P RX TX INTEGER_32 0x60C0 | 0x68C0 - Interpolation sub mode select From version 01.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ Tip! For an interpolation cycle of 2 ms, for instance, the following values are to be set: • Subindex 1 (Time period value) = "2" • Subindex 2 (Time index) = "-3" 0x60E0 | 0x68E0 - Positive torque limit value 100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B) Setting range (min. value | unit | max. value) 0.0 Lenze setting % 3276.7 100.
7 CiA402 device profile 7.
7 CiA402 device profile 7.8 Cyclic sync position mode (csp) ________________________________________________________________ Function Object Field-oriented control ,T ,G Name Axis A Axis B 0x6073 0x6873 Max current 0x6075 0x6875 Motor rated current 0x2941 0x3141 Current controller: Feedforward control 0x2942:1 0x3142:1 Current controller: Gain 0x2942:2 0x3142:2 Current controller: Reset time 0x29E2 0x31E2 DC link circuit voltage: Filter time 0x29E3 0x31E3 Motor voltage act.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ 7.9 Cyclic sync velocity mode (csv) This operating mode provides a quick speed follower with torque/feed force feedforward control. The motion profile to be processed is defined by the controller.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ 7.9.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ 7.9.2 Object description The following two tables provide an overview of the most important objects for this operating mode (without motor parameters, motor control parameters, and feedback parameters). All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ 0x606C | 0x686C - Velocity actual value Current speed Display area (min. value | unit | max. value) -480000 Initialisation [n unit] 480000 Write access CINH OSC P RX TX INTEGER_32 Scaling: 480000/231 0x60B1 | 0x68B1 - Velocity offset Additive value for target velocity or velocity feedforward control Setting range (min. value | unit | max.
7 CiA402 device profile 7.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ Function Object Field-oriented control ,T ,G 7.9.
7 CiA402 device profile 7.
7 CiA402 device profile 7.9 Cyclic sync velocity mode (csv) ________________________________________________________________ Tip! A detailed representation of the signal flow with all relevant parameters can be found in the »PLC Designer« on the Signal flow tab for the i700 servo inverter. 7.9.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 7.10 Cyclic sync torque mode (cst) This operating mode provides a quick torque follower with speed limitation. The torque profile to be processed is defined by the controller. Note! • This operating mode can only be actuated reasonably if the servo control is set as motor control.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 7.10.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 7.10.2 Object description The following two tables provide an overview of the most important objects for this operating mode (without motor parameters, motor control parameters, and feedback parameters). All objects correspond to the CiA402 specification, but some of them have only a restricted value range.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 0x2946 | 0x3146 - Cyclic sync torque mode: Speed limitation The torque control contains a speed limitation as a protective function against very high speeds. High speeds can occur in the case of a mere torque selection if no counter-torque is available (load-free machine).
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 0x6073 | 0x6873 - Max current Maximum current (maximum overload current of the device) • 100 % ≡ rated motor current (0x6075 or 0x6875 for axis B) • This parameter serves to limit the inverter output current. • The value to be set here results from the maximum torque required for the process and the connected motor.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ Tip! More torque characteristics can be found on the Internet: http://www.lenze.com/dsc 0x6074 | 0x6874 - Torque demand Interpolated target torque • 100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B) Display area (min. value | unit | max. value) -3276.8 % Initialisation 3276.7 0.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 0x60B2 | 0x68B2 - Torque offset Additive value for the target torque or torque feedforward control • 100 % ≡ rated motor torque (0x6076 or 0x6876 for axis B) Setting range (min. value | unit | max. value) -3276.8 Lenze setting % 3276.7 0.0 % Write access CINH OSC P RX TX 7.10.
7 CiA402 device profile 7.
7 CiA402 device profile 7.10 Cyclic sync torque mode (cst) ________________________________________________________________ 7.10.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11 Touch probe (TP) A "Touch probe" (short: "TP") is an event which can for instance be actuated in an edge-controlled manner via a digital input to detect an actual value (that changes quickly) at the time of activation and to process it further within the program afterwards.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.2 General functional principle If an event occurs at the touch probe source configured, a time stamp is recorded in the i700 servo inverter. The time stamp recorded is related to the system time and can thus be separated into two parts: One part is the control cycle within which the event has occurred.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.3 Filtering the touch probe signal A common filter time (debounce time) can be parameterised for the touch probe inputs in order to debounce the TP signals so that there is no response to external interference signals. • Every 31 μs, the signal status at the TP input is detected for the debounce filter and a new value is assigned to the filter.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ Delay times of the digital inputs and required minimum signal lengths The table below lists the delay times typical for the digital inputs of the i700 servo inverter and the required minimum signal lengths: Digital signal Typical delay time Minimum signal length Rising edge (HIGH pulse) 5 - 7 μs 7 μs Falling edge (LOW pulse) approx.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.5 Touch probe function 0x60B8 | 0x68B8 - Touch probe function Control word for the configuration of the touch probe functionality Setting range (min. value | unit | max.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.6 Touch probe status 0x60B9 | 0x68B9 - Touch probe status Status of the touch probe functionality Display area (min. value | unit | max.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 7.11.7 Time stamps and positions detected Note! In the event of a "Continuous trigger" touch probe configuration, a newly detected value overwrites the value detected before, even if it has not been retrieved by the controller. 0x2D01 | 0x3501 - Touch probe (TP): Time stamp Time stamp for the positions detected via touch probe • From version 01.
7 CiA402 device profile 7.11 Touch probe (TP) ________________________________________________________________ 0x60BD | 0x68BD - Touch probe pos2 neg value Touch probe position 2 detected with a falling edge Display area (min. value | unit | max. value) -2147483648 [Pos unit] Write access CINH OSC P RX TX 234 Initialisation 2147483647 0 [Pos unit] INTEGER_32 Lenze · i700 servo inverter · Reference manual · DMS 1.
8 Monitoring functions 8.1 24-V supply voltage monitoring ________________________________________________________________ 8 Monitoring functions The i700 servo inverter is provided with various monitoring functions, which are described in the following subchapters. Objects described in this chapter Object 8.
8 Monitoring functions 8.2 Monitoring of the power section and device utilisation (Ixt) ________________________________________________________________ 8.2 Monitoring of the power section and device utilisation (Ixt) The monitoring of the device utilisation primarily protects the power section. Indirectly, also other components such as conductors and terminals are protected.
8 Monitoring functions 8.2 Monitoring of the power section and device utilisation (Ixt) ________________________________________________________________ 1. Load cycle 15-second cycle with a 200 %/3 s overload phase and a 75 %/12 s recovery phase. PT1 with 3.3 s filter time constant for power section protection PT1 with 60 s filter time constant for device protection 2. Load cycle 24-second cycle with a 175 %/6 s overload phase and a 75 %/18 s recovery phase. PT1 with 3.
8 Monitoring functions 8.2 Monitoring of the power section and device utilisation (Ixt) ________________________________________________________________ Note! Though continuous operation over 100 % is allowed for by the Ixt monitoring function, this is nevertheless an impermissible working point! Parameterisation and evaluation of the monitoring function The Ixt monitoring function can be parameterised and evaluated via the following indices.
8 Monitoring functions 8.3 Monitoring of the heatsink temperature ________________________________________________________________ Subindex 5: Device utilisation (Ixt): Warning threshold Setting range (min. value | unit | max. value) 0 Lenze setting % 101 95 % Write access CINH OSC P RX TX UNSIGNED_16 Subindex 6: Device utilisation (Ixt): Error threshold Display area (min. value | unit | max. value) 0 Initialisation % 101 101 % Write access CINH OSC P RX TX 8.
8 Monitoring functions 8.3 Monitoring of the heatsink temperature ________________________________________________________________ Subindex 3: Heatsink temperature: Threshold for fan switch-on Switch-on threshold for device fans • If the heatsink temperature exceeds the threshold value set here, the device fan is switched on. This also happens if the switch-off threshold is parameterised higher than the switch-on threshold by mistake.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 8.4 Monitoring of the motor utilisation (I²xt) This monitoring detects the thermal utilisation of the motor by calculating the thermal motor utilisation from the detected motor currents based on a mathematical model and displaying it in the object 0x2D4F (or 0x354F for axis B).
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 0x2D50 | 0x3550 - motor utilisation (I²xt): Motor overload error From version 01.04 onwards If the disconnection must not or cannot be executed by a higher-level Controller, the operation can be interrupted by the following parameter setting: • As a response to the excess of the adjustable error threshold, set "1: Fault" in subindex 1.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 0x2D4C | 0x354C - Motor utilisation (I²xt): Parameter for the thermal model Sub.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ Parameter setting of the time constant and the influence of the winding on motors of other manufacturers When the influence of the winding is activated, the i²xt monitoring becomes more sensible as if only the influence of the laminated core would be used for monitoring purposes.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 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. For this purpose, up to four operating points on the S1 characteristic of a motor can be used.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 8.4.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ The speed-dependent evaluation of the permissible motor current can actually be switched off by parameterising all 8 characteristic points to "100 %".
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ 8.4.2 UL 508-compliant I²xt motor overload monitoring If the compliance with the UL 508 standard is required for the operation of the motor and the UL 508 compliant motor load monitoring is implemented by the mathematical model of the I²xt monitoring, the following conditions have to be met.
8 Monitoring functions 8.4 Monitoring of the motor utilisation (I²xt) ________________________________________________________________ UL 508 condition 2: With a motor load of 110 % and a motor rotating field frequency of 10 Hz, the I²xt warning has to be output faster than with a motor rotating field frequency of 20 Hz. • The current motor rotating field frequency is displayed in the object 0x2DDD (or 0x35DD for axis B). • A motor load of 110 % occurs if the r.m.s.
8 Monitoring functions 8.5 Motor temperature monitoring ________________________________________________________________ 8.5 Motor temperature monitoring 0x2D49 | 0x3549 - Motor temperature monitoring: Parameters Sub. Name Lenze setting Data type 1 Motor temperature monitoring: Sensor type 0: KTY83-110 UNSIGNED_8 2 Motor temperature monitoring: Response 1: Trouble UNSIGNED_8 3 Motor temperature monitoring: Warning threshold 145.
8 Monitoring functions 8.5 Motor temperature monitoring ________________________________________________________________ Subindex 4: Motor temperature monitoring: Error threshold -3276.8 °C 3276.7 155.0 °C Write access CINH OSC P RX TX Scaling: 1/10 INTEGER_16 Subindex 5: Motor temperature monitoring: Actual motor temperature Display of the current motor temperature Display area (min. value | unit | max. value) -666.0 °C Initialisation 666.
8 Monitoring functions 8.5 Motor temperature monitoring ________________________________________________________________ 8.5.1 Spec. charact. curve for motor temperature sensor This function extension is available from version 01.03! If required, you can define and activate a special characteristic for the motor temperature sensor.
8 Monitoring functions 8.6 Motor speed monitoring ________________________________________________________________ 8.6 Motor speed monitoring 0x2D44 | 0x3544 - Motor speed monitoring Sub. Name Lenze setting Data type 1 Motor speed monitoring: Threshold 8000 r/min UNSIGNED_16 2 Motor speed monitoring: Response 1: Trouble UNSIGNED_8 Subindex 1: Motor speed monitoring: Threshold Warning/error threshold for motor speed monitoring Setting range (min. value | unit | max.
8 Monitoring functions 8.7 Motor phase failure monitoring ________________________________________________________________ 8.7 Motor phase failure monitoring Note! In the Lenze setting, the monitoring function is not activated! 0x2D45 | 0x3545 - Motor phase failure detection Sub. Name Lenze setting Data type 1 Motor phase failure 1: Response 0: No Response UNSIGNED_8 2 Motor phase failure 1: Current threshold 5.0 % UNSIGNED_8 3 Motor phase failure 1: Voltage threshold 10.
8 Monitoring functions 8.7 Motor phase failure monitoring ________________________________________________________________ Subindex 4: Motor phase failure 2: Response Monitoring 2 (in the "operation enabled" status): Response during activation Selection list (Lenze setting printed in bold) 0 No response 1 Fault 2 Warning Write access CINH OSC P RX TX 8.7.
8 Monitoring functions 8.7 Motor phase failure monitoring ________________________________________________________________ 8.7.2 Monitoring 2: In the "enable operation" state transition On the basis of test signals, this extended monitoring function for motor phase failure can detect a phase failure and check the presence of the motor. Only after a successful check, the actual operation is continued.
8 Monitoring functions 8.7 Motor phase failure monitoring ________________________________________________________________ Note! The dependence on the commutation angle also causes a dependence on the motor type used: • The commutation angle and the angle at the shaft (number of pole pairs) of a synchronous motor are proportional. This makes it possible to predict which shaft angle is maximally covered in the event of an error.
8 Monitoring functions 8.8 Monitoring of the ultimate motor current ________________________________________________________________ 8.8 Monitoring of the ultimate motor current Stop! The parameterisable ultimate motor current IULT is a limit value the exceedance of which causes non-reversible damages of the motor! Examples: • Demagnetisation of single rotor magnets when the PM servo motor is operated. • Destruction of the stator winding.
9 Diagnostics & error management ________________________________________________________________ 9 Diagnostics & error management This chapter contains information on the drive diagnostics, error handling, and fault analysis.
9 Diagnostics & error management 9.1 LED status displays ________________________________________________________________ 9.1 LED status displays The LED status displays on the front of the i700 servo inverter provide quick information on some operating states. • The two LEDs "RDY" and "ERR" serve to indicate the device status.
9 Diagnostics & error management 9.2 Indication of fault and warning (error code) ________________________________________________________________ 9.2 Indication of fault and warning (error code) The indication of fault and warning is implemented according to CiA 301/402: • In the error-free state, error code "0" is displayed. • The fault/warning that has occurred first is always displayed. • Faults overwrite warnings. • In general, warnings do not lock up the system.
9 Diagnostics & error management 9.2 Indication of fault and warning (error code) ________________________________________________________________ 9.2.1 Response of the device in the event of an error There are two different interference classes in the i700 servo inverter: Class I: Fatal errors Power on Fault reaction active Evading the "Fault reaction active" device status, errors of class I immediately cause the "Fault" device status.
9 Diagnostics & error management 9.2 Indication of fault and warning (error code) ________________________________________________________________ 0x605E | 0x685E - Response to error From version 01.05 Selection of the response to errors of class II: -2 = quick stop if possible, otherwise DC current or short-circuit braking. 0 = pulse inhibit 2 = quick stop Further information on the respective response can be found in the "Info" column further down. Setting range (min. value | unit | max.
9 Diagnostics & error management 9.2 Indication of fault and warning (error code) ________________________________________________________________ 0x2826 | 0x3026 - Quick stop: Duration in the event of a fault In parallel to the execution of a quick stop in the "Fault reaction active" device status, this timer is started.
9 Diagnostics & error management 9.3 History buffer ________________________________________________________________ 9.3 History buffer Via the history buffer (0x10F3), the controller can access the last 32 messages of the i700 servo inverter. • The history buffer is saved persistently to the i700 servo inverter. • The structure of the history buffer corresponds to a ring buffer: • As long as there is free history buffer space available, a message is placed in the next free slot in the buffer.
9 Diagnostics & error management 9.3 History buffer ________________________________________________________________ Subindex 3: Latest acknowledged message Subindex of the most recent message acknowledged by the EtherCAT master. Setting range (min. value | unit | max. value) 0 Lenze setting 255 0 Write access CINH OSC P RX TX UNSIGNED_8 Subindex 4: New active message TRUE if messages are pending that have not been acknowledged by the EtherCAT master yet. Display area (min.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ 9.4 CiA402 error codes / error messages Note! • When an error message is output, the source (device, axis A or axis B) is preceded. • This data [value] of an error message text serves as wildcard for the value detected during the runtime of the i700 servo inverter.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x2380: Fault - utilisation of the power section (Ixt) too high Text ID: 0x06 Cause Remedies Response Frequent and too long acceleration processes with overcurrent. Check drive dimensioning.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x2386: Clamp is active Text ID: 0x2F Cause Maximum current of the axis (display in 0x2DDF:2 | 0x35DF:2) has been reached. Remedies • Select a flatter speed ramp. • Reduce the load. • Set the Imax controller (0x2B08 | 0x3308) more dynamically.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x4280: Internal fault - module temperature monitoring Text ID: 0x26 Cause Remedies Thermal sensor error Response • 24 V mains switching required. • If the error occurs frequently, please contact Lenze.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x6310: Incorrect parameter set download Text ID: 0x10 Cause Error when downloading a parameter set: • CRC error in the parameter set detected. • Vendor, product code or revision of the object directory are different. • Unknown parameter set. Remedies • Repeat parameter set download. • Recreate parameter set.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x7380: Hiperface communication error Text ID: 0x3A Cause Communication with HIPERFACE® absolute value encoder is disturbed. Remedies Response • Check the supply voltage of the encoder (0x2C42:2 | 0x3442:2). • Check wiring to the encoder. Up to and including version 01.05: Fault (adjustable in 0x2C41:4 | 0x3441:4) From version 01.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x8281: Sync Manager - actual size [value] Text ID: 0x17 Cause Incorrect Sync Manager setting of the EtherCAT master. Remedies • Check the devices on the bus. • Check cabling or sequence of the devices on the bus. • Remove the i700 servo inverter from the project tree and rescan the bus. • Check the device description of the i700 servo inverter.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0x8700: Sync controller Text ID: 0x14 Cause • EtherCAT Sync0 signal has failed. • PDO transmitted or received too late. Remedies Response Class II fault • Check in EtherCAT master configuration whether DC mode • The response set in is set. 0x605E | 0x685E takes place. • Restart EtherCAT configuration.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0xFF03: Fatal internal error - overflow task [value] Text ID: 0x1D Cause Internal error Remedies • 24 V mains switching required. • If the error occurs frequently, please contact Lenze. Response Fault Error code 0xFF04: PLI - motor movement too large Text ID: 0x1E Cause Motor moved too much during pole position identification.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0xFF09: Motor phase failure Text ID: 0x27 Cause Multiple motor phases are not connected. Remedies Response • Correct the wiring between the controller and the motor. • In the case of a false alarm, increase the threshold values for monitoring in 0x2D45 | 0x3545. Default setting: No response Monitoring takes place before and during operation.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0xFF0D: No resolver connected --> command cannot be executed. Text ID: 0x31 Cause Remedies Response The identification of a resolver error was attempted during V/f characteristic control without feedback system. The resolver error can only be identified if the resolver is used as feedback system during servo control.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0xFF13: Identification aborted Text ID: 0x37 Cause Remedies Response A started identification was aborted Repeat the identification and avoid due to an error or a controller inhibit. the cause of the abort.
9 Diagnostics & error management 9.4 CiA402 error codes / error messages ________________________________________________________________ Error code 0xFF18: Communication timeout in the manual control mode Text ID: 0x3F Cause In the "manual control" mode, writing the setpoint data failed to appear for a longer period of time than set in 0x2836:5 | 0x3036:5. Remedies • Check connection between device, Controller and »EASY Starter« or »PLC Designer«. • Increase the time period in 0x2836:5 | 0x3036:5.
9 Diagnostics & error management 9.5 Identification data ________________________________________________________________ 9.5 Identification data 0x1000 - Device: Type Selection list (read only) 0x01020192 Single Servo Axis CiA402 0x02020192 Double Servo Axis CiA402 Write access CINH OSC P RX TX UNSIGNED_32 0x1001 - Error memory The error memory displays the error cause in a bit coded manner. It is also possible that several errors are pending at the same time. Display area (min.
9 Diagnostics & error management 9.6 Diagnostics parameters ________________________________________________________________ 9.6 Diagnostics parameters 0x10F8 - ECAT DC: Current time Display of the time information the i700 servo inverter is currently using (time of the device if you will). Real-time information (Distributed Clock) Display area (min. value | unit | max.
9 Diagnostics & error management 9.6 Diagnostics parameters ________________________________________________________________ 0x2D83 | 0x3583 - Motor: Phase currents Display of the current motor current of each individual motor phase Sub. Name Lenze setting Data type 1 Zero system current INTEGER_32 2 Current - phase U INTEGER_32 3 Current - phase V INTEGER_32 4 Current - phase W INTEGER_32 Subindex 1: Zero system current Display area (min. value | unit | max. value) -21474836.
10 Service/internal ________________________________________________________________ 10 Service/internal Objects described in this chapter Object Name Data type RECORD Axis A Axis B 0x2DD0 0x35D0 Field: Values 0x2DD1 0x35D1 Motor: Currents RECORD 0x2DD2 0x35D2 Position: Target position interpolated INTEGER_32 0x2DD3 0x35D3 Target speeds RECORD 0x2DD4 0x35D4 Speed controller: Output signal RECORD 0x2DD5 0x35D5 Target torque INTEGER_32 0x2DD6 0x35D6 Torque: Filter cascade RE
10 Service/internal ________________________________________________________________ 0x2DD1 | 0x35D1 - motor: Currents Sub. Name Lenze setting Data type 1 D-current (id): Actual D-current INTEGER_16 2 Q-current (iq): Actual Q-current INTEGER_16 3 D-current (id): D-current setpoint INTEGER_16 4 Q-current (iq): Q-current setpoint INTEGER_16 5 Motor current Ieff INTEGER_16 Subindex 1: D current (id): Actual D-current Display area (min. value | unit | max. value) -327.
10 Service/internal ________________________________________________________________ 0x2DD3 | 0x35D3 - Target speeds Sub. Lenze setting Data type 1 Speed: Target speed Name 0 rpm INTEGER_32 2 Speed: Target speed 2 0 rpm INTEGER_32 3 Speed: Target speed limited 0 rpm INTEGER_32 Subindex 1: Speed: target speed Display area (min. value | unit | max.
10 Service/internal ________________________________________________________________ 0x2DD6 | 0x35D6 - Torque: Filter cascade Sub. Lenze setting Data type 1 Torque: Filter cascade - starting value Name 0.0 % INTEGER_16 2 Torque: Notch filter 1 - input value 0.0 % INTEGER_16 3 Torque: Notch filter 2 - input value 0.0 % INTEGER_16 4 Torque: Target torque filtered 0.0 % INTEGER_16 Subindex 1: Torque: filter cascade - starting value Display area (min. value | unit | max. value) -3276.
10 Service/internal ________________________________________________________________ Subindex 3: Q-current controller: output signal Display area (min. value | unit | max. value) -3276.7 V Initialisation 3276.7 Write access CINH OSC P RX TX Scaling: 1/10 INTEGER_16 Subindex 4: D-voltage (magnetisation) Display area (min. value | unit | max. value) -3276.7 V Initialisation 3276.
10 Service/internal 10.1 Firmware update ________________________________________________________________ 0x2DDF | 0x35DF - Axis: Device data Sub. Name Lenze setting Data type 1 Axis: Rated current UNSIGNED_16 2 Axis: Maximum current UNSIGNED_16 5 Axis: Supported feedback type 0: Product-defined UNSIGNED_8 Subindex 1: axis: rated current Display area (min. value | unit | max. value) 0.00 A Initialisation 655.
11 Appendix 11.1 Table of attributes ________________________________________________________________ 11 Appendix 11.1 Table of attributes The table of attributes contains information required for a communication with the controller via objects.
11 Appendix 11.1 Table of attributes ________________________________________________________________ Index Name 0x10F3 Diagnostics: History buffer Data type Scaling Attributes 1: Max.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.1 Table of attributes ________________________________________________________________ Index Name 0x3147 Inverter characteristic: Voltage grid points (y) Data type Scaling Attributes 1: IC: y1 = U01 (x = 0.00 %) UNSIGNED_16 1/100 P 2: IC: y2 = U02 (x = 6.25 %) UNSIGNED_16 1/100 P 3: IC: y3 = U03 (x = 12.50 %) UNSIGNED_16 1/100 P 4: IC: y4 = U04 (x = 18.75 %) UNSIGNED_16 1/100 P 5: IC: y5 = U05 (x = 25.00 %) UNSIGNED_16 1/100 P 6: IC: y6 = U06 (x = 31.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.1 Table of attributes ________________________________________________________________ Index Name 0x3407 Motor (ASM): Lh saturation characteristic - inductance grid points (y) 0x3408 Data type Scaling Attributes 1: Lh: y1 = L01 (x = 0.00 %) UNSIGNED_16 - P 2: Lh: y2 = L02 (x = 6.25 %) UNSIGNED_16 - P 3: Lh: y3 = L03 (x = 12.50 %) UNSIGNED_16 - P 4: Lh: y4 = L04 (x = 18.75 %) UNSIGNED_16 - P 5: Lh: y5 = L05 (x = 25.00 %) UNSIGNED_16 - P 6: Lh: y6 = L06 (x = 31.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.
11 Appendix 11.2 Structure of the parameter set file ________________________________________________________________ 11.2 Structure of the parameter set file The parameter set file is designed as an extendable file. This means that it is possible to add header components later on without interrupting previous algorithms. Therefore the file is divided into three sections: 1.
11 Appendix 11.2 Structure of the parameter set file ________________________________________________________________ 11.2.2 Data header Byte offset 0 ... Type Byte offset 4 8 Data start Data size ... Meaning Info 0 Type of the data area Identification of the data area Currently only the following values are defined: • 1: The data area contains parameter values. "PAR_ParamHeader" header type • 2: The data area contains error messages of the last import.
11 Appendix 11.2 Structure of the parameter set file ________________________________________________________________ "PAR_ParamErrorHeader" header type If the identification "2" is given for the data area type, the error messages are successively arranged in the following layout within the data area: Byte offset 0 ... Error code Byte offset 312 4 6 Index Subindex ...
11 Appendix 11.3 Communication objects ________________________________________________________________ 11.3 Communication objects This chapter describes the "invisible" communication objects of the i700 servo inverter. This information is important for the integration of the controller with an external control. Objects described in this chapter All objects are of "RECORD" data type.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst) Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode" Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1605 - RPDO-->Axis A: Freely configurable (user) PDO mapping object freely configurable by the user for process data from the controller to the servo inverter Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst) Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode" Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1615 - RPDO-->Axis B: Freely configurable (user) PDO mapping object freely configurable by the user for process data from the controller to the servo inverter i700 Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst) Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode" Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1A04 - Axis A-->TPDO: Touch probe (TP) Fixed, preconfigured PDO mapping object for touch probe detection Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp) Fixed, preconfigured PDO mapping object for "Cyclic sync position mode" Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1A13 - Axis B-->TPDO: Velocity mode (vl) Fixed, preconfigured PDO mapping object for "Velocity mode" Sub.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1A16 - Axis B-->TPDO: Additional status information Sub. Lenze setting Data type 1 (State) B-->TPDO: 0x3033 Lenze Statusword 2 Name 808648720 UNSIGNED_32 2 (State) B-->TPDO: 0x68FD Digital inputs 1761411104 UNSIGNED_32 3 (State) B-->TPDO: xxxx Free config. object 1 0 UNSIGNED_32 4 (State) B-->TPDO: xxxx Free config. object 2 0 UNSIGNED_32 5 (State) B-->TPDO: xxxx Free config.
11 Appendix 11.3 Communication objects ________________________________________________________________ 0x1C13 - Sync Manager 3 (RPDO-->Device): PDO mapping Sub.
11 Appendix 11.4 Licences ________________________________________________________________ 11.4 Licences lwIP - TCP/IP stack Copyright (c) 2001-2004 Swedish Institute of Computer Science. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2.
Index ________________________________________________________________ Numbers 0x1000 280 0x1001 280 0x1008 280 0x1009 280 0x100A 280 0x1018 280 0x10F1 45 0x10F3 265 0x10F8 281 0x1600 313 0x1601 314 0x1602 314 0x1603 314 0x1604 314 0x1605 315 0x1606 315 0x1607 315 0x1610 315 0x1611 316 0x1612 316 0x1613 316 0x1614 316 0x1615 317 0x1616 317 0x1617 317 0x1A00 317 0x1A01 318 0x1A02 318 0x1A03 318 0x1A04 319 0x1A05 319 0x1A06 319 0x1A10 320 0x1A11 320 0x1A12 320 0x1A13 321 0x1A14 321 0x1A15 321 0x1A16 322 0x1C
Index ________________________________________________________________ 0x2B0C 148 0x2B80 153 0x2BA0 149 0x2BA1 151 0x2BA2 151 0x2BA3 151 0x2BA4 151 0x2BA5 152 0x2BA6 152 0x2C00 69 0x2C01 81 0x2C02 82 0x2C03 83 0x2C04 124 0x2C05 124 0x2C06 128 0x2C07 130 0x2C08 75 0x2C40 89 0x2C41 92 0x2C42 89 0x2C43 87 0x2C44 88 0x2C45 86 0x2C46 86 0x2C5F 87 0x2C60 96 0x2C61 98 0x2C62 101 0x2C63 104 0x2D00 230 0x2D01 233 0x2D40 238 0x2D44 253 0x2D45 254 0x2D46 258 0x2D49 250 0x2D4C 243 0x2D4D 245 0x2D4E 241 0x2D4F 241 0x2D5
Index ________________________________________________________________ 0x3306 142 0x3307 142 0x3308 144 0x3309 145 0x330A 147 0x330B 148 0x330C 148 0x3380 153 0x33A0 149 0x33A1 151 0x33A2 151 0x33A3 151 0x33A4 151 0x33A5 152 0x33A6 152 0x3400 69 0x3401 81 0x3402 82 0x3403 83 0x3404 124 0x3405 124 0x3406 128 0x3407 130 0x3408 75 0x3440 89 0x3441 92 0x3442 89 0x3443 87 0x3444 88 0x3445 86 0x3446 86 0x345F 87 0x3460 96 0x3461 98 0x3462 101 0x3463 104 0x3500 230 0x3501 233 0x3540 238 0x3544 253 0x3545 254 0x354
Index ________________________________________________________________ 0x60BA 233 0x60BB 233 0x60BC 233 0x60BD 234 0x60C0 205 0x60C2 205 0x60E0 206 0x60E1 206 0x60F4 194 0x60FA 194 0x60FC 194 0x60FD 166 0x60FF 212 0x6404 167 0x6502 167 0x67FF 167 0x683F 261 0x6840 168 0x6841 169 0x6842 196 0x6843 196 0x6844 197 0x6846 197 0x6848 197 0x6849 198 0x685A 169 0x685E 263 0x6860 170 0x6861 170 0x6862 193 0x6863 193 0x6864 193 0x6865 193 0x6866 193 0x6867 194 0x6868 194 0x686C 212 0x6871 220 0x6872 220 0x6873 221 0
Index ________________________________________________________________ B Behaviour after switch-on (0x2C63:1 | 0x3463:1) 104 Brake Application time (0x2820:2 | 0x3020:2) 161 Brake identification (0x2820:4 | 0x3020:4) 161 Control logic (0x2820:5 | 0x3020:5) 162 Operating mode (0x2820:1 | 0x3020:1) 161 Release time (0x2820:3 | 0x3020:3) 161 Brake control Settings (0x2820 | 0x3020) 161 Brake monitoring Response (0x2820:6 | 0x3020:6) 162 C CiA402 error codes (overview) 267 Class-II errors 262 Communication ob
Index ________________________________________________________________ E-mail to Lenze 336 Enable axis 59 Enable controller 59 Enable operation 59 Encoder Angular drift - Actual angle error (0x2C42:3 | 0x3442:3) 90 Increments/revolution (0x2C42:1 | 0x3442:1) 89 Parameter (0x2C42 | 0x3442) 89 Signal quality - Actual amplitude (0x2C42:4 | 0x3442:4) 90 Supply voltage (0x2C42:2 | 0x3442:2) 89 Type (0x2C40 | 0x3440) 89 Encoder increments (0x608F:1 | 0x688F:1) 191 EoE (Ethernet over EtherCAT) 31 EoE information (
Index ________________________________________________________________ y15 = U15 (x = 87.50 %) (0x2947:15 | 0x3147:15) 74 y16 = U16 (x = 93.25 %) (0x2947:16 | 0x3147:16) 74 y17 = U17 (x = 100.00 %) (0x2947:17 | 0x3147:17) 74 y2 = U02 (x = 6.25 %) (0x2947:2 | 0x3147:2) 74 y3 = U03 (x = 12.50 %) (0x2947:3 | 0x3147:3) 74 y4 = U04 (x = 18.75 %) (0x2947:4 | 0x3147:4) 74 y5 = U05 (x = 25.00 %) (0x2947:5 | 0x3147:5) 74 y6 = U06 (x = 31.25 %) (0x2947:6 | 0x3147:6) 74 y7 = U07 (x = 37.
Index ________________________________________________________________ Manufacturer (0x6404 | 0x6C04) 167 Max.
Index ________________________________________________________________ Target position interpolated (0x2DD2 | 0x35D2) 284 Window (0x6067 | 0x6867) 194 Position controller Gain - adaption (0x2981 | 0x3181) 116 Gain (0x2980 | 0x3180) 116 Output signal (0x60FA | 0x68FA) 194 Output signal limitation (0x2982 | 0x3182) 116 Power down 23 Power stage utilisation (Ixt) Actual utilisation (0x2D40:1 | 0x3540:1) 238 Error threshold (0x2D40:3 | 0x3540:3) 238 Warning threshold (0x2D40:2 | 0x3540:2) 238 Power up 23 PPI (3
Index ________________________________________________________________ Speed monitoring Actual speed error (0x2D8A | 0x358A) 282 Status word (CiA) (0x6041 | 0x6841) 169 Status word (Lenze) (0x2831 | 0x3031) 29 Statusword (0x6041 | 0x6841) 169 STO 59, 180 Structure of the EtherCAT data telegram 34 Subnet mask (0x2020:3) 32 Supported drive modes (0x6502 | 0x6D02) 167 Switching frequency (0x2939 | 0x3139) 155 Sync manager Communication type (0x1C00) 322 Sync Manager 2 (RPDO-->Device) Parameter (0x1C32) 323 PDO
Index ________________________________________________________________ VFC Imax controller - gain (0x2B08:1 | 0x3308:1) 144 Imax controller - parameter (0x2B08 | 0x3308) 144 Imax controller - reset time (0x2B08:2 | 0x3308:2) 144 Load adjustment - direction of rotation (0x2B07:1 | 0x3307:1) 142 Load adjustment - parameter (0x2B07 | 0x3307) 142 Load adjustment - value (0x2B07:2 | 0x3307:2) 143 Oscillation damping - filter time (0x2B0A:2 | 0x330A:2) 147 Oscillation damping - gain (0x2B0A:1 | 0x330A:1) 147 Osci
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i700 servo inverter · Reference manual · EDSE70ACMxx · 13410788 · DMS 1.5 EN · 03/2014 · TD05 Lenze Automation GmbH Hans-Lenze-Str. 1 D-31855 Aerzen Germany +49 5154 82-0 lenze@lenze.com www.lenze.com Service Lenze Service GmbH Breslauer Straße 3 D-32699 Extertal Germany 008000 24 46877 (24 h helpline) +49 5154 82-1112 service@lenze.
