Lenze 9228E User Manual

EDB9200_E/GB

S
9

00375316



Antriebstechnik
Operating Instructions

ervo controller

200 series

These Operating Instructions are valid for the controllers with the nameplate data:

9212 E.5x
9215 E.5x
9217 E.5x

9222 E.5x.5x
9223 E.5x.5x
9224 E.5x.5x
9225 E.5x.5x
9226 E.5x.5x
9227 E.5x.5x
9228 E.5x.5x

Controller type

Enclosure IP20

Hardware version + index

Software version + index

Corresponds to the German edition of 05/18/1995
Edition of: 05/18/1995
Date of print: 05/29/1995

How to use these Operating
Instructions...

These Operating Instructions are divided into three parts:

•

Planning and installation

This part comprises the technical data of the supply modules,
the axis modules and of accessories available for the 9200
series (e. g. motors), instructions for installation and wiring and
descriptions of the drive connections.

•

Parameter setting

Describes the basics of parameter setting and informs about
commissioning, important functions and the operation via serial
interface. At the end of this part you will find a comprehensive
code table and a signal flow chart.

•

Service

Explains error messages and gives hints for trouble-shooting.

To locate information on specific topics, simply refer to the table of
contents at the beginning and to the index at the end of the
operating instructions.

A series of different symbols provide quick reference and highlight
important items.

Note

This symbol refers to items of information intended to facilitate
operation.

Caution

Notes which should be observed to avoid possible damage to or
destruction of equipment.

Warning

Notes which should be observed to avoid health risks to the
operating personnel.

Fehler! Es

ist nicht

möglich,

durch die



1

Safety information

for electrical equipment used in industrial power installations.

The electrical devices and machines described are equipment to be
used in industrial power installations. This equipment incorporates
hazardous parts that are live, moving or rotating during operation.
Severe personal injury or damage to equipment may occur if e. g.
any required enclosures or covers are inappropriately removed or
the equipment is insufficiently serviced.

The personnel responsible for the safety of the equipment must
therefore ensure that:

•

only qualified personnel are permitted to install, operate and
maintain the devices

•

these Operating Instructions and any other documentation
about the equipment are consequently observed and always
available to the personnel working with the equipment.

•

non-qualified personnel is prohibited from working with the
equipment or in its vicinity.

•

the system is installed in accordance with local regulations.

A qualified person must by training be familiar with all relevant
standards and safety regulations and therefore be authorized to
perform the required work (For further details cf. IEC 364).

These safety instructions do not claim to be exhaustive. Should any
questions or problems occur, please contact your nearest Lenze
representative.

The information given in these Operating Instructions refer to the
specified hardware and software versions of the equipment.

The specifications, processes and ciruitry described in these
Operating Instructions are for guidance only and must be adapted
to your specific application.

Lenze cannot be held responsible for the applicability of the
processes and circuitry indicated.

The specifications in these Operating Instructions describe, not
guarantee the features of the equipment.

Hardware, software and documentation of the equipment have
been carefully checked by Lenze. Faultlessness cannot be
guaranteed.

Subject to technical alterations.

2



Content

Planning and Installation

1. Features 5

2. Technical data 6

2.1. General data 6

2.2. Unit-specific data 6

2.2.1. Rated data of supply modules 6

2.2.2. Rated data of axis modules 7

2.3. Dimensions 8

2.4. Extension of delivery 8

2.5. Application as directed 8

2.6. Manufacturer's certification 9

3. Installation 10

3.1. Mechanical installation 10

3.2. Electrical installation 11

3.2.1. Combination of several axis modules with one supply module 12

3.2.2. Screening and earthing 14

3.2.3. Radio interference suppression 16

4. Drive connections 17

4.1. Power connections 17

4.1.1. Mains and motor connection 17

4.1.2. External brake resistor 18

4.2. Control connections of supply module 20

4.2.1. Overheat of internal brake resistor (9210 X1) 20

4.2.2. Mains and DC-bus monitoring (9210 X3) 20

4.2.3. State bus 21

4.3. Control connections axis module 22

4.3.1. Control terminals 22

4.3.2. Analog input and outputs 22

4.3.3. Digital inputs and outputs 23

5. Application examples 26

5.1. Variant with integrated positioning module 2211PP 26

5.2. Wiring with positioning control SX-1 28

5.2.1. Diagram 1: Mains supply 28

5.2.2. Diagram 2: Control circuit 230V 29

5.2.3. Diagram 3: Control circuit 24V 30

5.2.4. Diagram 4: Control connections 9200 - SX1 31

5.2.5. Diagram 5: Control connections SX1 32

6. Accessories 33

6.1. External brake resistors 33

6.2. Mains chokes 33

6.3. RFI filter 34

6.4. External fuses 34

6.5. System cables 34

6.5.1. System cables for control terminal block X5 34

6.5.2. System cables for master frequency selection X2 and incremental encoder output
X4 35

6.5.3. System cables for resolver X3 36

6.5.4. System cables for power supply of servo motors 37

6.5.5. System calbes for supply fo fan and brake 38

6.6. Motors 39



3

1. LCD display 40

1.1. Key functions 40

1.2. Plain-text display 40

2. Basics of parameter setting 41

2.1. Change parameters 41

2.2. Save parameters 42

2.3. Load parameter 42

2.4. Examples 43

3. Commissioning 45

3.1. Basic parameter setting 45

3.2. Input of motor nameplate data 47

3.3. Setting of operating parameters 48

4. Additional functions 50

4.1. Mains failure detection with DC-bus control 50

4.1.1. Requirements 50

4.1.1. Wiring 52

4.1.2. Setting 53

4.2. Homing mode 56

4.3. Further additional functions 57

5. Serial interfaces 58

5.1. LECOM1 interface X1 58

5.2. LECOM status messages 59

5.3. Table of attributes 60

6. Code table 63

7. Signal flow chart axis modules 72

1. Monitoring messages 74

1.1. Monitoring without activating pulse inhibit 74

1.2. Monitoring with activating pulse inhibit 74

1.3. Monitoring with TRIP setting 74

2. LED displays 78

2.1. LED supply module 78

2.2. LED axis module 78

3. Checking the power stage 79

3.1. Checking the mains rectifier 79

3.2. Checking the output stage 79

Index

4

83



Planning and installation

1. Features

The 9200 controller series comprises 3 supply modules (types
9212, 9215 and 9217) and 7 servo modules (types 9222-9228 with
motor peak currents ranging from 8 to 82 A) for asynchronous
servo motors.

•

Digital control by 16-bit microcontroller and 3 ASICs

•

Field-orientated vector controlled current

•

Four-quadrant operation, any speed and torque direction

•

Inverter with IGBTs

•

Selectable chopper frequency either low noise 8kHz or silent
16kHz

•

Supply and axis modules can be combined for single or multi­axis operation

•

Efficient energy exchange by means of DC-bus for multi-axis
operation

•

Controlled operation even during mains interruption.

•

Supply modules with integrated brake chopper and brake
resistors

•

Short-circuit protected inverter outputs

•

When using the specified mains chokes, the units comply with
the overvoltage class 2 according to VDE 0160

•

I x t monitoring as overload protection for the inverter

•

Parameter setting and diagnosis via keypad and 2-line LCD
display in plain text German, English, and French language

•

Control parameters can be modified ON-LINE

•

Isolated digital inputs and outputs for 24V-PLC level

•

Electronic incremental encoder simulation for use by other
drives

•

Master frequency input for positioning, master/slave operation
or angular synchronization

•

Drift free standstill in the case of master frequency input or
quick stop QSP

•

Serial interface LECOM A/B (RS232 and RS 485) for
parameter setting, control and diagnosis

•

Enclosure IP20

•

Variants with additional modules are available

•

Approvals: UL 508, File no. 132659

VDE 0160, VDE reg. no. 1799

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5

2. Technical data

2.1. General data

Enclosure
Noise immunity:
Influence of installation height on

rated current:

Ambient temperature

Permissible humidity
Permissible pollution

Steel sheet housing, IP20 to DIN 40050
Severity 4 to IEC 801-4
1000 m: 100% rated current

2000 m: 95% rated current
3000 m: 90% rated current
4000 m: 85% rated current

0 °C...+45 °C during operation

-25 °C...+55 °C during storage

-25 °C...+70 °C during transport
relative humidity 80%, no condensation
Pollution strength 2 to V DE 0110, part 2.
Do not expose units to corrosive or explosive gases .

2.2. Unit-specific data

2.2.1. Rated data of supply modules

Supply module type 9212_E 9215_E 9217_E

Order no. 33.9212_E 33.9215_E 33.9217_E

Mains voltage

DC-bus voltage
(at rated current)

Mains current
Permanent power

(at V
Peak power

(t=5 s)
Permanent brake power (with int.

brake resistor)
Permanent brake power (with

appropriate ext. brake resistor)
Peak brake power

with int. or ext. brake resistor
min. permissible resistance for int.

or ext. brake resistor
Power loss (without brake resistor)
Weight

mains

= 3 x 480 V)

1)

[V] 3 x 480; 50 - 60 Hz

permissible range 3 x 330...528 ± 0%;

[V] 1.35 x V

[A

]

eff

[kW] 4.9 16.5 33

[kW] 12 37 60

[W] 250

[kW] 4.9 16.5 33

[kW] 19.4 51.1 66.1

[Ω]

[W] 110 110 110
[kg] 9.0 10.5 11.0

62040

29 11 8.5

mains

1)

With low mains voltages , the permissible permanent power is reduced to P

zul

6

= P

V

⋅

n

mains

/ 480 V



2.2.2. Rated data of axis modules

Axis module type 9222_E 9223_E 9224_E 9225_E

Order no. 33.9222_E 33.9223_E 33.9224_E 33. 9225_E

Output current
(f

= 8 kHz)

ch

Output current

= 16 kHz)

(f

ch

Peak current
(for t = 5 s at f
for t = 2.5 s at f

= 8 kHz;

ch

= 16 kHz)

ch

Permanent power
(V

= 3 x 480 V and f

A

= 8 kHz)

ch

Permanent power
(V

= 3 x 480 V and f

A

= 16 kHz)

ch

Peak power

= 3 x 480 V)

(V

A

Output voltage V

A

Field frequency

Speed

Power loss at permanent power
Power loss at controller inhibit
Weight

] 4.5 5.5 13.5 18

[A

eff

] 2.3 2.9 6.9 9.5

[A

eff

[A

] 8 10 24 33

eff

[kVA] 3.7 4.5 11.2 14.9

[kVA] 1.9 2.4 5.7 7.9

[kVA] 6.6 8.3 19.9 27.4

[V] 3 x 0...V

mains

[Hz] 0... ± 300

-1

] 0... ± 8000

[min

[W] 200 250 340 510
[W]454545125

[kg] 9.2 9.5 9.5 20.5

Type 9226_E 9227_E 9228_E

Order no. 33.9226_E 33.9227_E 33.9228_E

Output current
(f

= 8 kHz)

ch

Output current

= 16 kHz)

(f

ch

Peak current
(for t = 5s at f
for t = 2.5 s at f

= 8kHz;

ch

ch

= 16kHz)

Permanent power
(V

= 3 x 480 V and f

A

= 8 kHz)

ch

Permanent power
(V

= 3 x 480 V and f

A

= 16 kHz)

ch

Peak power

= 3 x 480 V)

(V

A

Output voltage V

A

Field frequency

Speed

Power loss at permanent power
Power loss at controller inhibit
Weight

[A

]25 32 46

eff

] 13 16.5 23.5

[A

eff

[A

]45 57 82

eff

[kVA] 20.2 26.6 38.2

[kVA] 10.8 13.7 19.5

[kVA] 37.4 47.3 68.1

[V] 3 x 0...V

mains

[Hz] 0... ± 300

-1

] 0... ± 8000

[min

[W] 640 800 1000
[W] 125 125 125
[kg] 21 22 22



7

2.3. Dimensions

Type a

[mm]b[mm]c[mm]d[mm]e[mm]g[mm]

9212 - 9217
9222 - 9224

9225 - 9228

125 440 95 425 300 5

290 440 250 425 300 5

2.4. Extension of delivery

Axis module or supply module

•

Accessory kit (busbars, State-bus line, control terminals)

•

Operating Instructions

•

2.5. Application as directed

The units of the 9200 series are electrical units which are designed
for the application in control cabinets in industrial power
installations. They are designed for variable speed operations with
three-phase AC motors.

8



2.6. Manufacturer's certification

We hereby certify that the below listed electronic controllers are
control components for variable speed motors intended for the
assembly into machines or together with other components to form
a machine. According to the "Council directive ... relating to
machinery" 89/392/EWG, our controllers are no machines.

The Operating Instructions supplied together with the controllers
give advice and recommendations for the installation and use of the
electronic equipment.

As long as the conformity with the protection and safety
requirements of the "Council directive ... relating to machinery"
89/392/EWG and its amendment 91/368/EWG is not proved,
operation of the machine is prohibited.

The measures required for typically configurated controllers to
comply with the EMC limit values are indicated in the Operating
Instructions. The electromagnetic compatibility of the machine
depends on the method and accuracy of the installation. The user
is responsible for the compliance of the machine with the "Council
directive ... relating to electromagnetic compatibility" 89/336/EWG
and its amendment 92/31/EWG.

Considered standards and regulations:

•

Electronic equipment for use in electrical power installations and
their assembly into electrical power installations: DIN VDE 0160,

5.88 (pr EN 50178)

•

Standards for the erection of power installations:
DIN VDE 0100

•

IP - enclosures: EN 60529, 10.91

•

Base material for printed circuits:
DIN IEC 249 part 1, 10.90; DIN IEC 249 part 2-15, 12.89

•

Printed circuits, printed boards:
DIN IEC 326 part 1, 10.90; EN 60097, 9.93

•

Creepage distances and clearances:
DIN VDE 0110 part 1-2, 1.89; DIN VDE 0110 part 20, 8.90

•

Electrostatic discharge (ESD):
prEN 50082-2, 8.92, IEC 801-2, 9.87 (VDE 0843, part 2)

•

Electrical fast transient interference (Burst):
prEN 50082-2, 8.92, IEC 801-4, 9.87 (VDE 0843, part 4)

•

Surge immunity requirements: IEC 801-5,10.93

•

Radio interference suppression of electrical equipment and
plants:
EN 50081-2, 3.94; EN 55011 (VDE 0875, part 11,7.92)

•

Radio interference suppression of radio frequency equipment
for industrial purposes: VDE 0871, 6.78



9

3. Installation

3.1. Mechanical installation

•

The units are designed as housing units with enclosure IP20.

•

Install the units vertically with the power terminals at the top.

•

Ensure a free space of 100 mm at both the bottom and the top.

Caution!

When working with the maximum brake power, the temperature of the output air of
the supply modules can reach up to 120°C.

•

The axis modules should be installed at the same height at the righthand side of
the supply module:

−

If the axis modules have different power outputs, the more
powerful axis module must be placed directly next to the
supply module.

•

The interface connectors X1 to X4 and other terminals must be
covered with the supplied dust protectors or unused connectors
when not used.

10



3.2. Electrical installation

•

The breakaway torque for the power terminals is 2.3 Nm
(20 lb in). Marking of terminals:
at 921X: +U
at 922X: +U

Supply modules

•

Without additional protective measures (e.g. zeroing) the units
may not be connected to a mains with e.l.c.b. (VDE
0160/05.88). In the event of an earth fault, a DC component in
the fault current can prevent the release of the e.l.c.b.

•

Operate the supply module with assigned mains choke.

•

Power input
Recommended cable diameter and number of cores

Supply module 9212 9215 9217
Number of cores

Cable diameter [mm²]
or
AWG

Protect input cables according to their diameter with adapted
cable protection fuses.

•

Protection of the input rectifier:

−

Total protection with external very quick acting fuses in the
mains input (see chapter "Accessories")

−

If total protection is not required:

The normal cable protection fuses or miniature circuit

breakers which are adapted to the cable diameter offer
sufficient protection.

•

The peak power of the supply module must be equal to or
higher than the total peak power of the connected axis modules
and the rated power of the suply module must also be equal to
or higher than the total permanent power of the axis module
(see chap. 3.2.1).

, -UG, RBr, L1, L2, L3

G

, -UG, U, V, W

G

4

(L1,L2,L3,PE)4(L1,L2,L3,PE)4(L1,L2,L3,PE)

1,5 4 10

14/15 10/11 6/7

Note

The supply modules 921x hardware version E.4x onwards described in these
Operating Instructions may only be used in combination with the axis modules of
the hardware version E.4x and higher.

Axis modules

•

Connect only one motor to each axis module.

•

The cable diameter of the motor cables must correspond to the
rated current of the motor.
Protection by means of:

−

cable protection fuses or

−

adapted motor protection relay

•

Ensure motor protection:

−

use motor protection relay and monitor the thermostat of the
motor.

•

The connected motor may not be operated when the controller
is enabled, except for safety shutdown.



11

3.2.1. Combination of several axis modules with one supply module

µ

Please note the following conditions when combining several axis
modules with one supply module:

•

The State-bus (X6) can supply max. 10 axis modules.

•

The sum of the total capacity of the DC-bus may not exceed a
certain value (see chart):
The permissible total capacity depends on the interval between
two closing operations and the mains voltage. The total capacity
is the sum of the capicities of the supply module and the axis
modules.

−

For intervals between two closing operations longer than
15 min, the max. permissible capacities are applied.

DC-bus capacities of the 9200 series

Type 9212 9215 9217 9222

9223

F]

C

ZK

[

235 705 1175 235 340 1100 2200

9224 9225

9226

Permissible total capacity depending on the interval between two closing
operations and the mains voltage

9000
8000
7000
6000
5000
4000

C (total) / µF

3000
2000
1000

0

0 1 2 3 4 5 6 7 8 9 101112131415

Switch-on distance / min

9215; 9217

V mains=400V-480V

9212

V mains=400V

9212

V mains=480V

9227
9228

12



•

When selecting the power of the supply module, proceed as
follows to find out about the required input power.

1. Determine the power profile of all axis modules connected to
the DC-bus by means of the process profile and the load
torques during a system cycle.

2. The power losses are stated in the technical data, for units
the losses are stated during rated power and for motors the
power loss during rated operation. These losses are
assumed to be constant during the whole cycle.

3. Find out the resultant powr by adding the power losses and
the power profiles:

calculate a positive motor power
and a negative generator power.

4. Determin e the effective power during the system cycle:
Do not calculate a negative resultant power (generator

power). These ranges can taken into consideration when
calculating the effective brake power.

5. Select the supply module according to the effective power
during a system cycle:

Please note that the supply module must have enough
capacity to supply the effective peak power and that, in the
event of mains voltage reductions, the permissible power of
the supply module will be reduced according to the reduction
of the mains voltage.

6. If the calculated effective permanent power exceeds the
permissible value of the supply module 9217:

Subdivide the DC-bus sets and install further supply
modules.



13

3.2.2. Screening and earthing

In order to avoid radio interference, care must be taken with the design and
connection of digital drives to avoid EMC disturbances during operation.

Digital drives are not more vulnerable to interference than analog drives, but the
effect is generally different. Interference of analog devices becomes obvious as
irregularities in speed. Interference of digital drives may cause
program errors; therefore it is important that the drives are inhibited
immediately when interference occurs. This is done by setting the
TRIP function (CCr).

In order to avoid these problems, care must be taken with ground
(GND), protective earth (PE) connections as well as screening.

•

Screen control cables and motor cables.

•

Ensure effective screening:

−

a non-earthed conductior should be used to maintain screen
integrity where cahbles are interrupted (terminal strips,
relays, fuses).

Caution!

To increase the EMC (electromagnetic compatibility), the reference GND is
connected to the protective earth (PE) inside the drive.

Fehler! Es

ist nicht

möglich,

durch die

To ensure an optimum interference suppression, the screening and the GND-PE­connection is made differently for single drive and multi drive
networks.

Single drive

•

Connect the screen of the control cables to PE of the drive at
one end to avoid earth loops.

•

GND and PE are connected by a jumper inside the drive.

•

In case of firmly installed computer connections, a mains
isolation (e.g. Lenze Converter 2101) is mandantory between
computer and axis module.

•

The screens of the motor cables

−

should be as large as possible.

−

connected to the two sides.

14



Multi drive networking

•

When laying the ground cables, care must be taken that there
are no ground loops. To ensure this, the GND-PE connection
must be removed in every drive. For the 9200 drives, turn the
four screws on the cover one haft turn CCW and pull out the
control board. Remove the jumper PE-BR on the board 9220
MP. CAUTION: Ensure that the mains has been disconnected
and the drive has been switched off at least 5 minutes before
removing any parts.

cable

PE

BR-PE

Control board 9220MP

X1 X2 X3 X4

SubD-plugs

•

All ground cables must then be lead to external, insulated

X5

Control terminals

central points, centralized again from there and connected to
PE in the central supply. The PE-GND reference is necessary
as the electronics insulation (SubD plug) does not allow
voltages >50V~ AC at PE.

•

In case of firmly installed computer connections, a mains
isolation (e.g. Lenze Converter 2101) is mandatory between
computer and axis module.

•

The individual cable screens must be connected to external
insulated centreal points, which are then connected to the PE
potential at one point.

•

The screens of the motor cables

−

should be as large as possible.

−

should be connected to the two sides.

X6



15

3.2.3. Radio interference suppression

According to § 13 and § 14 of the legislation of the European
Community relating to the electromagnetic compatibility of devices
(EMVG v. 09.11.92) the national standards and regulations are only
interim standards vilid until December 31, 1995. In addition, the
harmonized European standards can be fulfilled following the
recommendations below. Measures against radio interference
suppression depend on the site of the device to be installed:

Previous national standards

The application without radio interference suppression in electrical
systems within connected working areas or industrial premises can
only be allowed if, outside the industrial premises, the limit values
according to VDE 0871/6.78, class B are not exceeded (General
allowance according to the standard on the operation of high­frequency devices of December 14, 1984, official no. 1045/1046).
For operation within residential areas or when exceeding the limit
value class B outside of industrial premises, radio interference
suppression according to VDE 0871, limit value class B is required.

Future hormonized standards

The standard prEN 50081-2 is valid for the radio interference
suppression.
It refers to standard EN 55011 (VDE 0875, part 11, limit value class
A and B).

•

Within industrial premises, which are not connected to the public
low-voltage supply, the limit values to EN 55011, limit value
class A apply.

•

Within residential areas or industrial premises, which are
connected to the plublic low-voltage supply, the limit values to
EN 55011, limit value class B apply.

Radio interference suppression to EN 55011, limit value class
A or B, can be achieved by:

•

Using a suitable mains filter and screening of motor cables,
brake resistor cables and the power cable between mains filter
and inverter (for recommended mains filters see "Accessories").

16



4. Drive connections

4.1. Power connections

4.1.1. Mains and motor connection

Caution!

All power terminals carry mains potential up to 5 minutes
after mains disconnection.

The DC-bus terminals +UG -UG and the PE terminals of the supply
and axis module must be connected by means of busbars
(accessory kit).



17

4.1.2. External brake resistor

To increase the permanent brake power, an external brake resistor
with a higher permanent power can be installed instead of the
internal resistor. In this case, the internal brake resistor must be
disconnected.

Disconnection of the internal resistor:

1. Remove right side of the supply module housing 9210, when
no voltage is applied.

2. Disconnect spade plug.

3. Connect spade plugs to tabs on the housing.

4. Close housing again.

1.

4.

in t er nal
brake resistor

2.

3.

The external brake resistor must be connected to the power
connections +U
recommended to exclusively use resistors with integrated overload
protection which disconnect the mains supply in case of overload
(for recommended resistors see chapter "Accessories"). The
surface temperature of the resistor may reach 360°C.

Caution!

When using brake resistors without overload protection, the resistors may burn due
to a fault (e.g. mains overvoltages >528V, application specific overload or internal
faults).

and RBR at the supply modules 9210. It is

G

18



Wiring of brake resistor

Caution

K1 must additionally set controller enable!

Wiring when using the internal brake resistor

Wiring when using the external brake resistor



19

4.2. Control connections of supply module

4.2.1. Overheat of internal brake resistor (9210 X1)

The thermal contact (capacity 230V/10A) of the internal brake
resistor can be accessed via the connector X1 of the supply
module. It can be used to switch off the mains in case of overload
of the internal brake resistor (see also: External brake resistor).

Caution!

Unlike previous models of this series, the connector X1 of the supply module does
not have to be bridged any more. This connector cannot be used for the monitoring
of an external thermal contact and the like! To protect the inverter, wiring according
to figure "Wiring using the internal brake resistor" (page 19) is necessary.

4.2.2. Mains and DC-bus monitoring (9210 X3)

At X3 of the power supply module several signals are available,
that give information about the status of the mains. The wiring of
this terminal is not necessary to make the device work. If the
software feature mains failure with DC-bus controlling is required,
the terminals X3,1 and X3,3 must be wired. By using an external 24
V supply there is an optoisolated signal of mains failure at terminal
X3,5.
For further information see: Parameter setting, page 50.

20



4.2.3. State bus

By means of the state bus X6, the supply module gives status
information like ready, overvoltage, and heat sink or resistor
overtemperature to the connected axis modules. The four state bus
cables must be taken from the supply module to the axis modules.
The terminals in the axis module which are next to each other are
internally bridged.

9210

State Bus

X6 X6 X6

9220 9220

State Bus State Bus

GND

Temp

RDY
Umax

When the modules are ready to operate, the following levels are
applied at the terminal of the state bus:

•

Temp -> GND : approx. 0...2 V

•

RDY -> GND : approx. 0...2 V

•

V

GND : more than 2 V

max

These levels can only be measured when the state bus is
connected between the supply module and the axis modules.

Umax

RDY

Temp

GND

Umax

RDY
Temp

GND



21

4.3. Control connections axis module

4.3.1. Control terminals

Pin assignment of the control terminal block X5

4.3.2. Analog input and outputs

Analog set value selection

For analog set value provision, two inputs are available, either as
speed or torque set value provision (for selection see C005
configuration). The bipolar input is a differential input..

a) bipolar set value selection b) unipolar set value selection

82kOhm

68kOhm

100kOhm

12

-

82kOhm

68kOhm

R304

100kOhm

X5 X5

Master voltage

-10...+10V

44kOhm
44kOhm
R306

9

8

7

S

A

-

Set value
potentio-

E

meter
10 kOhm/lin.

Master voltage

0...+10V

Monitor outputs

The terminals 62 and 63 of the control terminals block X5 transform
internal digital control signals into analog output signals. The
resolution is 8 bit. The signals are updated every 2ms. The
maximum monitor output current capacity is 2mA.

22

Output Terminal Signal Range Level

Monitor 1
Monitor 2

X 5 62 Actual s peed v alue adjustable via C153/C154 -10V...+10V
X 5 63 Torque set value -M

max

...+M

max

-10V...+10V



4.3.3. Digital inputs and outputs

External 24 V supply Internal 15 V supply

Caution!

GND is internally connected to PE
via jumper BR-PE.

+Vcc

20 21 22 24 26 27 28 39 40 41 42 44 59

2k2

2k2

R

2k2

2k2

TRIP SET

JOG

L

2k2

2k2

TRIP RESET

RFR

GND

-

56R

56R

TRIP

Qmin

56R

RDY

c

X5

Caution!

Bridge signals X5,39 and X5,40.

+Vcc

2k2

2k2

20 21 22 24 26 27 28 39 40 41 42 44 59

R

2k2

2k2

TRIP SET

JOG

L

2k2

2k2

TRIP RESET

RFR

GND

TRIP

56R

56R

Qmin

56R

X5

RDY

d

QSP

+

Legend

Marking Function at signal = HIGH

Digital outputs

I 7 50mA

Digital inputs

(active at 13 ... 30 V) TRIP RESET Fault reset
I 7 10mA

Relay

RDY Ready
Qmin

Motor speed > value of C017 (fact ory Setting)
The function depends on C117

TRIP

No faults

RFR Controller enable

TRIP SET

No fault switch-off (Motor thermostat)
JOG Internal set value
QSP No quick stop with this switch position

c
d

Relay 24 V, R

Relay 15 V, R

QSP

1 kΩ, e.g. order no. EK00326005

≥

i

600 Ω, e.g. order no. EK00326850

≥

i



23

Comment on QSP function

Master frequency selection

For speed set value selection by means of a master frequency, the
9-pole SubD Dig.Set (X2) is used. As master frequency signal
either the simulated encoder signal of the master drive or an
incremental signal source with two TTL complementary signals
shifted by 90° el. can be used. The zero track of the master
endcoder will not be evaluated. The maximum input frequency is
300 kHz. The current consumption per channel is 6 mA.l.

A

A

B

B

T T L /0 ...3 0 0 k Hz

a) Master frequency input by incremental encoder

Pin assignment X2 male plug Dig.Set

24

Pin 123456789
Signal

U

a2

U

U

a1

+ 5V GND -- -- --

a1

U

a2



b) Master frequency input by encoder output signal of the
master drive

Pin assignment X2 male Dig.Set

Pin 123456789
Signal

BB

AA + 5V GND -- -- --

AA

BB

Encoder simulation

The encoder socket (X4) is used as an output for the encoder
simulation. Two TTL complementary signals (V

_ 2,5V, V

high

low

_
0,5V at I = 20mA) shifted by 90°C with 256, 512, 1024 or 2048
increments are generated per revolution (adjustable via C030). This
output is used for actual value feedback for closed-loop control
(positioning control) or as a set value for slaves (master/slave
operation). The current capacity is 20 mA per channel.

Pin assignment X4 encoder socket

Pin 123456789
Signal

B

A+ 5VGND

A

Z

ZLC

B

Resolver

2-pole resolvers (V=10V,f=5kHz) are fitted as standard. The Lenze
servo motors are already equiped with the corresponding resolvers.
The resolver is connected by means of a 9-pole socket (X3). The
resolver supply cable and the resolver are monitored for open
circuit (fault indication Sd2).

Pin assignment X3 resolver female plug

Pin 123456789
Signal

+REF -REF GND +COS−COS +SIN−SIN -- --



25

5. Application examples

5.1. Variant with integrated positioning module 2211PP

Easy positioning tasks can be solved by applying the positioning
module 2211PP. Thus, you sometimes do not need a PLC or at
least reduce the load of the PLC. The positioning module can be
integrated into the unit and adapted to several applications.
Different designs are available, e.g. the basic module with or
without a terminal extension and alternatively a field bus module as
Interbus-S.

Lenze
Servo 9200

26



Features of the positioning module 2211PP:

•

32 freely assignable digital inputs with 8 or 28 via terminals
according to variant

•

32 freely assignable digital outputs with 4 or 16 via terminals
according to variant

•

Absolute or relative measuring system

•

32 program sets, each with the following functions:
point to point positioning
point to point positioning with velocity profile
positioning to an interrup-input
acceleration, deceleration, traversing and final speed adjustable
waiting for input
switching of several outputs
homing according to 6 different modes
adjustable waiting time
adjustable number of pieces for repeat function
program branching depending on inputs
jump to following program set

•

32 adjustable positions

•

32 adjustable speeds

•

32 adjustable acceleration and deceleration values

•

32 adjustable number of pieces

•

32 waiting time

•

Manual and program operation

•

Input and display via the operating unit of the 9200 basic unit

•

Parameter setting and programming via the serial interface
LECOM A/B of the basic unit by means of the PC program
Lemoc2 (via menu)

•

Connection of a BCD switch possible

•

Connection of an absolute encoder possible

•

Control, parameter setting, and programming via Interbus-S or
Profibus possible

•

The function Winding calculator is available as alternative
system software on the same hardware basis as the positioning
module.

Note:

Please additionally note the Operating Instructions of the
positioning system.



27

5.2. Wiring with positioning control SX-1

5.2.1. Diagram 1: Mains supply

28



5.2.2. Diagram 2: Control circuit 230V



29

5.2.3. Diagram 3: Control circuit 24V

30



5.2.4. Diagram 4: Control connections 9200 - SX1

Ω



31

5.2.5. Diagram 5: Control connections SX1

32



6. Accessories

(All listed components must be ordered separately)

6.1. External brake resistors

9212
9215
9217

R

[Ω]Pn[kW]

29 1,1 ERBD029R01k1 120 430 510 92 64
11 1,1 ERBD011R01k1 120 430 510 92 64

8,5 1,1 ERBD009R01k1 120 430 510 95 64

Order no. H

6.2. Mains chokes

[mm]M[mm]O[mm]R[mm]U[mm]

[mH]I[A]
9212
9215
9217

3 x 2,5 3 x 7 ELN3_0250H007 120 61 84 45 130 105 73 6.0 11
3 x 1,2 3 x 25 E LN3_0120H025 150 76 140 61 180 140 95 5.0 10

3 x0,75 3 x 45 ELN3_0075H045 180 91 161 74 225 165 120 6.3 11



L

Part no. a

[mm]b[mm]c[mm]d[mm]e[mm]f[mm]k[mm]m[mm]n[mm]

33

6.3. RFI filter

For radio interference suppression according to EN 55011, limit
value class A or B.

Assigned RFI filters for mains voltage of 400 V

Supply module type 9212 9215 9217
Mains current RFI filter
Order no. mains filter

8 A 25 A 50 A

EZF3_008A001 EZF3_025A001 EZF3_050A004

Filter for mains voltages of up to 460 V: please contact
manufacturer

6.4. External fuses

Semiconductor protection

External fast acting fuses in the mains input protect the input
rectifier in the supply module.

Recommended semiconductor protection fuses (at mains side):

Supply module 9212 9215 9217
Mains input with

rectifier protection

Order no.

FF

20A / 700V

14 x 51

EFSFF0200ARH EFSFF0630ARI EFSFF1000ARI

FF

63A / 700V

22 x 58

FF

100A / 700V

22 x 58

Input cables must be protected with standard fuses adapted to the
cross-sectional area of the cables.

6.5. System cables

Note

For best interference immunity results, cut the cables to the required length.

6.5.1. System cables for control terminal block X5

Fehler! Es

ist nicht

möglich,

durch die

34

Design for left X5 terminals right X5 terminals
Order no.

EW00340899 EW00340898



6.5.2. System cables for master frequency selection X2 and

incremental encoder output X4

green
black

black
red

black
yellow

black
white

P o s itio n in g c o n t ro lle r A x is m o d u le A x is m o du le m a st e r A x is mod ule s la v e

Design with plugs at both ends with single plug
Order no.

Fehler! Es
ist nicht
möglich,

Note:

The bridge beween pin 4 and pin 8 is necessary for the
operation with the SX1 positioning control.

EW00340900 EW00340906

durch die



35

6.5.3. System cables for resolver X3

Various lengths

+REF white

- REF black

- SIN black
+SIN yellow

-COS black
+COS red

Order numbers of resolver cables

Length plugs at both ends plug at motor side plug at unit side

2.5 m
5 m
10 m
15 m
20 m
25 m
30 m
35 m
40 m
45 m
50 m

- - EW00340907
EWREB_______05 EW00345891 ­EWREB_______10 EW00340909 ­EWREB_______15 EW00345892 ­EWREB_______20 EW00345893 ­EWREB_______25 EW00345894 ­EWREB_______30 EW00345895 ­EWREB_______35 EW00345896 ­EWREB_______40 EW00345897 ­EWREB_______45 EW00345898 ­EWREB_______50 EW00345899 -

36



6.5.4. System cables for power supply of servo motors

Various lengths

white
brown

1

5

6

4

2

black 1
black 2
black 3

blank

12 456 PE

X11

U
V

W

0.5 mm

1.5 mm
or

2.5 mm

UVW

M

3

2

2

2

Order numbers of motor cables

Length 4 x 1.5 mm

2 x 0.5 mm
5 m
10 m
15 m
20 m
25 m
30 m
35 m
40 m
45 m
50 m

EWMOL056_01505 EWMOL056_02505 EWMOL100_04005 EWMOL112_10005

EWMOL056_01510 EWMOL056_02510 EWMOL100_04010 EWMOL112_10010

EWMOL056_01515 EWMOL056_02515 EWMOL100_04015 EWMOL112_10015

EWMOL056_01520 EWMOL056_02520 EWMOL100_04020 EWMOL112_10020

EWMOL056_01525 EWMOL056_02525 EWMOL100_04025 EWMOL112_10025

EWMOL056_01530 EWMOL056_02530 EWMOL100_04030 EWMOL112_10030

EWMOL056_01535 EWMOL056_02535 EWMOL100_04035 EWMOL112_10035

EWMOL056_01540 EWMOL056_02540 EWMOL100_04040 EWMOL112_10040

EWMOL056_01545 EWMOL056_02545 EWMOL100_04045 EWMOL112_10045

EWMOL056_01550 EWMOL056_02550 EWMOL100_04050 EWMOL112_10050

2
2

4 x 2.5 mm
2 x 0.5 mm

Cable cross section

2
2

4 x 4.0 mm
2 x 0.5 mm

2
2

4 x 10 mm
2 x 0.5 mm

2

2



37

6.5.5. System calbes for supply fo fan and brake

Various length

black 1

black 2

brown
blue

green-yellow

X30X30

Servo motor

Dotted line: m otor with brake but without fan: DSV A BS X X

L1 fan
N fan

Y1 + brake
Y2 - brake

PE

Y1+ Y2- L1 N PE

Order numbers of fan and brake supply cables

Cable cross section
Length 5 x 0.5 mm
5 m
10 m
15 m
20 m
25 m
30 m
35 m
40 m
45 m
50 m

EWBLL_______05
EWBLL_______10
EWBLL_______15
EWBLL_______20
EWBLL_______25
EWBLL_______30
EWBLL_______35
EWBLL_______40
EWBLL_______45
EWBLL_______50

2

0.5 mm

2

38



6.6. Motors

Asynchronous servo motors DSV/DFV series

Motor type Technical data of motors Standstill

brake

Vn = 205 V

DSVARS 56
DSVABS 56
DSVARS 71
DSVABS 71
DFVARS 71
DFVABS 71
DSVARS 80
DSVABS 80
DFVARS 80
DFVABS 80
DSVARS 90
DSVABS 90
DFVARS 90
DFVABS 90
DSVARS 100
DSVABS 100
DFVARS 100
DFVABS 100
DSVARS 112
DSVABS 112
DFVARS 112
DFVABS 112

n

M

2.0

2.0

4.0

4.0

6.3

6.3

5.4

5.4

10.8

10.8

9.5

9.5

19.0

19.0

12.0

12.0

36.0

36.0

17.0

17.0

55.0

55.0

n

PnV

0.8

0.8

1.7

1.7

2.2

2.2

2.3

2.3

3.9

3.9

4.1

4.1

6.9

6.9

5.2

5.2

13.2

13.2

7.4

7.4

20.3

20.3

n3~In

390
390
390
390
390
390
390
390
390
390
350
350
390
390
330
330
390
390
320
320
390
390

n

1

-

[min

] [Nm] [kW] [V] [A] [Hz] [kgcm2] [kg] [Nm] [A] [A]

3950
3950
4050
4050
3410
3410
4100
4100
3455
3455
4110
4110
3480
3480
4150
4150
3510
3510
4160
4160
3520
3520

2.4

2.4

4.4

4.4

6.0

6.0

5.8

5.8

9.1

9.1

10.2

10.2

15.8

15.8

14.0

14.0

28.7

28.7

19.8

19.8

42.5

42.5

fncos

140
140
140
140
120
120
140
140
120
120
140
140
120
120
140
140
120
120
140
140
120
120

0.70

0.70

0.76

0.76

0.75

0.75

0.75

0.75

0.80

0.80

0.80

0.80

0.80

0.80

0.78

0.78

0.80

0.80

0.80

0.80

0.80

0.80

ϕ

JmMnI

2.6

3.0

5.8

6.8

5.8

6.8

19.2

23.0

19.2

23.0

36.0

40.0

36.0

40.0

72.0

81.5

72.0

81.5

180.0

212.0

180.0

212.0

6.4

6.9--2.5--0.06----

10.4

11.2

12.0

12.9

15.1

16.9

16.9

18.7

22.9

25.0

25.5

27.1

44.7

47.4

48.2

50.9

60.0

66.5

63.5

70.0

--

11.0

--

11.0

--

12.0

--

12.0

--

22.0

--

22.0

--

40.0

--

40.0

--

80.0

--

80.0

=

0.08

0.08

0.09

0.09

0.09

0.09

0.11

0.11

0.18

0.18

Fan

230V

∼

50/60Hz

I

n

n

--

--

--

--

0.12

0.12

--

--

--

--

0.12

0.12

--

--

--

--

0.25

0.25

--

--

--

--

0.25

0.25

--

--

--

--

0.24

0.24

For further information about servo motors please see the
operating Instuctions "Three-phase servo motors".



39

Parameter setting

1. LCD display

Ready (green)
Curr. limit I

max

Impulse inhibit
(ye llow )

(red)

SH

STPPRG

Keys

1.1. Key functions

Key Function

PRG Change between code and parameter level

▲
▲

+ SH

▼
▼

+ SH
SH + PRG Execute change. Reset after fault i ndi cation
STP Inhibit controller (see note below)
SH + STP Enable controller

Note

•

For the execution command SH+PRG and the enable command SH+STP first
press the SH key and hold, than press the PRG or STP key.

•

When inhibiting the controller by pressing the STP key, it must be enabled
again by using the SH+STP command. Only then can it be
enabled via terminal 28 or interface.

Increase displayed value
Rapid increase of displayed v al ue
Reduce displayed value
Rapid reduction of displayed v al ue

Fehler! Es

ist nicht

möglich,

durch die

40

1.2. Plain-text display

The LCD display constists of two lines of 16 characters each. In the
upper line, code no. and parameter are displayed. The arrow >
shows the present level (code or parameter level), which can be
changed when pressing the ▲ or ▼ key. In the lower line, the
codes or parameters are explained.

-Arrow for code level-

Code no.- -Parameter-

↓ -

>C001 - 0­Operat i ng mode

-Explanatory text-



2. Basics of parameter setting

The drive can be adapted to your specific applications by
parameter setting of the axis modules. The possible settings are
arranged in the form of codes, which are numbered in ascending
order and start with the letter "C". Each code provides several
parameters which can be selected according to the application.

Parameters can be direct values of a physical unit (e.g. 50Hz or
50% related to f
information (e.g. -0- = controller inhibited, -1- = controller enabled).
In cases where the parameters represent values of physical units, it
is possible to vary the increment.
Example: The acceleration and deceleration can be set in
increments of 0.01 s up to 1 s and in increments of 0.1 s from 1 s
upwards.

For codes with more than 5 digit values, the keypad operation is
different: In the parameter level, the cursor can be shifted to enter
large values. This is done by pressing SH+ ▲ and SH+▼ (see
example on page 44).

In some codes, parameters can only be read but not changed.
In the factory setting, only those codes are displayed which are
necessary for the most common applications. For activation of the
extended code set see code table C 000.

) or numerical codes giving certain status

dmax

2.1. Change parameters

Each code has a factory set parameter which can be changed.
There are three different ways of selecting and confirming a new
parameter, depending on the code:

Direct acceptance

The servo axis immediately accepts the new parameter, i.e. while
you change it using the ▲ or ▼-key. This is possible even when the
drive is running. Parameters which are immediately accepted are
marked with

Acceptance with SH + PRG

The axis accepts a new parameter when SH + PRG are pressed.
This is possible even with the drive running. First press SH and
then in addition PRG. The display shows --ok-- for 0.5 seconds.
The axis module now works with the new parameter. The key
combination SH and PRG can be compared to the "return" key on
your computer keyboard. If you have to set a parameter of a code
in this way, the code table shows the symbol

ON-LINE

in the code table.

SH + PRG

.



41

Acceptance with SH + PRG with controller inhibit

The axis module accepts the new parameter when it has been
inhibited prior to pressing SH + PRG. Inhibit the controller e.g. by
pressing STP. First press SH and then in addition PRG. The
display shows --ok-- for 0.5 seconds. The axis module works with
the new parameter when the controller is released again. If you

have to set a parameter of a code in this way, the symbol
appears in the code table.

2.2. Save parameters

•

When commissioning for the first time, the parameter set 1 is
factory-set. After the acceptance, new parameters are saved in
the RAM, i.e. they are saved until the controller is disconnected
from the mains.
If you do not want to lose your setting when connecting the
controller to the mains, save them permanently:

1. Select code C003.

2. Select parameter set 1 by entering -1- .

3. Press SH first, and then additionally PRG. --ok-- will be
displayed.

4. Now you can disconnect the servo controller from the mains.
Your settings are permanently saved under "parameter set
1".

•

Password

The input of a password prevents unauthorized changes of
parameters or code levels.

2.3. Load parameter

If you only need one parameter set, you can permanently save
your changes under parameter set 1. After every mains connection,
parameter set 1 is loaded automatically.

42



2.4. Examples

Change of the operating mode

1. enter Code C001 using ▲ or ▼ keys

-Arrow for code level­ ↓ -Code no.- -parameter-

>C001 - 0­Operat i ng mode

-Explanatory text-

2. change from code level to parameter level using the PRG key

-Arrow for parameter level-

↓

C001> - 0-

Termi nal / keypad

-explanatory text for the selected parameter-

3. set parameter to -1- using the ▲ key

C001> - 1-

keypad

4. acknowledge with the keys SH + PRG and return to code level

C001> - 1-

Operat i ng mode



43

Change of the ratio denominator.

For codes with more than 5 digit values, the keypad operation is
different: In the parameter level, the cursor can be shifted to enter
large values. This is done by pressing SH+▲ and SH+▼.

1. enter code C033 using ▼ or ▲ keys

-Arrow for code level­ ↓ -Code no.- -value- -exponent-

>C033 1. 000E- 01
Rat i o denomi nat .

-Explanatory text-

2. change from code level to parameter level using the PRG key

-Arrow for parameter level-

↓

C033>

0. 1000

-10-digit value-

3. position the cursor using the keys ▲ + SH

↑

-Cursor-

C033>

0. 1000

4. enter value using the key▼ or

▲

C033>

0. 3000

5. acknowledge with SH + PRG and return to the code level

>C033 3. 000E- 01
Rat i o denomi nat .

44



3. Commissioning

The following notes on the commissioning do not explain all
possibilities of parameter settings. The code table at the end of the
chapter lists and describes all codes in detail.

Caution!

Before commissioning, check the wiring of the controller.
Typical faults are:

•

incorrect screening of the cables

•

earth or ground current loops

and if Lenze system cables are not used:

•

incorrect connection of the motor phases

•

incorrect connection of the resolver terminals

The axis modules are factory-set for terminal control and parameter
setting via keypad for speed control with asynchronous motor,
resolver feedback and analog set value provision at terminal 8
(C005 = 11). For this standard application, the basic parameters
are already programmed. Start entering the motor nameplate data
(see page 47) for commissioning.

For all other applications, the basic parameters must be selected.

3.1. Basic parameter setting

Before setting the parameters of the axis module, the controller
must be inhibited, i.e. terminal 28 open, RFR ENABLE switch open,
or STP key pressed.

•

C000 code set

All codes in the inverter are arranged in different code sets. With
factory setting, the standard code set is activated. It contains all
codes which are required for the most common applications.

By selecting the extended code set under code C000, the
keypad also shows those codes which are suitable for special
applications. There is also a service code set which is not
accessible in general.

If you want to protect your parameter settings from non­authorized access you can enter a password in the form of a
three-digit number. By defining a password, the parameters of
the standard code set can only be read, but not changed when
the password is not entered. The parameters of the extended
code set can neither be read nor changed.

First enter the password under C094 and then set code C000 to
"standard code set read only". After this, the setting of code
C000 can only be changed when the programmed password is
entered.



45

•

C001 Operating mode

Selection between keypad control or control via LECOM-A/B
interface or parameter setting via LECOM interface. For control
or parameter setting via LECOM interface, the drive must, in
addition, be given an address in code C009 (code set -2-).

To change the operating mode, open RFR switch (X5 terminal
28 open). The functions RFR ENABLE, QSP, Trip set and Trip
reset are not affected and can be controlled via terminals.

After selecting the control via Lecom (C001 = 3, 5, 6, 7) the
controller must be enabled via the selected interface. If
Lecom1 control (C001 = 3) has been selected, although the
interface is not connected, the controller can be enabled again
by selecting C001 = 1, and then C040 = 1. If LECOM 2 control
has been selected (C001 = 5, 6, 7) if the interface is not
connected, the controller remains inhibited even after changing
C001. To enable the controller again, select under C001 a
parameter other than 5, 6, 7 save the parameter and
disconnect the controller from the mains. After reconnection,
the controller can be enabled again.

•

C005 Configuration

Other control modes (e.g. torque control) or alternative methods
of producing the reference signal are available. The
configuration can only be changed whilst in code set -2-.

Caution!

When changing the configuration, control structure, motor and encoder and
terminal assignment are changed.

•

C025 Encoder

The set value and the actual value encoder can be selected
under C025 (PPR). Encoder constants are set under C026.
The master/slave ratio is set under C027.

•

Master frequency Dig.Set

The master frequency provision is set under C025 -3- via input
Dig.Set (X2); then the increments per revolution are set in code
C026. It is also possible to set the speed ratio between the
master and slave, this adjustment is made under code C027.

Under
Under
Another possibility to set the angular synchronization is given by

the gearbox factor. The gearbox factor is given as a fraction.
The numerator of the fraction in entered under
denominator of the fraction is entered under

C028,

a second ratio can be entered.

C140

, the required speed ratio is activated.

C032

C033.

, and the

46



Beispiel:

given: f

required: encoder constant C026

100 kHz = 100.000 increments/s

3000 rpm = 50rps

C 026 =

Selectable are 512, 1024, 2048, 4096 inc rem ents/revolution

C026 = 2048

C027 = 2048/2000 = 1,024

C027 = 1,024

DIG.SET

100.000 increments / s

is chosen

is to adjust.

= 100 kHz

max

n

= 3000 rpm

max

encoder setting C027

50 / s

= 2000 increments/revolution

3.2. Input of motor nameplate data

To calculate the excitation and torque generating components of
the current vector, it is necessary to enter the motor nameplate
data correctly.

This is only possible if the controller is inhibited, i.e. RFR ENABLE
open, or the STP key pressed.

•

C081 Rated motor power

This parameter is only required for automation module
applications to calculate the absolute reference for the torque.
The rated motor power of the Lenze servo motor, which is best
adapted to the axis module, is factory-set.

•

C087 Rated motor speed

•

C088 Rated motor current

For M << M

CI

088

=⋅

rated

•

C089 Rated motor frequency

•

C091 cos ϕ motor

M

required

M

rated

ratedrequired



47

3.3. Setting of operating parameters

T

The operating parameters must be adjusted according to the
specific application requirements. Operating parameters can be
modified ON-LINE during operation. However, a preadjustment of
the operating parameters before start-up of the motor is
recommended.

•

C022 Maximum current I

Factory set to the maximum controller current. An adjustment
of the maximum current limitation is only necessary if the maxi­mum current must be smaller than the controller peak current.

•

C011 Maximum speed n

In the case of analog set value provision, the maximum motor
speed determines the motor speed at maximum set value. In
the case of digital set value provision, n
speed. If n

set

> n

max

directions, CW and CCW).

•

C012 Acceleration time T

The acceleration and deceleration times refer to a speed
change from 0 to n

max

adjusted as follows:

max

max

limits the motor

max

the speed is limited to n

, C013 deceleration time T

ir

(valid for both

max.

. The timesTir and Tif to be set can be

if

ir

⋅⋅

t n

ir max

=

n - n

22

1

T =

if

t n

if max

n - n

1

When moving large inertias with short deceleration times, it is
possible that the brake energy would not be dissipated by the
internal brake resistor. The axis module trips and the fault OUE
"overvoltage" or OH1 "overtemperature supply module" is
displayed. In this case it is necessary to increase the
deceleration time or to connect an external brake resistor.

•

C105 Quick stop deceleration time TQSP

The quick stop deceleration time is activated by the function
QSP quick stop.

•

C039 JOG speed

An internally stored speed set value can be activated via X5
terminal 24 or via C045. The JOG speed is set under C039.

48



Speed controller setting

Set a low speed set value. Enable the controller release (close
RFR switch or apply a voltage of 13...30 V to X5 terminal 28). The
speed controller can now be set. In case of uncontrolled motor
running (oscillation etc.), the drive can be immediately stopped by
pressing the STP key. After reducing the gain adjustment V

pn

C070, release the controller again using SH+STP.

•

C070 Gain adjustment Vpn
I

ncrease V

LED I

max

drive operates smoothly. Read the V

until the drive becomes unstable (motor noise and

pn

illuminated), then reduce Vpn amplification until the

value and adjust to one

pn

third of the value.
Increase the speed set value. If the motor speed does not follow
the higher speed set value, but stays at 50...300 rpm, the drive
must be disconnected from the mains and after a period of 5
min, the motor connections U and V must be interchanged.
Switch on the mains and readjust the gain.

•

C071 Integral action time of the speed controller

Factory setting optimized to the torque loop. It may be
necessary to adjust higher values if the field weakening range
is completely used or if non-adapted motors are employed. For
higher time constants in the speed control loop (e.g. for chain
drives), it may also be necessary to readjust the integral action
time. To change the integral action time, select the extended
code set -2- under code C000. Increase T
stable. Read T

•

C072 Amplification of the difference component of the

and adjust to approx. double the value.

n

until the drive is

n

speed controller.

This adjustment is only necessary if the time has been set to a
larger time constant. The difference component of the the speed
controller is used for compensation of the time behaviour of the
torque control circuit. The adjustment of the difference
component is only possible in the extended code set -2-.
Change K

until achieving optimum control behaviour.

d



49

4. Additional functions

4.1. Mains failure detection with DC-bus control

Purpose:

In the event of mains failure, this function prevents an uncontrolled
coasting of the drives as long as possible for the system.
Within this period of time the drives, a speed-controlled,
synchronous brake is possible.

Advantages:

•

Material cracks can be avoided.

•

External UPSs may not be necessary

4.1.1. Requirements

•

The axis module 922x and the supply module 921x must be
wired according to the charts on page 52.

Pin assignment of the plug X3 at the supply module

X3 Function Condition Level
1GND

2VG*

3

NA&U

424V

5

NA

6GND

Reference potential for analog
signals U

Monitor signal of the DC-bus
voltage V

*

Combined signal from X3,2 and

G

X3,5.
External supply for t he

ext

potential-free output X3,5
Potential-free output signal for

mains failure.

Reference point for terminal

ext

X3,4 and X3,5.

* and

G

.

Z

NA&U

*

G

≤ 900 V 0.01 ⋅ V

0 V ≤ V

Z

X3,5 = HIGH and V
X3,5 = LOW or V

> 320 V ± 3.5 % and

V

mains

V

> 440 V ± 3 %

Z

≤

V

320 V ± 3,5 % or

mains

≤

440 V ± 3 %

V

Z

> 440 V ± 3 %

Z

≤ 440 V ± 3 %

Z

Z

10 V

0.01 ⋅ V

Z

+ 24 V (13 ... 30 V)

HIGH (13 ... 30 V)

LOW (0 V)

0 V of the external
supply

•

Configuration C005

Setting
C005

-11-, -21- Terminals X5,1 and X5,2

-12-, -13-, -30- Terminals X5,7 and X5,8

-20-, -33- Mains failu re det ection with DC-bus control im possible

Input of the combined signals

NA&UG* at the axis module

Note:

For drive control via LECOM interface, terminals X5,7 and X5,8 are automatically
the control terminals evaluating the combined signal, no matter which configuarion
had been selected under C005.

50



•

Parameter setting of the mains failure detection:
The following codes affect the drive properties in case of mains
failure:

C079

Proportional gain of the DC-bus vol t age controller (V
signal flow chart p.55)

C080

Integral-action component of the Vz-controller

C228

Acceleration integrator for the set value of the DC-bus voltage

C229

Activation of mains failure detection
C229 = -1- : Mains failure detect i on activated

C236

C237

(Vz-controller).

V

setl

Ater the detection of a mai ns fialure and the activati on of the DC-bus
control, the value of C237 is the set value of the Vz-controller

This code indirectly det erm i nes the possible speed decrease during a
controller cycle.

•

In drive configuration with several controllers and DC-bus

-controller) (see

z

connection (one master drive and one or several slave
drives), the mains failure detection with DC-bus control may
only be activated for the master drive.



51

4.1.1. Wiring

Note

•

For radio interference suppression, all relays have to be equipped with free­wheeling diodes!

•

all relays: R

a) Wiring for C005 = 11 und 21

< 1K

i

Ω

b) Wiring for C005 = 12, 13, 30 and for interface control

52



4.1.2. Setting

These setting instructions are meant as guideline and must not
always decelerate the machine to standstill before reaching the
undervoltage threshold. The parameter setting of the codes, which
influences the DC-bus control during mains failure detection (C079,
C080, C228, C236, C237), depend on the size of the drive
configurations and the mechanical features of the system.
There are minimum speeds at which the energy of the mechanical
system is not high enough to compensate the losses which occur
during the controlled deceleration (switched-mode power supplies,
inverter, machines).

Aim:

•

The aim is to have a controlled speed deceleration that allows a
DC-bus voltage value which remains higher than the
undervoltage threshold for as long as possible.
As soon as the value falls below this threshold, pulse inhibit will
be set and the drive will coast to standstill.

•

The brake chopper should not be activated during the controlled
deceleration of the speed.
Therefore, the parameter setting of the DC-bus control should
be "softly". It is not very important whether the DC-bus can be
loaded to the voltage set under C236.

Required measuring units:

•

Oscilloscope,
at least 2 channels, if possible with memory.

Test set-up:

•

Connect channel 1 of the oscilloscope with X5,62 of the axis
module (speed monitor).

•

Connect channel 2 of the oscilloscope with X3,2 of the supply
module (DC-bus monitor).

•

If available, connect channel 3 of the oscilloscope with X5,44 of
the axis module (RDY-output).

Presettings:

1. Set the speed controller of the axis module drive configuration
as usual.

2. Activate the mains failure detection of the master drive (C229 =

-1-).
If the function is activated, the RDY-output changes from the
HIGH level to the LOW level. As soon as the speed is
decelerated to 0, the RDY-output re-changes to HIGH.

3. The relevant codes must be set as follows:

Code Presetting
C079

C080
C228

C229
C236
C237

-1­150 s
1/10...1/20 of the natural slow-down time of the machine at

maximum operating speed

-1­680 V
1000 rpm or more



53

Setting course:

1. Select a medium speed as set value according to the occuring
speed range of the system.

2. Switch-off the mains.
The oscillogramme shows the reaching of the undervoltage
threshold on channel 2, the DC-bus voltage decreases slowly
(see fig. 1)

t1 = Start of the DC-bus control

= Undervoltage t hreshold

c

U

V

Br

C236

*

G

c

Vmin

t

1

fig. 1: Start of the setting

DC-bus voltage during DC-bus control

3. Increase C079 to reach the undervoltage threshold at a speed
as low as possible. For very small final speed values, you may
reduce C228.

4. Repeat steps 1.) to 3.) at maximum and minimum system
speed.

5. Reduce C080 at maximum system speed until the DC-bus
voltage does no longer overshoot the brake-chopper threshold
(see fig. 2).
You may also reduce C237 to limit the speed decrease during
deceleration.

reached

U

V

Br

C236

*

G

t1 = Start of DC-bus control

= Undervoltage t hreshold

c

c

Vmin

t

1

fig. 2: Real sett i ng

DC-bus voltage during DC-bus control

6. The increase of the Vz acceleration integrator C228 prolongs the
deceleration period.

7. Save the setting under C003.

reached

54



Signal fow chart DC-bus control



55

4.2. Homing mode

•

C250 Homing mode

In the homing mode (C250 = -0-) the increments of the master
frequency at the DIG.SET input are processed as a relative
change of angle. By activating the homing mode (C250 = -1-) it
is possible to refer to an absolute angle position of the motor
shaft. The homing mode can only be activated if the controller is
inhibitied. It is initiated by means of JOG function.

Functional sequence:

Start the homing mode by means of the JOG function enable.
The RDY signal indicates "not ready". The drive runs at the
selected JOG speed. After blocking the JOG signal (e.g. by
means of a proximity switch), the drive continues to run to the
home position and stops. The RDY signal indicates "ready".

If controller inhibit or QSP are activated during homing, the RDY
signal remains "not ready" until the homing process is finished.

Input signal JOG

Motor speed

Motor shaft
position

Output signal RDY

•

C252 Angle offset

JOG speed

0

o

360
Home position

any position

o

0

The shift range of the home position is one revolution of the
motor shaft. 360° is resolved into 2048 steps. The adjustment
can be made ON-LINE when the motor is running. The zero
pulse of the encoder emulation X4 is also resolved in 256 steps.

•

C254 Amplification of the angle controller

The angular controller is active when using a master frequency
DIG.SET input or if the homing mode is active. By selecting
Vpw=0, the angular controller is deactivated. In this case, the
master frequeny is processed as speed set value and not as set
angle increments. Before adjusting the amplification of the
angular controller, the speed controller must be optimized.

•

C159 Homing OK

C159 displays whether the homing was successful or not:
C159 = -1- homing successfully completed
C159 = -0- homing not completed
C159 may also be used for simulating a homing mode:
Set C159 = -1- and manually activate the angle offset under
C252.

t

56



4.3. Further additional functions

•

C004 Switch-on display

Entering a code number under C004 determines which
parameter is to be displayed after switching-on.

•

C018 Chopper frequency

The chopper frequency determines the noise level. The chopper
frequency can either be 8 or 16 kHz. Changing the chopper
frequency changes the admissible permanent load of the axis
module.

•

C255 Following error limit

If an following error exceeds the value entered under C255
during master frequency operation (C005 = -13- or -21-) and an
amplification of the angle controller of C254 > 0, an internal
signal will be generated for the error status >>Following error
limit exceeded<< . If this signal is applied to the terminal Q
(X5,42) via C117, the Q
HIGH to LOW as soon as the set limit value is exceeded.

For following errors of more than 3188 increments, also the
RDY message will be set to LOW and >>following error<< will
be displayed.
(see page 74)

terminal will change its level from

min

min



57

5. Serial interfaces

The 9200 servo axis modules can communicate via the serial
interfaces LECOM1 and LECOM2 with superimposed hosts (PLC
or PC) as well as Lenze operating units.

The LECOM1 interface (connector X1) is used to process the
LECOM A/B protocol. The LECOM1 interface can also be used to
connect devices to the RS 232C standard (LECOM-A) or to the RS
485 standard (LECOM-B). The interface is suitable for parameter
setting, monitoring, diagnosis and process control.

For more demanding applications, a field bus connecting module
can be used. For the parameter setting, this interface is generally
called LECOM2.
The following bus systems are available:

•

Interbus-S interface module 2110

•

Profibus interface module 2130

5.1. LECOM1 interface X1

The standard serial interface X1 fulfills the standard RS 232 C as
well as the standard RS 485.

Using the common RS 232 C interface, simple point-to-point
connection with a maximum cable length of 15 m can be achieved.
Almost every personal computer (PC) or other master system is
equiped with this interface. For several drives and larger distances,
the RS 485 interface must be used. Only two wires are used to
enable the communication of up to 31 controllers via a maximum
distance 1200 m.

The LECOM A/B protocol is based on the 1745 ISO standard and
supports up to 90 controllers. It recognizes faults and therefore
avoids the transmission of faulty data.

Pin assignment X1:

Pin Name Input/Output Explanation
1

+VCC15 Output Suppl y voltage +15V/50mA

2

RxD Input Data receiving line RS232C

3

TxD Output Data transmitting line RS232C

4

DTR Output Transmission control RS232C

5

GND -- Controller reference potential RS232C

6

DSR Input (unused)

7

T/R (A) Output /Input RS485

8

T/R (B) Output /Input RS485

9

+VCC5 Output Supply voltage +5V

58

Baud rate:
Protocol:

1200/2400/4800/9600 Bd (to be changed via C125).

LECOM-A/B V2.0



5.2. LECOM status messages

•

C068 Operating state

Bit no. Signal
0, 1, 2, 3
4, 5, 6, 7
8
9
10
11
12
13
14

•

C069 Controller state

Bit no. Signal
0
1
2
3
4
5
6
7
15

Operating fault
Communication fault
RFR enable
Q

min
running
IMP
QSP
I

max

N

= N

act

set

BALARM
CALARM
PCHG
REMOT
AUTO
RESET
XXX
RFR
TRIP

•

C067 Fault numbers of the operating faults (see "Service")

--- OC1 OC2 OC5 OUE OH1 OH2 U15 CCr Pr Sd2 EEr UEr

0 111215225152707172829192

Further information on the serial communication LECOM1
(LECOM-A/B) can be obtained from the Operating Instructions
LECOM-A/B.

For extensions, the following modules are available:

2101 Interface with mains isolation for RS422/RS485

•

2122/2123 Interface for optical fibres (LECOM-LI)

•



59

5.3. Table of attributes

If you want to programme the parameter setting or superimposed
drive and control functions yourself, the following table will inform
you about serial communication via LECOM1 (LECOM A/B) or
LECOM2.

Legend

Code Meaning
Code
DS

P/S

DT

DL
LCM-R/W

LCM1­Form.

AIF-PZD

LCM2­Index

Lenze code number
Data structure
E = Si ngl e variable (only one parameter element)
A = Array variable (several parameter element s can be selected by

the code for the preselecti on or by LECOM sub code.)

I = Image v ari abl e (several parameter elements can only be

selected by the code for preselection).

Parameter setting/c ont rol (corresponding to C001)
P = Parameter setting
S = Control

Data type
B8 = 1 byte bit coded
B16 = 2 byte bit coded
VS = ASCII string
FIX32 = 32-bit-value with sign;

decimal with four decimal pl aces

Examples:

1.2 = 12000

-10.45 = -104500
N16 = 16-bit value with sign; 0 = 0; 100% = 2
100% = 16384

-50% = -8192
Data length in byte
Access authorization for LECOM

Ra = Reading always perm i tted
W = Writing perm i tted under certain conditions

Wa = Writ i ng i s always permitted
LECOM A/B-format

(see technical description LECOM A/B)
Process data in the automation interface.

Mapping on LECOM2 process data channel i s possible.
PD = Process data

Number (index) under which the parameter is addressed when using
LECOM 2.

FIX32-dez

FIX32-dez

N16-dez

N16-dez

(e.g. operating mode, controll er i nhi bi t )

FFFE67CC

4000

E000

00002EEO

FIX32-hex

N16-hex

FIX32-hex

14

N16-hex

60



Code P/S DS DT DE D/L LCM-R/W LCM

Form.
C000
C001
C002
C003
C004
C005
C009
C011
C012
C013
C017
C018
C022
C025
C026
C027
C028
C030
C031
C032
C033
C039
C040
C041
C042
C043
C045
C046
C047
C050
C051
C054
C056
C059
C060
C061
C067
C068
C069
C070
C071
C072
C079
C080
C081
C087
C088
C089
C091
C093
C094
C098
C099
C105
C117
C125

P E FIX32 1 4 Ra VD -- 24575
P E FIX32 1 4 Ra/Wa VD -- 24574
P E FIX32 1 4 Ra/W VD -- 24573
P E FIX32 1 4 Ra/W VD -- 24572
P E FIX32 1 4 -- VD -- 24571
P E FIX32 1 4 Ra/W VD -- 24570
P E FIX32 1 4 -- VD -- 24566
P E FIX32 1 4 Ra/W VD -- 24564
P E FIX32 1 4 Ra/W VD -- 24563
P E FIX32 1 4 Ra/W VD -- 24562
P E FIX32 1 4 Ra/W VD -- 24558
P E FIX32 1 4 Ra/W VD -- 24557
P E FIX32 1 4 Ra/W VD -- 24553
P E FIX32 1 4 Ra/W VD -- 24550
P I FIX32 1 4 Ra/W VD -- 24549
P I FIX32 1 4 Ra/W VD -- 24548
P I FIX32 1 4 Ra/W VD -- 24547
P E FIX32 1 4 Ra/W VD -- 24545
P E FIX32 1 4 Ra/W VD -- 24544
P E FIX32 1 4 Ra/W VD -- 24543
P E FIX32 1 4 Ra/W VD -- 24542
P E FIX32 1 4 Ra/W VD -- 24536
P E FIX32 1 4 Ra/W VD -- 24535
S E FIX32 1 4 Ra/W VD -- 24534
S E FIX32 1 4 Ra/W VD -- 24533
P E FIX32 1 4 Ra/W VD -- 24532
S E FIX32 1 4 Ra/W VD -- 24530
S E FIX32 1 4 Ra/W VD -- 24529
S E FIX32 1 4 Ra/W VD -- 24528
S E FIX32 1 4 Ra VD -- 24525
S E FIX32 1 4 Ra VD -- 24524
S E FIX32 1 4 Ra VD -- 24521
S E FIX32 1 4 Ra VD -- 24519
P E FIX32 1 4 Ra VD -- 24516
S E FIX32 1 4 Ra VD -- 24515
S E FIX32 1 4 Ra VD -- 24514
P E FIX32 1 4 Ra VD -- 24508
S E B16 1 2 Ra VH -- 24507
S E B8 1 1 Ra VH -- 24506
P E FIX32 1 4 Ra/W VD -- 24505
P E FIX32 1 4 Ra/W VD -- 24504
P E FIX32 1 4 Ra/W VD -- 24503
P E FIX32 1 4 Ra/W VD -- 24496
P E FIX32 1 4 Ra/W VD -- 24495
P E FIX32 1 4 Ra/W VD -- 24494
P E FIX32 1 4 Ra/W VD -- 24488
P E FIX32 1 4 Ra/W VD -- 24487
P E FIX32 1 4 Ra/W VD -- 24486
P E FIX32 1 4 Ra/W VD -- 24484
S E FIX32 1 4 Ra VD -- 24482
P E FIX32 1 4 Ra/W VD -- 24481
P E FIX32 1 4 Ra/W VD -- 24477
P E VS 1 6 Ra VS -- 24476
P E FIX32 1 4 Ra/W VD -- 24470
P E FIX32 1 4 Ra/W VD -- 24458
P E FIX32 1 4 Ra/W VD -- 24450

AIF-PZD LCM2

Index



61

Code P/S DS DT DE D/L LCM-R/W LCM

Form.
C140
C153
C154
C158
C159
C161
C162
C163
C164
C165
C166
C167
C168
C180
C183
C184
C185
C186
C187
C200
C205
C228
C229
C236
C237
C249
C250
C252
C253
C254
C255
C300
C350
C351
C352
C353
C354
C355
C356
C357
C358
C359
C370
C380
C381
C382
C387
C388
C391
C400
C401
C402
C403
C404
C405

P E FIX32 1 4 Ra/W VD -- 24435
P E FIX32 1 4 Ra/W VD -- 24422
P E FIX32 1 4 Ra/W VD -- 24421
S E FIX32 1 4 Ra VD -- 24417
P E FIX32 1 4 Ra/W VD -- 24416
P E FIX32 1 4 Ra VD -- 24414
P E FIX32 1 4 Ra VD -- 24413
P E FIX32 1 4 Ra VD -- 24412
P E FIX32 1 4 Ra VD -- 24411
P E FIX32 1 4 Ra VD -- 24410
P E FIX32 1 4 Ra VD -- 24409
P E FIX32 1 4 Ra VD -- 24408
P E FIX32 1 4 Ra VD -- 24407
P E FIX32 1 4 Ra/W VD -- 24395
P E FIX32 1 4 Ra/W VD -- 24392
P E FIX32 1 4 Ra/W VD -- 24391
P E FIX32 1 4 Ra/W VD -- 24390
P E FIX32 1 4 Ra/W VD -- 24389
P E FIX32 1 4 Ra/W VD -- 24388
P E VS 1 14 Ra VS -- 24375
P E OS 1 0 Ra VO -- 24370
P E FIX32 1 4 Ra/W VD -- 24347
P E FIX32 1 4 Ra/W VD -- 24346
P E FIX32 1 4 Ra/W VD -- 24339
P E FIX32 1 4 Ra/W VD -- 24338
P E FIX32 1 4 Ra/W VD -- 24326
P E FIX32 1 4 Ra/W VD -- 24325
P E FIX32 1 4 Ra/W VD -- 24323
P E FIX32 1 4 Ra/W VD -- 24322
P E FIX32 1 4 Ra/W VD -- 24321
P E FIX32 1 4 Ra/W VD -- 24320
S E FIX32 1 4 Ra VD -- 24275
P E FIX32 1 4 Ra VD -- 24225
P E FIX32 1 4 Ra VD -- 24224
P E FIX32 1 4 Ra/W VD -- 24223
P A FIX32 8 4 Ra VD -- 24222
P A FIX32 8 4 Ra VD -- 24221
P A FIX32 8 4 Ra VD -- 24220
P A FIX32 8 4 Ra VD -- 24219
P E FIX32 1 4 Ra/W VD -- 24218
P A FIX32 3 4 Ra VD -- 24217
P E FIX32 1 4 Ra VD -- 24216
P E FIX32 1 4 Ra/W VD -- 24205
S E I16 1 2 Ra/W VH PZD 24195
S E I16 1 2 Ra VH PZD 24194
S E I16 1 2 Ra VH PZD 24193
S E I16 1 2 Ra VH PZD 24188
S E I16 1 2 Ra/W VH PZD 24187
S E U16 1 2 Ra VH PZD 24184
P E FIX32 1 4 -- VD -- 24175
P E FIX32 1 4 -- VD -- 24174
P E FIX32 1 4 -- VD -- 24173
P E FIX32 1 4 -- VD -- 24172
P E FIX32 1 4 -- VD -- 24171
P E FIX32 1 4 -- VD -- 24170

AIF-PZD LCM2

Index

62



6. Code table

The following table shows which settings can be performed with
which codes. Detailed explanation about the codes and the
functions which can be achieved, are described in special chapters.
For the acceptance of parameters see page 41.

How to read the code table:

Column Short form Meaning

Code C000

C017*
C043 (L)

Parameter
Acceptance ON-LINE

-0-

SH + PRG

Code digit of the standard code set
Code digit of the extended code set
Code digit can only be reached via the LECOM interface; code
is not displayed

The factory setting is printed in bold.
Unit immediately accepts new parameter

Unit accepts new parameter after pressing SH+PRG
Unit accepts parameter only if the controller is inhibited when
pressing SH+PRG.

Code Name Parameter Accept-

ance

C000

C001

C002

C003

C004

Code set -0-

-1-

-2-

-9-

-11-

-P-

xxx
Operating
mode

Load parameter
set
Store
parameter set
Switch-on
display

-0-

-1-

-2-

-3-

-4-

-5-

-6-

-7-

-0- Factory setting

-1- Parameter set 1

51

Standard code set read only

Standard code set

Extended code set
Service code set (service password
neccessary)
Code set for
automation module
Password request
Enter password
Control: Parameter setting:

Terminals Keypad

Keypad Keypad
Terminals LECOM1
LECOM1 LECOM1
Terminals LECOM2
LECOM2 LECOM2
LECOM2 Keypad
LECOM2 LECOM1

Code no. for parameter displayed
after first switch-on

SH+PRG
password

SH+PRG

SH+PRG

SH+PRG 57

see
page

45

45



63

Code Name Parameter Accept-

ance

C005*

Configuration

-11-

-12-

-13-

-20-

Speed control
n

: analog, X5, terminals 7, 8

set

Speed control

: analog, X5, terminals 1, 2

n

set

Speed control

n

: Dig. Set X2

set

Speed control with corresponding
variable torque limitation

n

: analog X5, terminals 1, 2

set

M

: analog X5, terminals 7, 8

set

-21-

Speed control with corresponding
variable torque limitation

n

: Dig. Set X2

set

M

: analog, X5, terminals 7, 8

set

-30-

-33-

Torque control

M

: analog X5, terminals 1,2

set

Torque control with corresponding
variable speed limitation

n

: analog X5, terminals 7, 8

set

M

: analog X5, terminals 1,2

set

C009*

Controller
address

1

Bus participant number LECOM-A/B
Setting range: 1 - 99

SH+PRG

10, 20, 99 reserved for broadcast

C011

C012

n

(maximum

max

speed)
T

(acceleration

ir

time)

3000

0.01

Setting range: 100...8000 rpm
Step: 1 rpm
Setting range: 0.00...990 s
Step: 0.01s from 0.00...1s

ON-LINE

ON-LINE 48

0.1s.from 1...10s
1s from 10...100s
10s from 100...990s

C013

T

(deceleration

if

time)

0.01

Setting range: 0.00...990 s
Step: 0.01s from 0.00...1s

ON-LINE 48

0.1s.from 1...10s
1s from 10...100s
10s from 100...990s

C017*

Q

min

-treshold

10

Setting range: 0...8000 rpm

ON-LINE
Step: 1 rpm
When the motor speed is lower than
the Q

-treshold, output Q

min

min

is set

to 0 V.

-0-

-1-

f

chop

f

chop

= 8 kHz

= 16 kHz

C018*

C022

f

(Chopper

chop

frequency)
I

(maximum

max

xxx Step: 0.1 A ON-LINE 48

current)

see
page

46

57

64



Code Name Parameter Accept-

ance

C025*

C026*

C027*

C028*

C030*

C031*

C032*

C033*

C039

C040

Encoder -0-

-1-

-3-

-5-

-13­Encoder
constant

Encoder setting -0-

Encoder setting2-0-

Encoder
simulation

n

offset

Ratio
numerator

Ratio
denominator

JOG speed

RFR (controller
enable)

-0-

-1-

-2-

-3-

-4-

1.000

1.000

-1-

-2-

-3-

-4­0

0.1

0.1

20

-0-

-1-

noe encoder selected for setting
bipolar set value X5, terminals 1, 2

Dig. Set master frequency X2

unipolar set value X5, terminals 7, 8
act. resolver value X3
no encoder constant
512 increments/revolution
1024 increments/revolution
2048 increments/revolution
4096 increments/revolution
no setting required
Setting range: -5...0...+5
LECOM: -5000...0...+5000
Step: 0.001
Adjustable speed ratio between slave
and master drive n
using the Dig. Set input.
no setting required
Setting range: -5...0...+5
LECOM: -5000...0...+5000
Step: 0.001
Second adjustable speed ratio for the
Dig. Set input. The controller is
enabled (changing the parameter
form C027 to C028) via code C 140.
256 increments/revolution
512 increments/revolution
1024 increments/revolution

2048 increments/revolution

Setting range: -1000...+1000
Step: 10 mV
Offset adjustment of the selected
analog speed set value input
Setting range: -3.2767...+3.2767
Step: 0.0001
Numerator of the gearbox factor for
the Dig. Set input. The total ratio can
be obtained from the follow. formula:

⋅⋅

C027 C032

=

C033

Due to an internal limitation, only
values from V= -5.000...+5.000 can
be realized.
Setting range: +0.0001...+3.2767
Step: 0.0001
Denominator of the gearbox factor for
the Dig.Set input (formula: see C032)
Setting range: -n
Step: 1 rpm
Controller inhibited
Controller enabled

set/nmaster

or V =

...+n

max

when

C028 C032

C033

max

SH+PRG 46

SH+PRG 46

ON-LINE 46

ON-LINE 46

SH+PRG

ON-LINE

ON-LINE 46

ON-LINE 46

ON-LINE

SH+PRG

see
page



65

Code Name Parameter Accept-

ance

C041

C042

CW/CCW -0-

-1­QSP (Quick
stop)

-0-

-1-

Set value not inverted
Set value inverted
Quick stop inactive
Qick stop active (The speed set value

SH+PRG

SH+PRG

goes to digital 0 with the quick stop
deceleration time under C105)

C043
(L)
C045

C046

Trip Reset -0-

-1­JOG enable -0-

-1­n

set

1

xxxx Setting range: -n
(speed set
value 1)

no act. fault/ reset fault
actual fault
JOG set value inhibited
JOG set value enabled

...+n

max

max

Step: 1 rpm
Display of the externally adjusted

ON-LINE

SH+PRG

ON-LINE

speed set value. For keypad and
LECOM control: on-line set value
selection

C047

M

max

(torque limit)

xxx Setting range: 0...100.0% or

-100.0...+100.0% for torque control

ON-LINE

Step: 0.1%
The maximum torque which can be
obtained, depends on the type of
servo motor and the axis module
employed

C050

n

2 (speed

set

set value 2)

_xxxx Setting range: -n

Step: 1 rpm

max

...+n

max

read only

Effective speed set value at speed
controller input

C051

C054

n

(motor

act

shaft speed)
I

mot

(motor current)

_xxxx Setting range: -9765...9765 rpm

Step: 1 rpm

xxx Setting range: 0.0...maximum

current

read only

read only

Step: 0.1 A
The displayed value is calculated
from the sinus oscillations of the
current. the difference to the actual
effective motor current is approx.
10%. In the field weakening range, a
larger difference may be possible.

C056

M

set

(effective
torque set
value)

xxx Setting range: -100.0...+100.0%

Step: 0.1%
The maximum torque which can be
obtained (100%) depends on the type

read only

of servo motor and the axis module
employed

C059*

Pole pair

xx read only

number

C060*

Rotor position xxxx Setting range: 0...2047 increments

read only

Step: 1 increment

see
page

66



Code Name Parameter Accept-

ance

C061

Utilization I x t xxxx Setting range: 0.0...+100.0%

read only
Step: 0.1%
The indicated value is determined by
the current-time integral I x t of the
controller current. When reaching
100% the I x t monitoring sets
overload trip

C067
C068

Fault diagnosis xxx see under "Service" 74
Operating state see under "Service" read only 59

(L)
C069

Controller state see under "Service" read only 59

(L)
C070

V

(gain of

pn

speed

30

Setting range: 0...500
Step: 1

ON-LINE 49

controller)

C071*

T

n

(Integral action
time of speed

10

9999

Setting range: 2.5...100 ms
Step: 0.5 ms
Deactivate integral component

ON-LINE 49

controller)

C072*

k

d

(differential

0

Setting range: 0...5
Step: 0.1

ON-LINE 49

amplification of
speed
controller)

C079*

C080*

V

p

(Vz-controller)
T

n

1000

1.0 s

Setting range: 0...9000

ON-LINE 53
Step: 1
Setting range: 0.01...150 ON-LINE 53

(Vz-controller)

C081*

C087

C088

Rated motor
power
Rated motor
speed
Rated motor
current

xxx.x Setting range: 0.1...650 kW

Step: 0.1 kW

xxxx Setting range: 300...6000 rpm

Step: 1 rpm

xxx Setting range: 0.1A...max. controller

current
Step: 0.01 A

C089

C091

Rated motor
frequency
cos ϕ Motor

xxx.x Setting range: 10.0...300.0 Hz

Step: 0.1 Hz

x.xx Setting range: 0.50...0.99

Step: 0.01

C093*

Controller

xx read only

identification

C094*

Pass word

0

enter any password (0...999)

SH+PRG 42
no password defined

C098

Language -0-

-1-

-2-

German
English
French

Note:

The setting will not be overwritten
when loading the factory setting!

C099*

C105

Software
version
Quick stop
deceleration
time T

QSP

92_5.x Number to identify the software

version

0.01

Setting range: 0.00...990 s
Step: 0.01 s from 0.00...1 s

0.1 s from 1...10 s

read only

ON-LINE 48

1 s from 10...100 s
10 s from 100...990 s

see
page

47



67

Code Name Parameter Accept-

ance

C117*

C125*

C140*

C153*

C154*

C158*

C159*

Assignment of
Qmin terminal

Baud rate

Enable encoder
setting
Minimum limit
monitor 1

Maximum limit
monitor 1

Actual following
error

Homing OK

-0-

-1-

-2-

3000

xxxx Display range: -3188...3188

Terminal X5,42 has the function:
Qmin
Terminals X5,42 has the function:
following error limit reached

If code C117 is set to -1-, the terminal
X5,42 changes from HIGH to LOW
level as soon as reaching the
following error limit C255.

Terminal X5,42 has the function:
controller enable.

If code C117 is set to -2- the High
level of terminal X5,42 displays an
pulse enable of the rectifier.

Note:

If the function pulse enable is
assigned to terminal X5,42 to control
a mechanical brake please note that
you set Code117 to -2­controlling the brake. The loading of
the factory setting deactivates this
function.

-0-

9600 baud

-1-

4800 baud

-2-

2400 baud

-3-

1200 baud

-0-

C027 active

-1-

C028 active

0

Setting range: 0 rpm...C154
Step: 1 rpm
Setting of the minimum limit to give
the speed to monitor output 1.
Speeds, the absolute number of
which is smaller than the minimum
limit, generate 0 V on the monitor
output 1 of terminal 62.
Setting range: C153...9000 rpm
Step: 1 rpm
Corresponds to an output voltage of
10 V at terminal 62. Speeds > C154
generate a 10 V level on the monitor
output.

increments
Step: 1 increment

-0-

Homing not finished

-1-

Homing successfully finished
The status -1- can also be set.
Therefore it is possible after mains
connection to start without homing, in
the homing mode (C250 = 1) with
Dig.-Set operation. The angular offset
C252 is then set to 0.

before

SH+PRG

SH+PRG 46

ON-LINE

ON-LINE

read only

SH+PRG

see
page

68



C161
...
C168
(L)
C200
(L)

Saved fault
messages

Software
version

Display of the last eight fault
messages saved under C068,
readable only via LECOM. The last
fault reset is in C161.
Display of the software version,
readable only via LECOM

read only

read only



69

Code Name Parameter Accept-

ance

C228*

Acceleration
time (V

-

z

controller)

0.01

Setting range: 0.00...990 s
Step: 0.01 s from 0.00...1 s

0.1 s from 1...10 s

ON-LINE 53

1 s from 10...100 s
10 s from 100...990

C229*

Activation
V

-controller

z

-0-

Mains failure detection with V
not activated
Mains failure detection with V

-1-

-control

z

-control

z

activated

C236*

C237*

C249
(L)

C250*

C252*

V

set

(Vz-controller)
Influence of
V

-control

z

LECOM1-code
bank

Homing mode

Angle offset

600

1000

-0-

-1-

-2-

-3-

-4-

-5-

-6-

-7-

-0-

-1-

0

Setting range: 300...900 V
Step: 1 V
Setting range: 1...8000 rpm
Step: 1 rpm

C000 to C255

C250 to C505
C500 to C755
C750 to C1005
C1000 to C1255
C1250 to C1505
C1500 to C1755
C1750 to C2000

not active

active
Setting range: 0...2047

ON-LINE 53

ON-LINE 53

SH+PRG

ON-LINE 56

Step: 1

C253*

Speed­proportional
angle offset

8.5

Setting range: -819.1...+819.1 incre-

ments (at 4000 rpm)

Step: 1

ON-LINE

Possibility to correct an angular
offset, which is proportional to the
speed and depending on the cycle
time. The setting refers to an
incremental deviation of 4000 rpm.

C254*

V

pw

14

Setting range: 0...16

ON-LINE 56

Step: 1

C255*

Following error
limit

10

Setting range: 10...3071 increments
Step: 1 increment

ON-LINE 57

see
page

53

56

70



Code Name Parameter Accept-

ance

C370*

C380
(L)

C381
(L)

C382
(L)

C387
(L)

C388
(L)

C391
(L)

Automation
interface

RP-set speed
(corresponds to
C046)
RP-n

set2

(corresponds to
C050)
RP-actual
speed
(corresponds to
C051)

RP-set torque
(corresponds to
C056)
RP-M

limit

(corresponds to
C047)
RP-act. angle
(corresponds to
C060)

_xxxxx Display range: -26844...+26844

_xxxxx Display range: -26844...+26844

_xxxxx Display range: -32767...+32767

_xxxxx Display range: -32767...+32767

_xxxxx Display range: -32767...+32767

xxxxx Display range: 0...65535

Automation interface active

-0­Automation interface inactive

-1-

The automation communication must
be activated when using an auto­mation module or a field bus connec­tion LECOM2. If the communication is
enabled, without communicating to
the other side, the controller remains
inhibited. The communication via the
automation interface can be activated
independently of the operatíng mode
C001 when the controller is inhibited
(C040 = 0).

Caution!

To ensure a faultless initialization, the
LECOM interface may only be
accessed after one sec.

Note:

The setting will not be overwritten
when loading factory setting!

(8000 rpm = 26844)

Step: 1

(8000 rpm = 26844)

Step: 1

(9765 rpm = 32767)

Step: 1

Note:

Quick display without time message!

(100% = 32767)

Step: 1

Step: 1

(360° = 16384)

Step: 1

ON-LINE

read only

read only

read only

ON-LINE

read only

see
page



71

72



+SET1

-SET 1

SET2

DIG.SET

Monitor1

Q

min

Encoder
simulation

X5

1
2

X5

8
7

Constant

C026

X2

Homing mode

C250
C252

Home position shift

C255

X5

62

X5

42

X4

C027

Follo win g
error

C117

D if fe r e nt ia l a m p lif ier

unipolar

Setting

C028

1

0

C140

w

f

1

Q

min

0
2

Pulse enable

8 bit

A

f

C032
C033

Target window

n

D

Setting

dw

dt

10 bit

A

10 bit

A

Angle
set

thre s h o ld

C154

C153

C017

C030

C046

n

JOG-enable

24 21 22

C045

1

n

set

T

n

C071

n-controller

k

d

C072

nn

offset max

dw

w

dt

C254

w

11,12,20,21

C380

V

30,33

n

C051

+

pw

act

+

13,21

+

Angle
controlle r

n

act

11,12,20,3 3

30

D

D

C031

12,20

11,33

+

+

Lim it

JOG value

C060

C056

M

C011

C039

Configuration

v

C070

Angle

set

C005

pn

act

CW CC W

CW/
CCW

C041

± 1

11,12,13

20,21

30,33

QSP

CW/CCW

Set value
inte grato r

100 %

Resolver evaluation

QSP QSP

C042

C012 C013

T

ir

n

C050

C388

set

D

C105

T

if

2

R

Factory setting

Set value influence,
when using
module 2211
verwendet w ird

T

M

max

C047

lim it

X3

7. Signal flow chart axis modules

Set value conditioning

Speed control

R

Torque and current control

ASM

Monitoring

Current transformer

Resolver wire breakage

f

C018

RDY

U

V

W

3

IGB Ts

Power stage

chop

PWM

i-con t rolle r

i

mot

C054

I

Controller identification

Heat sink temperature

Pulse inhibit

act

i

LED IMP

max

-1
LED I

44

C093

IM P

LED RDY

On-delay

TRIP

41

i=0

Short circuit

Sd2

OH2

Fault memory

RDY

LU

C067

EEr

OH1

OC5

OUE

C061

Ixt utiliz a tio n

Earth fault

OC1

UEr

OC2

Pr

CCr

U15

+15V

Supply voltage

Current vector
calculation

C022

C087

max

I

Rated speed

Motor nameplate

C088

Rated current

C059

C091

C089

cos phi

Rated frequ ency

8 bit

Pole pa ir nu m ber

63

X5

Monitor2

RFR

C040

STP-key

28

X5

RFR

Status
supply module

X6

State bus

X5

26

27

X5

Trip Set

Trip Reset



73

Service

1. Monitoring messages

The servo drives of the 9200 series have numerous monitoring
functions, to protect against non-permissible operating conditions.
When such a protective function is activated, it either causes a
corresponding message on the controller display and pulse inhibit
(IMP) or, in addition (TRIP) setting. The type of fault is immediately
displayed. After having removed the fault, the pulse inhibit is
released automatically. Faults, however, causing a TRIP setting
must be reset und C067 by pressing SH+PRG or by a high signal
on input X5, terminal 27, TRIP reset.

1.1. Monitoring without activating pulse inhibit

•

Following error

The increments of the master frequency set value (Dig.Set) are
interpreted as angle increments (condition: V
cannot follow the set increments the message "Following error"
will be displayed as soon as a following error exceeds 3188
increments (2048 increments ∉ 360° at the motor shaft). The
error message disappears when the motor reaches the set
angle. A following error >3188 increments cannot be corrected.

>0). If the drive

pw

1.2. Monitoring with activating pulse inhibit

•

LU Undervoltage

The mains voltage of the supply module is monitored by
measuring the DC bus voltage. If the DC bus voltage decreases
below 330V ± 4%, the servo controllers cannot continue to
operate. The axis modules are inhibited via the State Bus. If the
mains voltage increases above 430V ± 3% again, the axis
modules are released again.

1.3. Monitoring with TRIP setting

•

OC1 Short circuit

OC1 is displayed if the current controller of the axis modules is
not able to limit the output current of the controller to the peak
current. Check if there is a short circuit in the motor or the motor
supply cable.

•

OC2 Earth fault

An earth fault current is detected if the total of the phase output
current is not 0. Check if there is an earth fault in the motor or
the motor supply cable.

Caution

Before switching on the mains again, it must be ensured that the
earth fault has been removed. The inverter free wheeling diodes
may be destroyed by earth faults.

:

74



•

OC5 Overload axis module (I · t)

The servo controllers can be overloaded up to their peak current
for a certain period of time. The possible duration of overload
without Trip setting depends on its intensity. When exceeding
the time limit, the fault OC5 "overload" is displayed. The
current/time ratios that do not lead to Trip setting are shown in
the overload diagrams below. These overload diagrammes
show permissible overcurrents, necessary recovery times and
load cycles. Take into consideration that the rated currents of
the axis modules depend on the chopper frequency set under
C018 (see Technical data, page 6).

1

I

I

2

I1 > I

: overload current

nom

I2 < I

: base load current

nom

t1: duration of the overload
t2: duration of the base load

1

t

Overload chart for f

Parameter I1/Irated Parameter I2/Irated

chop

2

t

= 8 kHz

Example A

given: f

= 8kHz

chop

overload I1 = 1,3 . I
base load I2 = 0,6 . I

rated

rated

,t1 = 35s

required: minimum duration of the base load t
result: t2 = 35s



2

75

Overload chart for f

Parameter I1/Irated Parameter I2/Irated

Example B

given: f

chop

overload I2 = 0,8 . I
overload I

= 16kHz

chop

= 16kHz

1

= 3,4 . I

rated
rated

required: maximum duration of the overoad t

1

result: t1 = 7s

OUE Overvoltage

If the DC bus voltage exceeds 750 V due to :

excessive mains voltage or

•

excessive brake energy,

•

the fault OUE "overvoltage" is displayed. In the case of excessive
brake energy, the deceleration times T

and (or) T

if

QSP

must be

increased. If necessary, install an external brake resistor.

OH1 Overtemperature supply module

The temperature monitoring on the supply module detects
overtemperatures of the heat sink, the mains input bridge, the
brake chopper and the internal brake resistors. Possible reasons
are:

overload of the supply module (supply module power < total

•

axis module power).
blower defective or insufficient

•

ambient temperature > 45°C.

•

76

OH2 Overtemperature heat sink axis module

The heat sink is monitored by a thermal contact. If the fault OH2 is
displayed, either the ventilation is not sufficient or defective, or the
ambient temperature is > 45°C. Fault reset is only possible after the
heat sink temperature has been reduced below 45°C.

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EEr External TRIP

The voltage at the TRIP-SET input X5 terminal 26 must be < 5V.
Otherwise, the external TRIP will be set.

SD2 Wire breakage resolver or resolver cable

The electrical resistance of the resolver cables is monitored. If the
line resistance is too high due to a line breakage or an interruption
in the resolver, fault SD2 "wire breakage" is displayed.

U15 Supply voltage interrupted

Check the Vcc-15V connection X5 terminal 20 for external short
circuit.

CCr System fault

Programme sequence error in the micro processor. A system fault
occurs with interference in the electronics caused by incorrect
screening or non-screened cables or due to ground or earth loops
in the wiring. The fault may also occur after short mains
interruptions (t < 1 min) if the controller was switched off while there
was another non-acknowledged fault.

Pr Parameter loss

Program sequence error in the microprocessor which is caused by
interference in the electronics due to incorrect screening or non­screened cables or ground or earth current loops in the wiring. The
interference resulted the loss of the stored parameters. After TRIP
reset and before enabling the controller again, a new parameter
setting is required.

CEO

Communication error with the automation module. The error occurs
when the automation module is activated by C370-1, but the
communication is interrupted.

UEr Unknown fault

This fault occurs in the fault memory if the hardware monitoring
sets TRIP, however, the software cannot identify the fault (e.g. in
case of interrupted supply voltage.

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77

2. LED displays

The LED displays clearly indicate the momentary operating state of
the controller even from greater distances. The axis modules are
provided with 3 LEDs in the operating terminal, the supply has 2
LEDs at the front side.

2.1. LED supply module

RDY Ready to operate

The LED is illuminated after the ON-delay has passed and no fault
was detected. RDY is not illuminated if a fault was detected.

BR

Brake chopper active

on

The LED is illuminated if the DC bus voltage is increased above a
threshold by absorbing regenerated energy and then dissipated
through the brake resistor.

2.2. LED axis module

RDY Ready to operate

The LED is illuminated if the ON-delay has passed and no fault was
detected. RDY is not illuminated if a fault was detected or homing is
not finished or the DC bus control is active or a following error is
active.

I

max

The LED is illuminated when reaching the maximum controller
current or the set torque limit.

IMP

Pulse inhibit. The LED is illuminated if the inverter is inhibited. The
inverter is inhibited if the terminal 28 is low the STOP key is
pressed, inhibit avtivated by communication or if a fault is detected.

RDY I

on off off Controller is ready to operate, the controller is enabled

max

IMP

on off on Controller is ready to operate, however, i t is not enabled
on on off Speed controller is limited:

the controller supplies t he

First commissioning

If the motor speed remains at 50...300 rpm even at high
set value and low load, the mot or connection cables U and
V must be exchanged.

off off on Controller is not ready to operate. In case of fault, the t ype

of fault is display ed.

off off off Maximum following error, homi ng not finished, active DC -

bus control (see above)

off on off The maximum following error occured at master frequency

coupling and the controller reaches the set current limit.

maximum current

set

:

78



3. Checking the power stage

The measurements described below are to be carried out only by
skilled specialists. Use a digital voltmeter. The measuring values
indicate the nominal value. If they are different from your measure­ments, there is a defect.

3.1. Checking the mains rectifier

•

Disconnect the controller from the mains.

Caution!

Wait 5 minutes until the DC-bus is discharged no load!

•

Measure directly at the power terminals.

Measurement Measuring point Measuring value

≈

Diodes in forward
direction

Diodes in reverse
direction

L1 → +UG
L2 → +UG
L3 → +UG

-UG → L1

-UG → L2

-UG → L3
+UG → L1

+UG → L2
+UG → L3
L1 → -UG
L2 → -UG
L3 → -UG

0.4V

≈

0.4V

≈

0.4V

≈

0.4V

≈

0.4V

≈

0.4V

high resistance (OL)
high resistance (OL)
high resistance (OL)
high resistance (OL)
high resistance (OL)
high resistance (OL)

3.2. Checking the output stage

•

Disconnect the controller from the mains.

Caution!

Wait 5 minutes until the DC-bus is discharged!

•

Measure directly at the power terminals.

Measurement Measuring point Measuring value

≈

Inverter diode in forward
direction

Inverter diode in reverse
direction

Inverter diode in forward
direction

Inverter diode in reverse
direction

U → +UG
V → +UG
W → +UG

UG → U
UG → V
UG → W

-UG → U

-UG → V

-UG → W
U → -UG

V → -UG
W → -UG

0.4V

≈

0.4V

≈

0.4V

high resistance
high resistance
high resistance

≈

0.4V

≈

0.4V

≈

0.4V

high resistance
high resistance
high resistance

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79

Index

A

Acceleration time

cceptance

A

direct

41

On-line
with SH + PRG
with SH + PRG with controller
inhibit

Ambient temperature 6

Amplification of the angle controller

56

Amplification of the difference
component of the speed controller
Analog set value selection
Angle offset

Automation interface 71
Axis module 7

41

42

48

41

22

56

B

Basic parameter setting 45

Baud rate
Brake chopper active

Brake resistor

external 33

Brake resistor

external 18
internal 20

58

78

49

C

CEO

77
Change parameters 41
Checking the mains rectifier 79
Checking the output stage 79
Code table 63
Commissioning 45

cos ϕ motor

47

D

DC-bus control 50

Deceleration time

Diagnosis 58

48

E

Earth fault

Electromagnetic combatibility 14
Electromagnetic compatibility 14
EMC 14
Enclosure 6

Encoder simulation

Extended code set 41

External Trip

74

25

77

F

Following error

Fuses 34

74

G

Gain adjustment

Gearbox factor 46

H

Homing mode

56

I

Installation

electrical 11
mechanical 10

49

80

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Integral action time of the speed
controller

Interference immunity 34

49

K

Keypad control 45

L

LCD display 40
LECOM1 58
LECOM2 58
LECOM-LI 59
LED

Axis module 78
Supply module 78

Mains isolation 14, 15, 59
Mains status 20
Mains voltage 6

Master frequency

Master frequency provision 46

Master frequency selection
Maximum current
Maximum speed

Monitoring 58
Monitoring messages 74
Motor connection 17
Motor nameplate data 47
Motors 39

46

48

48

N

Noise immunity 6

24

M

Mains and DC-bus monitoring 20
Mains connection 17
Mains failure detection 50

activation 51

O

ON-LINE

Optical fibres 59

Overload axis module
Overtemperature heat sink
Overtemperature supply module
Overvoltage

41

75

76

76

P

Parameter setting 40, 41, 58
Password 45
Peak power 6
Permanent brake power 18
Planning 5
Pollution strength 6
Power connections 17
Power stage 79

Q

Quick stop deceleration time

48

R

Rated motor current
Rated motor frequency
Rated motor speed
Ready to operate

relative humidity 6

Resolver

RFI filter 34
RS 232 C 58
RS 485 58

25

47

47

47

78

76

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S

Save parameters 42
Screening 14
serial communication 60
Setting of speed controller 49

Short circuit

Standard code set 45
State bus 21

74

81

Supply modules 6

Supply voltage interrupted
Switch-on display

System cables 34

for control terminal block 34
for power supply 37
for resolver 36
supply of fan and brake 38

System fault

Systemcables

for master frequency selection 35

57

77

77

T

Table of attributes 60
Terminal control 45
TRIP setting 74

U

Undervoltage
Unknown fault

74

77

W

Wire breakage resolver

77

82

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