Lenze 931KPx, 930, 931EPx Communications Manual

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KHB 13.0004−EN

.Bò*

Ä.Bò*ä

Communication Manual

Servo Drives 930

931EPx, 931KPx

PROFIBUS−DP

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0Fig. 0Tab. 0

KHB 13.0004−EN 2.1

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Contents i

1 About this documentation 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Document history 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Conventions used 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Notes used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Product description 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Product features 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Technical data 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Communication 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Electrical installation 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Wiring 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Assignment of the interfaces 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 931E servo inverter 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 931K servo inverter 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 PROFIBUS communication 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 The data telegram 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Structure of the receive message 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Structure of the response message 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Structure of the receive and response message with PKW mechanism 16 .

5.2 Consistent parameter data 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Commissioning 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Important notes 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Initial switch−on 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Settings on the controller (slave) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Node address setting 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Definition of parameter numbers (PNU) in the telegram editor 24 . . . . . . .

6.4 Control system configuration 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 "Speed control" mode 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.1 Description 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.2 Commissioning with PROFIdrive 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.3 PNUs for parameter setting 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 "Positioning" mode 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.1 Setting of homing 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.2 Positioning 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.3 Static position data sets 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.4 Dynamic position data set 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.5 Commissioning with PROFIdrive 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.6 PNUs for parameter setting 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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6.7 Actual values 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.1 Actual position 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.2 Actual speed value 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.3 Actual value of active current 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.4 Digital outputs 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.5 Digital inputs 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.6 Motor data 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.7 Operating modes 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Parameter setting 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Physical units 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Global parameters 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Saving of parameter set 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Setting of manual jog (inching mode) 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Motor data 46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 "Speed control" mode 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Speed setpoint 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Acceleration value 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 "Positioning" mode 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.1 Selection of position data set for parameter setting 49 . . . . . . . . . . . . . . . .

7.4.2 Setting of positioning profile parameters 49 . . . . . . . . . . . . . . . . . . . . . . . . .

8 Device control 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.3 Position data set at starting of positioning 50 . . . . . . . . . . . . . . . . . . . . . . . .

7.4.4 Jerk limitation 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.5 Homing modes 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.6 Homing offset 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 Error management 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5.1 Setting of responses 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Important notes 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 "Speed control" mode 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 Control word 1 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.2 Status word 1 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 "Positioning" mode 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 Control word 1 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Status word 1 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 State diagram 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Contents i

9 Troubleshooting and fault elimination 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Fault elimination 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Error messages 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Transfer of error messages 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 Table of error messages 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10 Appendix 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Table of parameter numbers (PNU) 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 Index 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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About this documentation

Document history

1 About this documentation

Contents

This documentation contains descriptions for PROFIBUS with servo inverters of the 931 series.

) Note!

This documentation completes the mounting instructions coming with the 931 servo inverter and the corresponding hardware manual.

The mounting instructions and the hardware manual contain safety instructions which must be observed!

ƒ The features of the PROFIBUS−DP for servo inverters of the 931 series are described

in detail.

ƒ Typical applications are illustrated by use of examples.

ƒ Furthermore, this documentation contains:

– the most important technical data for PROFIBUS communication; – information on the installation and commissioning of the PROFIBUS network; – information on the PROFIBUS data transfer, PROFIBUS monitoring functions,

communication−relevant parameters, and different operating modes.

The theoretical connections are only explained as far as required for understanding the PROFIBUS communication for servo inverters of the 931 series.

All trade names listed in this manual are trademarks of their respective owners.

Validity information

The information given in this documentation is valid for servo inverters of the 931 series.

Target group

This documentation addresses to all persons designing, installing, commissioning, and setting the servo inverters of the 931 series.

I Tip!

Documentation and software updates for further Lenze products can be found on the Internet in the "Services & Downloads" area under

http://www.Lenze.com

1.1 Document history

Material number Version Description

.Bò* 2.1 07/2010 TD34 Textual supplement to chapter 4.1 and 5.1

13336309 4.0 07/2010 TD34 Extended by the servo inverter 931K, general

13201464 1.0 06/2007 TD23 First edition

revision

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Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.

If you have suggestions for improvement, please e−mail us to:

feedback−[email protected]

Thank you for your support.

Your Lenze documentation team

1.2 Conventions used

This documentation uses the following conventions to distinguish between different types of information:

Type of information Identification Examples/notes

Spelling of numbers

Decimal separator Point In general, the decimal point is used.

Text

Program name » « PC software

Icons

Page reference ^ Reference to another page with additional

About this documentation

Conventions used

For instance: 1234.56

For example: »Engineer«, »Global Drive Control« (GDC)

information For instance: ^ 16 = see page 16

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About this documentation

Notes used

1.3 Notes used

The following pictographs and signal words are used in this documentation to indicate dangers and important information:

Safety instructions

Structure of safety instructions:

} Danger!

Pictograph and signal word Meaning

{ Danger!

} Danger!

( Stop!

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Danger of personal injury through dangerous electrical voltage.

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger of personal injury through a general source of danger.

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger of property damage.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.

Application notes

Pictograph and signal word Meaning

) Note! I Tip! ,

Important note to ensure troublefree operation

Useful tip for simple handling

Reference to another documentation

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2 Product description

2.1 Product features

ƒ Support of the PROFIBUS−DP−V0 communication profile

ƒ Drive profile:

– PROFIdrive

ƒ Automatic baud rate detection (9.6 kbps ... 12 Mbps)

Product description

Product features

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Technical data

Communication

3 Technical data

3.1 Communication

Field Values

Communication profile (DIN 19245 part 1 and part 3)

Communication medium RS485 Drive profile PROFIdrive Network topology Without repeater: line / with repeaters: line or tree PROFIBUS−DP device Slave Baud rate [kbps] 9.6 ... 12000 Maximum cable length per bus

segment Bus connection X4.1, X4.2 9−pin Sub−D socket (931E), 5−pin M12 connector (931K)

Profibus DP

1200 m (depending on baud rate and cable type)

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4 Electrical installation

4.1 Wiring

Basic wiring of the PROFIBUS

931x 931x 931x

X4.1/X4.2 X4.1/X4.2 X4.1/X4.2

111

£ 1200 m

Fig. 1 Basic wiring

Electrical installation

Wiring

931e_037

Element Note

0 Control system E.g. PC or PLC with PROFIBUS−DP master interface module 1 Bus cable Adapt baud rate to bus cable length

931X PROFIBUS slave Appropriate standard device

) Note!

When using a repeater, up to 125 stations can communicate via PROFIBUS.

EMC−compliant wiring

For wiring according to EMC requirements, please observe the following points:

) Note!

ƒ Separate control cables from motor cables. ƒ Connect control/data cable shields correctly:

– On both sides for cables with digital signals.

ƒ Observe the information on wiring according to EMC guidelines given in the

documentation for the standard device.

Wiring procedure

1. Do not change the bus topology, i.e. do not use stubs.

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2. Observe wiring notes given in the documentation for the control system.

3. Only use cables that comply with the listed specifications.

4. Activate bus terminating resistors at the first and last physical station.

When using sub plugs Lenze recommends to use sub−D plugs with internal series inductance (110 nH).

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Electrical installation

Wiring

Number of bus stations

SS S S S

123

2133PFB004

Segment Master (M) Slave (S) Repeater (R)

1 1

2 − 30 1

3 − 30 1

31 30

−

I Tip!

Repeaters do not have a station address but in the calculation of the maximum number of stations they reduce the number of stations by 1 on each side of the segment.

Repeaters can be used to build up line and tree topologies. In this case, the maximum total bus system expansion depends on

ƒ the baud rate used ƒ the number of repeaters used

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Electrical installation

Baud rates

Baud rate [kbps] Length of the transmission cable [m]

9.6 ... 93.75 1200

187.5 1000

500 400

1500 200

3000 100

6000 100

12000 100

) Note!

ƒ The baud rate depends on the data volume, cycle time and number of bus

stations.

ƒ The baud rate selected should be as low as possible. The lower the baud

rate, the more insensitive the PROFIBUS is to parasitic coupling.

Wiring

I Tip!

For high baud rates, we recommend to consider the application of optical fibres.

Advantages of optical fibres:

ƒ External electromagnetic interferences have no effects on the transmission

path.

ƒ Bus lengths of several kilometres are also possible with higher baud rates.

The bus length is – independent of the baud rate. – depend on the optical fibre used.

Specification of the transmission cable

Please follow the specifications of the PROFIBUS user organisation (PUO) for signal cables:

Bus cable specification

Specific resistance 135 − 165 W/km, (f = 3 − 20 MHz) Capacitance per unit length £ 30 nF/km Loop resistance < 110 W/km Core diameter > 0.64 mm Core cross−section > 0.34 mm Cores Double twisted, insulated and shielded

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Electrical installation

Assignment of the interfaces 931E servo inverter

4.2 Assignment of the interfaces

4.2.1 931E servo inverter

The controller is connected to the PROFIBUS via the 9−pin Sub−D socket X4.1/X4.2.

View Pin Designation Explanation

1 − −

2 − −

3 RxD/TxD−P Data line B (received/transmitted data plus)

4 RTS Request to send

5 M5V2 Data reference potential (ground to 5V)

6 P5V2 5 V DC / 30 mA (bus termination)

7 − −

8 RxD/TxD−N Data line A (received/transmitted data minus)

9 − −

4.2.2 931K servo inverter

The controller is connected to the PROFIBUS via the M12 connector X4.1/X4.2.

(received/transmitted data, no differential signal)

X4.1 / X4.2 PROFIBUS

Input contact pattern Pin

Output contact pattern

Signal Specification

no.

1 n. c. Not assigned

2 RxD/TxD−NReceive / Transmit data −N (A line)

3 DGND Data Ground (reference potential to VP)

4 RxD/TxD−PReceive / Transmit data −plus (B line)

5 Shield Shield

Signal Specification

no.

1 VP Power supply plus (5V)

2 RxD/TxD−NReceive / Transmit data −N (A line)

3 DGND Data Ground (reference potential to VP)

4 RxD/TxD−PReceive / Transmit data −plus (B line)

5 Shield Shield

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5 PROFIBUS communication

5.1 The data telegram

The controller supports the communication protocol DP in the power section DP−V0. The controller and the PLC communicate via receive telegram and response telegram. Enter parameter numbers (PNU) in these telegrams to address objects of the drive (e.g. process data and parameter data). Telegrams are transmitted cyclically. The telegram length depends on the settings of the telegram editor in the SDC.

ƒ Receive telegrams contain output data which is transmitted from the PLC (master)

to the controller (slave).

ƒ Response telegrams contain input data which is transmitted from the

controller (slave) to the PLC (master).

5.1.1 Structure of the receive message

PROFIBUS communication

The data telegram

Structure of the receive message

ADR = 1 ADR = 2 ADR = 4 ADR = 8 ADR = 12 ADR = 16

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 3rd PNU

Data 2nd PNU

Data 1st PNU

Control word 1 (PNU 967) (^ 54)

Mandatory wildcard (PNU 2010.0)

Telegram identifier (not changeable). Selecting the receive message in the telegram editor automatically sets the operating mode:

l Receive message 0: "positioning" mode (value of byte 0: E0 l Receive message 1: "speed control" mode (value of byte 0: E1

)

) Note!

ƒ To enable the PLC to receive the process data from the controller, you have

to assign the corresponding response message to the receive message in "SDC". (¶ 24)

ƒ In the PLC you have to enter the identifier in byte 0 of the receive message.

The identifier sets the operating mode of the controller.

: speed control mode

–E1

: positioning mode

–E0

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PROFIBUS communication

The data telegram Structure of the response message

5.1.2 Structure of the response message

ADR = 1 ADR = 2 ADR = 4 ADR = 8 ADR = 12 ADR = 16

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 2nd PNU

Data 1st PNU

Status word 1 (PNU 968)

Mandatory wildcard (PNU 2010.0)

Telegram identifier (not changeable). In the telegram editor the corresponding response message has to be assigned to the receive message:

l Response message 0: "positioning" mode (value of byte 0: F0 l Response message 1: "speed control" mode (value of byte 0: F1

)

5.1.3 Structure of the receive and response message with PKW mechanism

Data 3rd PNU

The PKW mechanism (PKW = parameter identifier value) enables a variable read/write access to the parameters of the controller with a defined telegram structure.

ƒ Use the PNU 2000 for the PKW mechanism.

Receive message

The PNU 2000 can be entered in the telegram editor, for instance under address 4.

ADR = 1 ADR = 2 ADR = 4 ADR = 12 ADR = 16

1st DWORD 2nd DWORD

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 2nd PNU

PNU 2000

Control word 1 (PNU 967) (^ 54)

Mandatory wildcard (PNU 2010.0)

Telegram identifier

ƒ Structure of PNU 2000:

(two data double words (2 × 4 bytes))

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4  7

PNU to be accessed by the master

Identifier:

l Read access: 41 l Write access: 42 l No access: 00

Subindex of PNU

Parameter value

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PROFIBUS communication

The data telegram

Structure of the receive and response message with PKW mechanism

Response message

The PNU 2000 must be entered under the same address as in the receive message.

ADR = 1 ADR = 2 ADR = 4 ADR = 12 ADR = 16

1st DWORD 2nd DWORD

Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... ...

Data 2nd PNU

PNU 2000

Status word 1 (PNU 968)

Mandatory wildcard (PNU 2010.0)

Telegram identifier

ƒ Structure of PNU 2000:

(two data double words (2 × 4 bytes))

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4  7

PNU requested by the master

Identifier:

l Write access: 42

) Note!

ƒ The PNU 2000 must be entered under the same address in the receive

message and in the corresponding response message!

ƒ For reasons relating to the address register of the master’s CPU (see

documentation for the master), we recommend to use variables of the type "double word" for the telegram.

If the telegram is generated byte by byte, a shift in the data telegram may result which causes transmission errors.

ƒ The transmission of a parameter is not acknowledged by the controller.

Subindex of PNU

Parameter value

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PROFIBUS communication

Consistent parameter data Structure of the receive and response message with PKW mechanism

5.2 Consistent parameter data

In the PROFIBUS communication system, a permanent data exchange takes place between the master computer (CPU + PROFIBUS master) and the slave.

The PROFIBUS master and the CPU (central processing unit) of the master computer access a common storage medium for this purpose − the dual port memory (DPM).

The DPM enables a data exchange into both directions (read/write):

Central Processing Unit (CPU)

Without any further data organisation, a slower write action of the PROFIBUS master might be overtaken by a faster read action of the CPU within a cycle.

To prevent this from happening, the parameter data to be transferred must be marked as "consistent".

Dual Port Memory (DPM)

PROFIBUS Master

Data communication with existing consistency

With consistency either "read" or "write" is possible in the data memory if master and CPU have access at the same time:

ƒ The PROFIBUS master only transfers the data as a complete data record.

ƒ The CPU can only access completely updated data records.

ƒ The PROFIBUS master cannot read or write data as long as the CPU accesses

consistent data.

The result is shown in the following example:

Central Processing Unit (CPU)

CPU wants to read!

PROFIBUS master wants to write at the same time!

1. Due to the fact that the PROFIBUS master can only write if the CPU does not read, the

2. The PROFIBUS master only writes complete data records into the DPM.

Dual Port Memory (DPM)

PROFIBUS master has to wait until the CPU has read all of the data.

Configuration of consistent data

Consistency is achieved by configuring the PROFIBUS master accordingly. Use the corresponding instructions of your configuration software for this purpose.

PROFIBUS Master

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6 Commissioning

6.1 Important notes

Before you switch on the controller for the first time in the PROFIBUS−DP network, check

ƒ the entire wiring for completeness, short circuit, and earth fault,

ƒ and whether the bus system is terminated by terminating resistors at the first and

last bus station.

6.2 Initial switch−on

) Note!

Keep to the switch−on sequence!

Commissioning

Important notes

Step Procedure See

A Settings on the controller (slave)

l You need a PC and the »Small Drives Control (SDC)« PC software

1. Switch on the controller Software manual for

2. Establish RS232 communication between the PC and the controller

3. Set the node address

l Selection of the node address via »Small Drives Control (SDC)« ^ 21

l Selection of the node address via the digital inputs DIN0 ... DIN5 ^ 22

4. Define the parameter numbers (PNU) in the telegram editor ^ 24

5. Save the settings in the parameter set of the controller

B Configuration of the control system (master)

1. Switch on the control system Documentation for

2. Install the device data base file (*.GSE) ^ 27

3. Enter the slave addresses

4. Configure the input data and output data according to the settings in the telegram editor (project creation). The data width depends on the entries in the telegram editor

5. Save, compile and transfer the project Documentation for

C Activation of communication

1. Activate communication on the master Documentation for

2. Activate communication on the slave ^ 21

D Running the controller up via the PROFIdrive state machine

1. "Speed control" mode ^ 28

2. "Positioning" mode ^ 30

The drive is controlled according to the setpoints specified by the PLC and the operating mode set.

the controller

the master

^ 24

the master

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6.3 Settings on the controller (slave)

Commissioning

Settings on the controller (slave)

) Note!

The controller parameters are set using the »Small Drives Control (SDC)« PC software.

ƒ Establish an RS232 connection for communication between the PC and the

controller. For a detailed description please refer to the controller’s software manual.

ƒ Save all settings in the parameter set of the controller using the command

File W Parameter set W Save parameter set (flash) to prevent the settings from getting lost in the case of a reset or mains switching.

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6.3.1 Node address setting

Selecting the node address via »Small Drives Control (SDC)«

1. Open the Parameters W Fieldbus W Profibus... W Operating parameters... menu.

Commissioning

Settings on the controller (slave)

Node address setting

931E_020, 931E_21

2. Enter the desired node address for the controller in the Slave node number input

box.

3. Tick the Profibus active check box. – If the check box is enabled, the Slave node number input box is disabled.

4. Click on the Save & Reset button to save the settings. – After saving, the assigned node address is displayed in the Effective slave node

number box.

5. Click on the OK button.

) Note!

The dialog box displays that the communication between master and slave has been established successfully:

ƒ The Data Exchange box is lit green. ƒ The baud rate set on the master is displayed in the Baud rate box.

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Commissioning

Settings on the controller (slave) Node address setting

Selecting the node address via the digital inputs DIN0 ... DIN5

You assign the node address to the controller by adding to the preset slave node number an offset via DIN0 ... DIN5.

1. Open the Parameters W Fieldbus W Profibus... W Operating parameters... menu.

931E_020, 931E_22

2. Enter the desired value in the Slave node number input box.

3. Click on the + Offset (DIN) (inactive) button (see arrow in the screenshot of the "Profibus" dialog box).

– The Digital inputs dialog box opens.

4. Tick the Offset node number (field bus) check box. – Tick the AIN’s used as DIN’s check box (if necessary) to use DIN0 ... DIN3 as well for

the offset.

– Adjustable offset: 0 ... 63 with DIN0 ... DIN5 or 16, 32, 48 with DIN4, DIN5 – Click on the OK button.

5. Set the digital inputs DINx for the desired offset. Calculation of the offset:

Offset = DIN0 × 2

+ DIN1 × 21 + DIN2 × 22 + DIN3 × 23 + DIN4 × 24 + DIN5 × 2

Example: The node address of the controller is to be "35". In the Slave node number input box "3"

is entered. So the offset must be "32":

Offset = DIN0 × 20+ DIN1 × 21+ DIN2 × 22+ DIN3 × 23+ DIN4 × 24+ DIN5 × 2

32 = 0 × 20+0× 21+0× 22+0× 23+0× 24+ 1 × 2

6. Click on the Save & Reset button to save the settings. – Important: After clicking on the button, the states of the digital inputs are read

once. The offset is added to the slave node number. Subsequent changes have no effect.

– After saving, the assigned node address is displayed in the Effective slave node

number box.

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7. Click on the OK button.

) Note!

The dialog box displays that the communication between master and slave has been established successfully:

ƒ The Data Exchange box is lit green. ƒ The baud rate set on the master is displayed in the Baud rate box.

Commissioning

Settings on the controller (slave)

Node address setting

931E_23

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Commissioning

Settings on the controller (slave) Definition of parameter numbers (PNU) in the telegram editor

6.3.2 Definition of parameter numbers (PNU) in the telegram editor

ƒ Parameter numbers (PNU) can be used to address drive objects (e.g. process and

parameter data). – Parameter numbers can comprise several subindexes under which objects are

represented. When defining the PNU, the respective subindex must be defined as well.

ƒ With the telegram editor you can define all PNUs required for the application. The

PNUs are stored in the controller. – Define the PNUs before activating communication to the master.

1. Open the Parameters W Fieldbus W Profibus... W Profibus telegram editor... menu.

931E_024

2. Select "Receive telegram" in the Telegram type box. – Each telegram may contain a maximum of 10 entries. – The length of the telegram must not exceed 32 bytes.

3. Select the receive telegram 0 or 1 and the corresponding respond telegram in the Telegram editor box.

– Use the receive and response message 0 for the "positioning" mode. – Use the receive and response message 1 for the "speed control" mode. – Byte 0 (telegram identifier, not visible) and the entries for byte 1 (ADR − 1) and

byte 2 / byte 3 (ADR − 2) are necessary for faultless communication. Do not change these entries.

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Commissioning

Settings on the controller (slave)

Definition of parameter numbers (PNU) in the telegram editor

) Note!

ƒ If the response message does not correspond to the receive message, the

master receives incorrect data from the controller.

ƒ In the PLC you have to enter the identifier in byte 0 of the receive message.

The identifier sets the operating mode of the controller. –E1

: speed control mode

: positioning mode

–E0

4. Click on the Append entry button to enter a PNU. – If you want to enter the PNU in hexadecimal notation, activate the hexadecimal

format in the Append entry box. – If you want to change a PNU, select the PNU and click on the Change entry button. – If you want to delete the PNU entered last, click on the Delete last entry button.

) Note!

ƒ If necessary, enter PNU 2010 as a wildcard to make the telegram length

match the parameterised telegram length of the master.

ƒ Check that the parameterised telegram length corresponds to the memory

allocation (see arrows in the screenshot of the "Profibus telegram editor" dialog box).

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Commissioning

Settings on the controller (slave) Definition of parameter numbers (PNU) in the telegram editor

931E_025

5. Select "Respond telegram" in the Telegram type field.

– Byte 0 (telegram identifier, not visible) and the entries for byte 1 (ADR − 1) and

byte 2 / byte 3 (ADR − 2) are necessary for faultless communication. Do not change

these entries.

6. Click on the Append entry button to enter a PNU.

– If you want to enter the PNU in hexadecimal notation, activate the hexadecimal

) Note!

ƒ If necessary, enter PNU 2010 as a wildcard to make the telegram length

match the parameterised telegram length of the master.

ƒ Check that the parameterised telegram length corresponds to the memory

allocation (see arrows in the screenshot of the "Profibus telegram editor" dialog box).

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6.4 Control system configuration

The control system must be configured before communication with the controller is possible.

Installing the device data base file (*.GSE)

For the configuration you have to install the device data base file "931E0A6D.GSE" on the master.

1. Download the GSE file from the Internet. – You can find the GSE file in the "Services & Downloads" area at

http://www.Lenze.com.

2. Install the GSE file. – Installation notes are given in the documentation for the master and in the

documentation for the configuration tool.

Commissioning

Control system configuration

Creating a project

ƒ Please refer to the documentation for the configuration tool if you want to create a

project.

) Note!

Use of data consistency

ƒ We recommend to use exclusively configurations with consistency to avoid

data conflicts between the PROFIBUS−DP master and the CPU of the control system.

– If the telegram has, for instance, a length of 8 bytes of data, the PLC must

be able to process the 8 bytes of data continuously (consistently).

ƒ Detailed description of consistency: (¶ 18) ƒ Please note that the processing of consistent data varies between different

control systems. This must be considered in the configuration tool. – It may be necessary to use system functions of the PLC to ensure the data

consistency.

– Please refer to the documentation for the PLC to find out which data

length can be processed consistently by the CPU.

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Commissioning

"Speed control" mode Description

6.5 "Speed control" mode

6.5.1 Description

The following functions are available:

ƒ Setpoint generation via ramp generator (limit function)

ƒ Speed detection via angle encoder by differentiation

ƒ Speed control with appropriate input and output signals

ƒ Limitation of speed setpoint (via PROFIBUS or analog input)

ƒ Monitoring of actual speed (velocity controller)

Limit Function

target velocity

(PNU 1010)

acceleration velocity control

deceleration

velocity demand value ( )2

(PNU 1011.0)

velocity control

(PNU 1011.1)

quick stop

deceleration ( )0

position actual value

(PNU 1100.0)

velocity control

parameter set ( )0

[speed units]

velocity encoder factor ( )1

[acceleration units]

acceleration factor ( )1

Multiplier

Differentiation

d/dt

Velocity

Controller

Profile Velocity

Profile Acceleration

Profile Deceleration

Quick Stop Deceleration

[inc]

velocity demand value ( )2

velocity actual value (PNU 1101.0)

control effort

velocity window time ( )2

velocity actual value

(PNU 1101.0)

velocity window

Window

Comparator

Fig. 2 Signal routing for the "speed control" mode

0 Function can be parameterised via SDC 1 Physical unit, can be parameterised via SDC 2 Internal signal

l 28

Timer

status word 1 (PNU 968.0, Bit 8, velocity = 0)

status word 1 (PNU 968.0, Bit 10, velocity reached)

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Page 29

Commissioning

"Speed control" mode

Commissioning with PROFIdrive

6.5.2 Commissioning with PROFIdrive

) Note!

ƒ The bit assignment of the control word 1 and the status word 1 is described

in the chapter "Device control". (¶ 54)

ƒ To enable the PLC to control the controller via PROFIBUS, bit 10 of the

control word 1 must be set statically. When the communication self−test has been completed successfully, bit 9 of the status word 1 is set.

Description PNU SubindexLength Parameter

A Running the controller up via the state machine

1. Control word 1 (WO)

SWITCHING_ON_INHIBITED

2. Status word 1 (RO)

SWITCHING_ON_INHIBITED

3. Control word 1 (WO)

READY_FOR_SWITCH_ON

4. Status word 1 (RO)

READY_FOR_SWITCH_ON

5. Control word 1 (WO)

Enable operation

6. Status word 1 (RO)

Operation

B Control operation

7. Selection of setpoints

Note: Controller parameters cannot be changed via PNUs.

UNIT16 Bit 3 Bit 2 Bit 1 Bit 0

967 0 16 0 1 1 0

968 0 16 0 0 0 1

967 0 16 0 1 1 1

968 0 16 0 0 1 1

967 0 16 1 1 1 1

968 0 16 0 1 1 1

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Commissioning

"Positioning" mode PNUs for parameter setting

6.5.3 PNUs for parameter setting

PNU Name

1010 0 Target Velocity 0 0 {1 rpm} 6000

1011 Acceleration for

1101 0 Velocity Actual

1102 0 Current Actual

Velocity Control

0 Acceleration

Velocity Control

1 Deceleration

Velocity Control

2 All Accelerations

Velocity Control

Value

Possible settings

Lenze Selection Description

10000 0 {1 rpm/s} 20000 Acceleration, the value set is

10000 0 {1 rpm/s} 20000 Deceleration, the value set is

10000 0 {1 rpm/s} 20000 Acceleration and

{1 rpm}

{1 }

Characteristics

 INT32 RW 

Selection of the speed setpoint.

l If the speed control mode

is selected in SDC, the selector under "setpoint selection" changes over if required: AIN0/1, Profibus or RS232

 UINT32 RW 

Setting the acceleration and deceleration for the speed control mode

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

deceleration, the value set is valid for both directions of rotation

l Writes the value set to

PNU 1011, subindexes 0 and 1

l Reads out the actual value

for the positive direction of rotation under PNU 1011, subindex 0

 INT32 RO 

Actual speed value. The value is scaled to the physical unit set for PROFIBUS.

 INT32 RO 

Actual value of active current. The value refers to the rated motor current.

6.6 "Positioning" mode

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6.6.1 Setting of homing

Commissioning

"Positioning" mode

Setting of homing

control word 1

(PNU 967.0, Bit 11)

home offset

(PNU 1051.0)

homing method

(PNU 1050.0)

home speed ( )0

home acceleration ( )0

Fig. 3 Signal routing for homing

0 Function can be parameterised via SDC 1 Internal signal

Homing

status word 1 (PNU 968.0 Bit 11)

position demand value ( )1

Adjustment

ƒ Homing speed

– First the drive searches for the limit switch using the search speed. For

determining the position of the switching edge exactly, the drive changes to the creep speed. Both speeds are set in SDC.

ƒ Acceleration

– The acceleration is set in SDC.

ƒ Homing mode

– A description of the different homing methods is given in the software manual of

the controller.

931e_028

ƒ Shifting of the zero position

– Via PNU 1051.0 the zero position of the drive can be shifted. The value under

PNU 1051.0 is added to the value of the homing point (e.g. limit switch position).

) Note!

Traversing to the zero position is not part of the homing run. If the controller knows all parameters required (e.g. the position of the zero pulse), no physical movement is executed.

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Commissioning

"Positioning" mode Positioning

6.6.2 Positioning

position factor polarity()()11

Multiplier

target_postion

(PNU 1001.0)

[position units]

home offset (PNU 1051.0)

Limit

Function

position set number (PNU 1000)

profile velocity (PNU 1001.1)

acceleration positioning (PNU 1001.3)

deceleration

accelerationsall

Fig. 4 Signal routing for the "positioning" mode

positioning (PNU 1001.4)

positioning (PNU 1001.5)

0 Internal signal 1 Physical unit, can be parameterised via SDC 2 Trajectory generator 3 Position controller

Quick Stop

position profile type

(PNU 1003.0)

Trajectory Generator

position demand value ( )0

[inc]

ƒ The target position is transferred to the trajectory generator via PNU 1001.0. The

trajectory generator generates the position setpoint for the position controller. Trajectory generator and position controller can be set independently of each other.

Position

Control

Function

control effort ( )0

931e_032

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Commissioning

"Positioning" mode

Positioning

Adjustment

ƒ Simple travel task

– Select position data set (0  63) under PNU 1002. (¶ 35) – Activation: Control word 1, set bit 6 from 0 ® 1. – The controller stops when the target position has been reached. Bit 10 of status

word 1 is used to signal the reaching of the target position to the master.

Fig. 5 Simple travel task

ƒ Sequence of travel tasks

– Select position data set (0  63) under PNU 1002. (¶ 35) – Activation: Control word 1, set bit 13 = 0. – When a target position has been reached, the controller immediately starts to

approach the next target position.

Fig. 6 Sequence of travel tasks

931e_407

931e_408

KHB 13.0004−EN 2.1

) Note!

It is possible to interrupt the running travel task and immediately start the next travel task:

ƒ Select PROFIBUS position data set (68) under PNU 1002. (¶ 36) ƒ Activation: Control word 1, set bit 13 = 1.

– Interruption of the positioning process. Start of next travel task.

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Commissioning

"Positioning" mode Positioning

Transfer of travel task

Bit 10

(1) (2)

Bit 4

Control word 1

Bit 5

Bit 6

Bit 9

Bit 10

Status word 1

Bit 11

(0)

(3)

(4)

(5)

(6)

Fig. 7 Transfer of travel task to the controller

t(0) Status word 1, bit 11 = HIGH: home position is valid t(1)−(2) Data transfer (acceleration, target position, speed) from master to corresponding

position data set (^ 32)

(PNU 1000 = 68: selection of PROFIBUS position data set) t(3) Control word 1, bit 4 = HIGH: do not cancel travel task t(4) Control word 1, bit 5 = HIGH: no intermediate stop t(5) Control word 1, bit 6 = LOW−HIGH edge: activate travel task t(6) Status word 1, bit 10 = HIGH: target position reached

931e_031

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Commissioning

"Positioning" mode

Static position data sets

6.6.3 Static position data sets

The settings (positioning, start delay, start during positioning) and the driving profile (travelling speed, acceleration, time constant without jerk) of the position data sets 0 ... 63, which can be parameterised with »Small Drives Control (SDC)«, are divided into four groups (see software manual for the controller).

ƒ You can, for instance, select a travelling speed for the "Positioning 0  15" group

(position data sets 0  15). This also applies to the position data sets 16  31, 32  47 and 48  63.

ƒ The target positions 0  63 are parameterised in SDC. Only approaching/activating

of the target positions (PNU 1002.0 = 0  63) is controlled via PROFIBUS.

) Note!

Please observe that you have to jump between the groups if e.g. the travelling speeds differ.

"Settings" tab sheet

ƒ Open the Parameters W Positioning W Destination parameters... menu.

ƒ All settings have to be made in SDC.

ƒ The driving profile is specified via PROFIBUS.

931E_33

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6.6.4 Dynamic position data set

Commissioning

"Positioning" mode Dynamic position data set

If the application requires positioning with different settings and driving profiles, use dynamic positioning via position data set 68:

ƒ Selection of the driving profile via PROFIBUS.

ƒ Changing between absolute and relative positioning via control word 1.

ƒ Interruption of a running positioning task and approaching of a new target via a

start command.

"Settings" tab sheet

ƒ Open the Parameters W Positioning W Destination parameters... menu.

931e_34

ƒ Settings required in SDC:

– Messages (0..63) box (see software manual for the controller) – Start delay (0..15) box (see software manual for the controller)

ƒ Control via PROFIBUS, control word 1:

– Bit 12 can be used to select between "relative" and "absolute" in the Positioning

(0..15) box.

– Bit 4 can be used to select "Ignore start command" in the Start during positioning

box and bit 13 to select "Wait for end of positioning run" or "Interrupt actual positioning".

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6.6.5 Commissioning with PROFIdrive

) Note!

ƒ The bit assignment of the control word 1 and the status word 1 is described

in the chapter "Device control". (¶ 54)

ƒ To enable the PLC to control the controller via PROFIBUS, bit 10 of the

control word 1 must be set statically. When the communication self−test has been completed successfully, bit 9 of the status word 1 is set.

Description PNU SubindexLength Parameter

A Running the controller up via the state machine

Control word 1 (WO)

1. SWITCHING_ON_INHIBITED

2. Status word 1 (RO) SWITCHING_ON_INHIBITED

3. Control word 1 (WO) READY_FOR_SWITCH_ON

4. Status word 1 (RO) READY_FOR_SWITCH_ON

5. Control word 1 (WO) Enable operation

6. Status word 1 (RO) Operation

B Execute homing

7. Parameterise homing Method via PNU 1050 Offset via PNU 1051 Accelerations via PNU 1001

8. Control word 1 (WO) Start

9. Status word 1 (RO)

Homing not yet completed or has failed with an error

Homing successfully completed 968 1

C Control operation

10. Selection of setpoints Note: Controller parameters cannot be changed via PNUs.

Commissioning

"Positioning" mode

Commissioning with PROFIdrive

UNIT16 Bit 11 Bit 3 Bit 2 Bit 1 Bit 0

967 0 16 0 0 1 1 0

968 0 16 0 0 0 0 1

967 0 16 0 0 1 1 1

968 0 16 0 0 0 1 1

967 0 16 0 1 1 1 1

968 0 16 0 0 1 1 1

967 0 ® 1

968 0

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Commissioning

"Positioning" mode PNUs for parameter setting

6.6.6 PNUs for parameter setting

PNU Name

1000 0 Position Set

1001 Position Data

1002 0 Start Set Number 68

1003 0 Motion Profile Type 0

1050 0 Homing Method 1

Number

0 Target Position 0 −32768 {1 inc} 32768 Target position

1 Profile Velocity 1000 0 {1 rpm} 3000 Travelling speed

3 Acceleration

Positioning

4 Deceleration

Positioning

5 All Accelerations

Positioning

Possible settings

Lenze Selection Description

10000 0 {1 rpm/s} 20000 Acceleration

10000 0 {1 rpm/s} 20000 Deceleration

10000 0 {1 rpm/s} 20000 Acceleration and deceleration

Characteristics

 UINT16 RW 

0 ... 63 Standard position data sets Position data sets of the

64 ... 67 Reserved

68 PROFIBUS position data set

0 ... 63 Standard position data sets When positioning is started

64 ... 67 Reserved

68 PROFIBUS position data set

0 Jerk−limited ramp is deactivated The acceleration/deceleration

2 Jerk−limited ramp is activated

Homing to Selection of the homing

1 the negative limit switch with zero

pulse evaluation

2 the positive limit switch with zero

pulse evaluation

17 the negative limit switch

18 the positive limit switch

33, 34 the zero pulse

35 the actual position (no movement)

−1 the negative end stop with zero pulse evaluation

−2 the positive end stop with zero pulse evaluation

−17 the negative end stop

−18 the positive end stop

controller. The selected data set can be parameterised via PNU 1001. For position data set 68, additional settings can be transferred via bits 4, 12 and 13 of control word 1.

 INT32 RW 

Parameterisation of the position data set selected via PNU 1000.

l Writes the set value to

PNU 1001.3 and PNU 1001.4.

l Reads out PNU 1001.3

only.

 UINT8 RW 

via control word 1, the selected data set is activated.

 UNIT16 RW 

time of the ramp cannot be adjusted. When the ramp is activated, the maximum time (50 ms) is set automatically.

 INT8 RW 

method to be used.

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Commissioning

"Positioning" mode

PNUs for parameter setting

NamePNU

1051 0 Home Offset 0 −32767 {1 inc} 32767

Possible settingsNamePNU

Characteristics

DescriptionSelectionLenze

 INT32 RW 

Definition of the distance between the zero position and the reference point of a homing sequence.

l Positive values shift the

zero point to the positive direction with respect to the reference point.

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Commissioning

Actual values Actual position

6.7 Actual values

6.7.1 Actual position

ƒ Reading the actual position.

Due to the physical units, the resulting value may be higher than the maximum value which can be represented by PNU 1100.

PNU Name Possible settings

Lenze Selection Description

1100 0 Position Actual

Value

6.7.2 Actual speed value

ƒ Reading the actual speed value.

PNU Name Possible settings

Lenze Selection Description

1101 0 Velocity Actual

Value

{1 inc}

{1 rpm}

Characteristics

 INT32 RO 

Actual position value. The value is scaled to the physical unit set for PROFIBUS.

Characteristics

 INT32 RO 

Actual speed value. The value is scaled to the physical unit set for PROFIBUS.

6.7.3 Actual value of active current

ƒ Reading the actual value of the active current.

PNU Name Possible settings

Lenze Selection Description

1102 0 Current Actual

Value

{1 }

Characteristics

 INT32 RO 

Actual value of active current. The value refers to the rated motor current.

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Commissioning

Actual values

Digital outputs

6.7.4 Digital outputs

ƒ States of the digital outputs.

PNU Name Possible settings

Lenze Selection Description

1140 0 Digital Outputs 0

6.7.5 Digital inputs

ƒ Reading the states of the digital inputs.

PNU Name Possible settings

Lenze Selection Description

1141 0 Digital Inputs 0

Characteristics

 UINT32 RW 

Bit Value Triggering of the digital

0 00000001

1 ... 15 Reserved

16 00010000

17, 18 00060000

19 ... 32 Reserved

Bit Value Actual states of the digital

0 00000001

1 Reserved

2 00000002

3 00000008

16 ... 25 03FF0000

26 ... 32 Reserved

Holding brake (read only)

Ready for operation (read only)

DOUT1, DOUT2 (read and write)

Negative limit switch (DIN7)

Positive limit switch (DIN7)

Controller enable is missing (DIN9)

DIN0 ... DIN9

outputs. Important! Up to 10 ms may pass between triggering and switching of the output. The state of an output can be checked by reading out the parameter.

Characteristics

 UINT32 RO 

inputs. The available digital inputs depend on the parameterisation of the controller

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Commissioning

Actual values Motor data

6.7.6 Motor data

ƒ Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I

limitation in [].

PNU Name Possible settings

Lenze Selection Description

1160 Temperature Reading of different

0 Power stage

temperature

1 Motor temperature {1 °C}

1290 Motor Data Overload protection for the

0 iit Time Motor 2000 0 {1 ms} 10000

1 iit Ratio Motor {1 }

{1 °C}

Characteristics

temperatures.

 INT16 RO 

Reading of the current power stage temperature.

 INT16 RO 

Reading of the current motor temperature.

motor connected.

 UNIT16 RW 

Time for which the motor is fed with the specified maximum current.

l When the time has

elapsed, the motor current is automatically limited to the rated current set.

 UNIT16 RO 

Reading−out of the actual utilisation of the I limitation.

6.7.7 Operating modes

PNU Name

1500 0 Operating Mode

Possible settings

Lenze Selection Description

Characteristics

 UINT8 RO 

Speed control Reading−out of the operating

Positioning

mode.

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7 Parameter setting

7.1 Physical units

) Note!

Application−specific parameters depend on the physical units. For this reason set the physical units before starting to parameterise the application.

With the »Small Drives Control (SDC)« program you can parameterise the controller in such a way that the physical quantities can be entered/read out on the drive directly in the desired units (e.g. position values of a linear axis in millimetres and speeds in millimetres per second).

ƒ Open the Parameters W Fieldbus W Profibus... W Display units... menu.

Parameter setting

Physical units

931E_026

Quantity Designation Unit Explanation

Length position_units Increments 65535 increments per revolution

Speed speed_units rpm Revolutions per minute

Acceleration acceleration_units rpm/s Speed increase per second

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Page 44

Parameter setting

Physical units

Fig. 8 Gearbox factors

Input−end speed

Output−end speed

Position_units in degrees

Position_units in mm

931e_415

Notes on settings

ƒ From the set physical units conversion factors are automatically generated

internally. The conversion factors consist of a numerator and a denominator and may not be longer than 32 bits.

ƒ The value of the feed constant is ignored for the respective physical unit if the feed

constant has a translatory unit and a rotatory unit is selected for the physical quantity.

ƒ If the entries for the factors or physical units are incorrect, an overflow occurs and

the value is rejected.

ƒ Examples for incorrect settings:

Incorrect setting Effect

Position in [revolutions] and feed constant in [mm/revolution]

Position in [mm] and feed constant without a unit

Position in [mm] and feed constant in [mm/revolution]

ƒ The error message 59 ("General arithmetic error") is generated

The feed constant is ignored.

The feed constant is considered as a gearbox factor.

The feed constant is evaluated using the factor 1000.

– if incorrect settings result in values which cannot be represented after internal

conversion, – if transition states occur which cause the overflow of physical units. Remedy: – Check the settings of the physical units and correct them if necessary. – Save the settings and carry out a reset. If the error message 59 is not generated

anymore, the physical units are valid.

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Parameter setting

Global parameters

Saving of parameter set

7.2 Global parameters

7.2.1 Saving of parameter set

ƒ Saving parameters on the controller.

PNU Name Possible settings

Lenze Selection Description

971 0 Transfer into a

non−volatile memory

0 No action Save current parameter set

1 Save

2 ... 65535Reserved

Characteristics

 UNIT16 RW 

and all position data sets Also saves position data set

68.

7.2.2 Setting of manual jog (inching mode)

ƒ Simplified access to the values for inching speed and acceleration.

PNU Name Possible settings

Lenze Selection Description

1040 Jog Value Simplified access to the

0 Jog Velocity 100 0 {1 rpm} 6000

1 Symmetrical Jog

Accelerations

10000 0 {1 rpm/s} 20000

Characteristics

inching values. This type of access reduces the amount of data to be transferred in the cyclic data telegram. Internally all parameters are written.

 INT32 RW 

Inching speed

l The physical unit is the

PROFIBUS speed

 UINT32 RW 

Inching acceleration

l The physical unit is the

PROFIBUS acceleration

l The value read is the

acceleration

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Parameter setting

Global parameters Motor data

7.2.3 Motor data

ƒ Via PNU 1290.0 (iit Time Motor) you can set the duration of the maximum motor

current. When the time has elapsed, the motor current is automatically limited to the

parameterised rated motor current.

ƒ Via PNU 1290.1 (iit Ratio Motor) you can read out the actual utilisation of the I

limitation in [].

PNU Name Possible settings

Lenze Selection Description

1160 Temperature Reading of different

0 Power stage

temperature

1 Motor temperature {1 °C}

1290 Motor Data Overload protection for the

0 iit Time Motor 2000 0 {1 ms} 10000

{1 °C}

1 iit Ratio Motor {1 }

Characteristics

temperatures.

 INT16 RO 

Reading of the current power stage temperature.

 INT16 RO 

Reading of the current motor temperature.

motor connected.

 UNIT16 RW 

Time for which the motor is fed with the specified maximum current.

l When the time has

elapsed, the motor current is automatically limited to the rated current set.

 UNIT16 RO 

Reading−out of the actual utilisation of the I limitation.

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Parameter setting

"Speed control" mode

Speed setpoint

7.3 "Speed control" mode

7.3.1 Speed setpoint

ƒ Setting the speed setpoint.

In the "speed control" mode the "speed setpoint" selector is selected automatically.

PNU Name Possible settings

Lenze Selection Description

1010 0 Target Velocity 0 0 {1 rpm} 6000

Characteristics

 INT32 RW 

Selection of the speed setpoint.

l If the speed control mode

is selected in SDC, the selector under "setpoint selection" changes over if required: AIN0/1, Profibus or RS232

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Parameter setting

"Speed control" mode Acceleration value

7.3.2 Acceleration value

ƒ Parameterising the acceleration values for the speed control mode.

PNU 1011.0 and PNU 1011.1 both enable access to the acceleration for CW and CCW direction of rotation. If a value is transferred, it is valid for both directions of rotation.

PNU 1011.2 enables access to the acceleration and deceleration ramp for both directions of rotation. If a value is transferred, it is valid for accelerating and decelerating in both directions of rotation.

The data is interpreted according to the selected physical units. (¶ 43)

Please observe that only the actual value of the acceleration ramp for the positive direction of rotation is read.

PNU Name Possible settings

Lenze Selection Description

1011 Acceleration for

Velocity Control

0 Acceleration

Velocity Control

1 Deceleration

Velocity Control

2 All Accelerations

Velocity Control

Characteristics

 UINT32 RW 

Setting the acceleration and deceleration for the speed control mode

10000 0 {1 rpm/s} 20000 Acceleration, the value set is

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

10000 0 {1 rpm/s} 20000 Deceleration, the value set is

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

10000 0 {1 rpm/s} 20000 Acceleration and

deceleration, the value set is valid for both directions of rotation

l Writes the value set to

PNU 1011, subindexes 0 and 1

l Reads out the actual value

for the positive direction of rotation under PNU 1011, subindex 0

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Parameter setting

"Positioning" mode

Selection of position data set for parameter setting

7.4 "Positioning" mode

7.4.1 Selection of position data set for parameter setting

ƒ Selecting the position data set of the controller to be parameterised via PNU 1001.

The position data set for PROFIBUS can be parameterised via the "SDC" program and saved in the controller. In this way the parameters of an application which do not have to be changed during operation can be specified permanently. You just have to enter, for instance, the values for accelerations once. These values then do not have to be transferred.

PNU Name Possible settings

Lenze Selection Description

1000 0 Position Set

Number

0 ... 63 Standard position data sets Position data sets of the

64 ... 67 Reserved

68 PROFIBUS position data set

7.4.2 Setting of positioning profile parameters

Characteristics

 UINT16 RW 

controller. The selected data set can be parameterised via PNU 1001. For position data set 68, additional settings can be transferred via bits 4, 12 and 13 of control word 1.

ƒ Changing the parameters of the position data set selected via PNU 1000.

The data is interpreted according to the selected physical units. (¶ 43)

PNU Name Possible settings

Lenze Selection Description

1001 Position Data

0 Target Position 0 −32768 {1 inc} 32768 Target position

1 Profile Velocity 1000 0 {1 rpm} 3000 Travelling speed

3 Acceleration

Positioning

4 Deceleration

Positioning

5 All Accelerations

Positioning

10000 0 {1 rpm/s} 20000 Acceleration

10000 0 {1 rpm/s} 20000 Deceleration

10000 0 {1 rpm/s} 20000 Acceleration and deceleration

Characteristics

 INT32 RW 

Parameterisation of the position data set selected via PNU 1000.

l Writes the set value to

PNU 1001.3 and PNU 1001.4.

l Reads out PNU 1001.3

only.

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Parameter setting

"Positioning" mode Position data set at starting of positioning

7.4.3 Position data set at starting of positioning

ƒ Selection of the position data set to be started via the control word 1 when a

command to start a positioning process is issued.

The controller is provided with 64 storable standard position data sets which can be selected via 8 bits.

PNU Name Possible settings

Lenze Selection Description

1002 0 Start Set Number 68

0 ... 63 Standard position data sets When positioning is started

64 ... 67 Reserved

68 PROFIBUS position data set

7.4.4 Jerk limitation

ƒ Activation of the jerk−limited ramp.

With the activation the maximum time (50 ms) is automatically set for the ramp. Only the activation can be controlled via Profibus.

PNU Name Possible settings

Lenze Selection Description

1003 0 Motion Profile Type 0

0 Jerk−limited ramp is deactivated The acceleration/deceleration

2 Jerk−limited ramp is activated

Characteristics

 UINT8 RW 

via control word 1, the selected data set is activated.

Characteristics

 UNIT16 RW 

time of the ramp cannot be adjusted. When the ramp is activated, the maximum time (50 ms) is set automatically.

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Parameter setting

"Positioning" mode

Homing modes

7.4.5 Homing modes

ƒ Selection of the homing method.

A detailed description of the different methods is given in the software manual for the controller.

PNU Name Possible settings

Lenze Selection Description

1050 0 Homing Method 1

Homing to Selection of the homing

1 the negative limit switch with zero

pulse evaluation

2 the positive limit switch with zero

pulse evaluation

17 the negative limit switch

18 the positive limit switch

33, 34 the zero pulse

35 the actual position (no movement)

−1 the negative end stop with zero pulse evaluation

−2 the positive end stop with zero pulse evaluation

−17 the negative end stop

−18 the positive end stop

Characteristics

 INT8 RW 

method to be used.

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Parameter setting

"Positioning" mode Homing offset

7.4.6 Homing offset

ƒ Defining the distance between the home position (zero position) and the reference

point of a homing run.

Positive values shift the zero point to the positive direction with respect to the reference point.

Home Offset

Fig. 9 Interpretation of the home offset

0 Reference point, first zero pulse 1 Zero position 2 Limit switch

PNU Name

1051 0 Home Offset 0 −32767 {1 inc} 32767

Possible settings

Lenze Selection Description

931_029

Characteristics

 INT32 RW 

Definition of the distance between the zero position and the reference point of a homing sequence.

l Positive values shift the

zero point to the positive direction with respect to the reference point.

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Parameter setting

Error management

Setting of responses

7.5 Error management

7.5.1 Setting of responses

ƒ Selection of the error number for which a response is to be set.

A description of the error messages and the possible responses is given in the chapter "Table of error messages". (¶ 62)

PNU Name Possible settings

Lenze Selection Description

1610 Error Management Error management

0 Error Number

1 Error Reaction Code

No response Response of the controller to

Warning

Emergency stop

Power stage off (motor coasts to

standstill)

{1} 40hSelection of the error number

Characteristics

 UNIT8 RW 

for which a response is to be set under PNU 1610.1. Overview of error numbers: ^ 62

 UNIT8 RW 

an error event. Notes on settings: ^ 62

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Device control

Important notes

8 Device control

8.1 Important notes

} Danger!

Uncontrolled motor movements can occur

If the power stage of the controller is inhibited, the motor coasts to stop without braking.

Possible consequences:

ƒ Injury to persons through uncontrolled machine movements.

Protective measures:

ƒ Install a mechanical motor brake which is activated automatically when the

power stage is inhibited.

The controller is controlled via PROFIdrive by means of a data word (LOW byte and HIGH byte):

ƒ The master uses the control word 1 to control the essential function of the

controller. – The assignment of the control word 1 corresponds to the PROFIdrive profile. Some

functions have manufacturer−specific definitions.

– The controller first accepts the parameter data and then evaluates the control

word 1. This ensures that the sequence of the positioning steps is correct.

– State changes triggered via the control word 1 first have to be confirmed via the

status word 1 before another command can be sent via the control word 1.

ƒ The controller (slave) uses the status word 1 to signal its state to the master.

– The assignment of the status word 1 corresponds to the PROFIdrive profile. Some

functions have manufacturer−specific definitions.

– The status word 1 displays the different states of the controller.

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8.2 "Speed control" mode

8.2.1 Control word 1

Control word 1 in "speed control" mode

Bit Command Value Meaning

0 ON / OFF (OFF 1)

1 No coast stop (no OFF 2)

Coast stop (OFF 2)

2 No quick stop (no OFF 3)

Quick stop (OFF 3)

3 Enable operation

Disable operation

4 Enable ramp generator

5 Stop ramp generator

6 Enable setpoint 0 Deactivate all ramp setpoint inputs.

7 Acknowledge error 0 ® 1 Acknowledge the error.

8 Inching mode 1 on/off

9 Inching mode 2 on/off

10 Control authority

11  15 Device−specific No function.

0 ® 1: LOW−HIGH edge 1 ® 0: HIGH−LOW edge

Device control

"Speed control" mode

Control word 1

See chapter "State diagram" ^ 59

0 Inhibit all speed setpoints.

1 Enable all speed setpoints.

0 Stop setpoint ramp.

1 Activate setpoint ramp.

1 Enable all ramp setpoint inputs.

0 ® 1 Inching mode with travelling speed and positive speed

setpoint.

1 ® 0 Stop inching mode with delay.

0 ® 1 Inching mode with travelling speed and negative speed

setpoint.

1 ® 0 Stop inching mode with delay.

0 The control authority of the master is deactivated.

1 The master requests the control authority.

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Device control

"Speed control" mode Status word 1

8.2.2 Status word 1

Status word 1 in "speed control" mode

Bit State Value Meaning

0 READY_FOR_SWITCH_ON

1 READY_TO_OPERATE

2 OPERATION

3 Fault present

4 No coast stop (no OFF 2)

5 No quick stop (no OFF 3)

6 Switching on inhibited

7 Warning present

8 Speed error

9 Control authority

10 Actual speed

11  15 Device−specific No function.

Coast stop (OFF 2)

Quick stop (OFF 3)

Switching on not inhibited

No warning present

See chapter "State diagram" ^ 59

0 Error pending.

1 No error.

0 Command "OFF 2" of control word 1.

(Power stage is off) 1 Command "no OFF 2" of control word 1.

0 Command "OFF 3" of control word 1.

(Quick stop is active) 1 Command "no OFF 3" of control word 1.

0 The self−test of the controller has not been completed.

Communication with the master is not possible.

1 The self−test of the controller is completed.

Communication with the master is possible.

0 No warning.

1 Warning is active or setpoint is inhibited by limit

switch in at least one direction of rotation.

0 The actual speed is not within the parameterisable

signalling window around the setpoint speed.

1 The actual speed is within the parameterisable

signalling window around the setpoint speed.

0 The master has no control authority.

1 The master has the control authority.

0 Actual speed < freely configurable reference speed. The

sign is taken into account.

1 Actual speed > freely configurable reference speed. The

sign is taken into account.

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8.3 "Positioning" mode

8.3.1 Control word 1

Control word 1 in "positioning" mode

Bit Command Value Meaning

0 ON / OFF (OFF 1)

1 No coast stop (no OFF 2)

Coast stop (OFF 2)

2 No quick stop (no OFF 3)

Quick stop (OFF 3)

3 Enable operation

Disable operation

4 Cancel travel task

5 Intermediate stop

6 Activate travel task

(manufacturer−specific)

7 Acknowledge error 0 ® 1 Acknowledge the error.

8 Inching mode 1 on/off

9 Inching mode 2 on/off

10 Control authority

11 Start/stop homing

12 Positioning

(manufacturer−specific)

13 Start during a running positioning

(manufacturer−specific)

14, 15 Device−specific No function.

0 ® 1: LOW−HIGH edge 1 ® 0: HIGH−LOW edge

Device control

"Positioning" mode

Control word 1

See chapter "State diagram" ^ 59

0 Cancel positioning/do not start

positioning.

1 Do not cancel positioning.

0 Do not start positioning.

1 No intermediate stop.

0 ® 1 Accelerate drive to travelling speed.

1 ® 0 Stop drive with delay.

0 ® 1 Start the position data set which is set under

PNU 1002/0. For PNU 1002/0 = 68 the settings of bits

4, 12 and 13 are transferred.

0 ® 1 Start inching mode in positive direction.

1 ® 0 Stop inching mode with delay.

0 ® 1 Start inching mode in negative direction.

1 ® 0 Stop inching mode with delay.

0 The control authority of the master is deactivated.

1 The master requests the control authority.

0 No homing.

1 Continue homing.

0 ® 1 Start homing.

1 ® 0 If homing is active, it is cancelled without error.

If homing is completed, the command does not cause

any action. 0 Absolute positioning.

1 Relative positioning.

0 Start next positioning after

completion of the active

positioning.

1 Cancel active positioning and start

next positioning.

Settings only take effect for position data set

68.

Settings only take effect for position data set

68.

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Device control

"Positioning" mode Status word 1

8.3.2 Status word 1

Status word 1 in "positioning" mode

Bit State Value Meaning

0 READY_FOR_SWITCH_ON

1 READY_TO_OPERATE

2 OPERATION

3 Fault present

4 No coast stop (no OFF 2)

5 No quick stop (no OFF 3)

6 Switching on inhibited

7 Warning present

8 Following error

9 Control authority

10 Target position

11 Home position

12 Traversing task acknowledge

13 Actual speed

14, 15 Device−specific No function.

Coast stop (OFF 2)

Quick stop (OFF 3)

Switching on not inhibited

No warning present

See chapter "State diagram" ^ 59

0 Error pending.

1 No error.

0 Command "OFF 2" of control word 1.

(Power stage is off) 1 Command "no OFF 2" of control word 1.

0 Command "OFF 3" of control word 1.

(Quick stop is active) 1 Command "no OFF 3" of control word 1.

0 The self−test of the controller has not been completed.

Communication with the master is not possible.

1 The self−test of the controller is completed.

Communication with the master is possible.

0 No warning

1 Warning is active or setpoint is inhibited by limit

switch in at least one direction of rotation.

0 Following error.

1 No following error.

0 The master has no control authority.

1 The master has the control authority.

0 The running positioning is active or the actual position

is not within the target window.

1 The running positioning has been completed and the

actual position is within the target window.

0 Homing has not been carried out or the position

information has become invalid due to an error.

1 Homing has been completed successfully.

0 The travel task has been accepted.

1 The controller is accepting a new travel task.

0 The actual speed is out of the signalling window

referred to the reference speed (see Messages dialog

box in SDC and the description in the software manual

for the controller). 1 The actual speed is within the signalling window

referred to the reference speed (see Messages dialog

box in SDC and the description in the software manual

for the controller).

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8.4 State diagram

S1: SWITCHING_ON_INHIBITED

Power on

Device control

State diagram

Status word 1

(1)

S2: READY_FOR_SWITCH_ON

(2)

(8)

S3: SWITCHED_ON

(7) (9)(3)

S4:OPERATION

Fig. 10 Simplified state diagram

(6) (12)

(5)

(10)

(11)(4)

931e_027

Controller states

Status word 1

State Bit 6 Bit 2 Bit 1 Bit 0 Description

0040h0004h0002h0001

Power on Switch−on and initialisation of the controller.

SWITCHING_ON_INHIBITED 1 0 0 0 The initialisation is completed.

READY_FOR_SWITCH_ON 0 0 0 1 Waiting for the controller to be enabled.

SWITCHED_ON 0 0 1 1 The controller is enabled (DIN9 = HIGH).

OPERATION 0 1 1 1 The controller is operating. The drive is controlled

Communication via PROFIBUS is not yet possible.

The power stage is deactivated, the motor produces zero torque. Communication via PROFIBUS is possible. The controller changes to this state when an error message occurs.

The controller can be enabled via DIN9 = HIGH or via the controller enable logic "DIN9 and PROFIBUS".

according to the selected operating mode.

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Device control

State diagram Status word 1

Commands and state transitions of the controller

Control word 1

Command Bit 3 Bit 2 Bit 1 Bit 0 State

0008h0004h0002h0001

OFF × 1 1 0 1, 5, 11 The controller is inhibited

ON × 1 1 1 2 The controller is enabled

Coast stop × × 0 × 6, 7, 8 The power stage is deactivated. The

Quick stop × 0 1 × 9, 10, 12 The controller is inhibited

Disable operation 0 1 1 1 4 The controller is inhibited

Enable operation 1 1 1 1 3 The controller is enabled

× Bit state is not relevant

transitions

Description

(DIN9 = LOW). The motor is braked to standstill in a controlled manner.

(DIN9 = HIGH).

drive coasts.

(DIN9 = LOW). The motor is braked to standstill in a controlled manner.

(DIN9 = HIGH), the power stage is activated. The drive is controlled according to the selected operating mode.

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Troubleshooting and fault elimination

9 Troubleshooting and fault elimination

9.1 Fault elimination

Fault Remedy

The controller operates faultlessly but the PLC does not receive any process data.

The controller is in the wrong operating mode / does not receive any control commands.

The master signals an error during data transmission (e.g. access error).

The power stage is active but the motor does not rotate.

No processing of the PROFIdrive profile, but the motor is rotating.

Correct the message assignment in SDC:

l Assign the response message 0 to the receive message 0 and

the response message 1 to the receive message 1.

Check the telegram identifier in byte 0:

l "Positioning" mode: Byte 0 = E0

message 0).

l "Speed control" mode: Byte 0 = E1

message 1/response message 1).

Check the memory area used by the PLC in the hardware configuration.

Enter the torque setpoint limitation in the receive message:

l For limitation via analog input (PNU 1022.0 = 1, 2), apply a

voltage at input (AIN).

l For limitation via PROFIBUS (PNU 1022.0 = 7), enter the setpoint

directly via PNU 1022.1.

Check that the controller enable logic is entered in the receive message and that the value is set appropriately.

Fault elimination

(receive message 0/response

(receive

9.2 Error messages

9.3 Transfer of error messages

The error messages of the controller are coded in the error numbers 1 ... 64. These error numbers can be read via PNU 1601:

ƒ PNU 1601.0 transfers the error numbers 1 ... 32

ƒ PNU 1601.1 transfers the error numbers 33 ... 64

PNU Name

1601

Error Code Error messages

0 Error Field 0

1 Error Field 1

Possible settings

Lenze Selection Description

Characteristics

 UINT32 RO 

Error numbers 1 ... 32 of the controller

 UINT32 RO 

Error numbers 33 ... 64 of the controller

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9.4 Table of error messages

How to read the table

Response Symbol Meaning

Type

Setting

H Emergency stop The motor is decelerated to zero speed at its current limit. An installed holding brake is applied. The power stage

W Warning The power stage remains switched on. The controller continues operating. The generated warning message can

O Off No response. The warning message is suppressed.

þ Lenze setting

¨ Setting is possible

− Setting is not possible

Switch−off of power stage The motor coasts to standstill.

is switched off.

be read via the fieldbus or the RS232 interface.

Troubleshooting and fault elimination

Table of error messages

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KHB 13.0004−EN 2.1

Error number

03 Motor overtemperature < 100 ms þ þ þ ¨ Motor overtemperature l Check if the motor cooling via the motor housing is

04 Overtemperature/

05 SinCos supply error < 5 ms þ − − −

06 SinCos−RS485 communication

07 SinCos track signal error < 5 ms þ − − −

08 Resolver, track signal error or

09 5V−electronic supply error < 5 ms þ − − −

10 12V−electronic supply error < 5 ms þ − − −

Meaning Activation

time

< 100 ms þ þ − − Overtemperature/undertemperature of

undertemperature of the power electronics

< 5 ms þ − − −

error

< 5 ms þ − − −

carrier failure

Response

A H W O

Cause Remedy

impeded as a result of deposits, etc. (if necessary, clean the motor).

l Are there any other sources of heat near the motor that

may additionally increase the ambient temperature and thus lead to a reduced heat loss dissipation?

l Check the controller settings, poor settings will lead to an

unnecessary heat generation.

l Reduce the load torque of the motor. l Check the setting of the temperature sensor. l Check the resolver and encoder cable for an open circuit. l Check the resolver position adjustment.

controller

Resolver or SinCos encoder error, reliable detection only possible after approx. ½ motor revolution

Angle encoder/ Hall−effect sensor defective.

Collapse of supply voltage due to a wiring error on X2

l Error on techno module X8. l Voltage supply failure.

Angle encoder or SinCos encoder defective. Replace encoder.

Collapse of supply voltage due to a wiring error on X2

Voltage supply failure. Electronic error on the controller. Send the controller in for

l Check if the controller has been correctly mounted into the

control cabinet: – Heatsink must have large−surface contact with the

housing of the control cabinet.

– If required, remove other sources of heat from the

vicinity of the controller.

l Clean the ventilation slots of the controller. l Optimise the controller settings (poor settings will lead to

an unnecessary heat generation).

l Carry out a resolver position adjustment. l Reduce the load torque of the motor.

l Check resolver plug connection. l Check resolver cable for open or short circuit. l Check pin assignment of resolver cable plug. l Correct encoder parameters.

Replace encoder.

Check the wiring.

Send the controller in for repair.

Check the wiring.

repair.

Troubleshooting and fault elimination

Table of error messages

Page 64

number

11 Error in 24V supply for logic < 5 ms þ − − −

13 Offset current measurement

14 DC bus / power stage

15 DC−bus undervoltage < 1 ms þ þ þ ¨ DC−bus voltage too low. l Check DC bus voltage, adapt undervoltage tripping

16 DC bus overvoltage < 1 ms þ − − − DC−bus voltage > 70 V. l Check correct functioning of power supply unit and

19 I2t error of motor (I2t at 100%) < 100 ms þ þ þ ¨ I2t error of motor.

20 I2t error of controller (I2t at

26 I2t at 80% < 100 ms þ þ þ ¨ I2t error.

27 Motor temperature 5 °C

KHB 13.0004−EN 2.1

28 Power stage temperature 5 °C

MeaningError

error

overcurrent

100%)

below maximum value

RemedyCauseResponseActivation

Activation

time

< 5 ms þ − − − Send the controller in for repair.

< 10 ms þ − − −

< 100 ms þ þ þ ¨ I2t error of controller.

< 100 ms þ þ þ ¨ Motor is overloaded. Check drive dimensioning.

< 100 ms þ þ þ ¨ Controller is overloaded. l Check drive dimensioning.

OWHA

l 24V supply for logic too high or too low. l Load capacity of 24V supply for logic is

too low, e.g. when activating the

holding brake. Holding brake defective. Replace holding brake.

Overload of brake output due to incorrect dimensioning of the brake.

Collapse of supply voltage due to a wiring error on X3

Short circuit in the motor winding, short circuit between motor winding and housing.

Short circuit in the motor cable, between two phase or between phase and shield.

Controller defective (power stage defective, insulation fault).

RemedyCause

Send the controller in for repair.

Replace with appropriate holding brake.

Check the wiring.

Replace motor.

Replace motor cable.

Send the controller in for repair.

threshold, if necessary.

whether the supply voltage for the power stage is within the permissible range (19.2 V DC ... 57.6 V DC).

l Set a flatter gradient for the deceleration ramp. l Connect an external brake resistor to X2. l Check whether other devices connected to the power

stage cause the overvoltage.

l Adapt i l Carry out a resolver position adjustment. l Check the selected motor data. l Optimise the controller setting. l Adapt the travel profile (e.g. adapt the acceleration ramps). l Reduce the load torque of the motor.

l Check ambient temperature in the control cabinet and

t time of motor.

heat dissipation of the heatsink.

Troubleshooting and fault elimination

Table of error messages

Page 65

KHB 13.0004−EN 2.1

number

29 Following error monitoring < 5 ms þ þ þ ¨ Motor is blocked. l Optimise controller setting to improve the smooth

31 Limit switch error < 1 ms þ þ þ ¨

35 Time−out at quick stop < 5 ms þ ¨ ¨ ¨

36 Homing error < 5 ms þ þ þ ¨

40 Error: Motor and angle

43 Course program: Unknown

44 Course program: Invalid jump

55 PROFIBUS communication

56 RS232 communication error < 5 ms þ þ þ ¨ Communication is interfered. Ensure EMC−compliant wiring.

57 Position data set error < 5 ms þ ¨ ¨ ¨ Conflict between acceleration and selected

58 Faulty operating mode < 5 ms þ þ þ ¨ Selection of wrong operating mode. Switch to the correct operating mode while the power stage

60 Error in preliminary

62 Stack overflow < 5 ms þ ¨ ¨ ¨

63 Checksum error < 5 ms þ ¨ ¨ ¨

64 Initialisation error < 5 ms þ ¨ ¨ ¨

MeaningError

encoder identification

command

target

error

positioning calculation

RemedyCauseResponseActivation

Activation

time

< 5 ms þ ¨ ¨ ¨ Homing run completed with errors. l Check resolver plug connection.

< 5 ms þ þ ¨ ¨ Contact Lenze.

< 5 ms þ þ ¨ ¨ l The digital inputs for START1 and

< 5 ms þ þ þ ¨

< 5 ms þ ¨ ¨ ¨

OWHA

Incorrect configuration of limit switch. Check limit switch configuration.

Incorrect wiring of limit switch. Ensure correct wiring of limit switch.

Limit switch defective. Replace limit switch.

Angle encoder error occurred. Check encoder.

Motor identification failed. Repeat motor identification.

Acceleration too high. Check settings.

Homing run completed with errors. Check homing configuration.

Incorrect parameter setting for controller and angle encoder.

START2 are set at the same time.

l The jump target or the target position

is invalid.

l Communication is interfered l Check installation with regard to EMC requirements.

l Double nodes in network l Check node number setting

travelling speed.

Internal error. Contact Lenze.

RemedyCause

running characteristics.

l Adapt travel profile (e.g. reduce acceleration and

deceleration ramps).

l Increase following error margin/response delay.

Check settings of controller and angle encoder.

l Check resolver cable for open or short circuit. l Check pin assignment of resolver cable plug.

Check settings of controller and angle encoder.

Correct the settings.

Contact Lenze.

is switched on.

Troubleshooting and fault elimination

Table of error messages

Page 66

Appendix

Table of parameter numbers (PNU)

10 Appendix

10.1 Table of parameter numbers (PNU)

ƒ The PNUs are numerically sorted in ascending order to form a "reference book".

ƒ How to read the table:

Column Abbreviation Meaning

PNU

Name Name of the PNU

Possible settings

Lenze Lenze setting (value at delivery or after restoring the delivery state)

Selection 1 {%} 99 Minimum value {unit} maximum value

Characteristics

Object type

Data type

Access

Description Short, important explanations

XXXX

1 Subindex 1 of PNU XXXX (PNU XXXX.1)

2 Subindex 2 of PNU XXXX (PNU XXXX.2)

REC Record

ARR Array, composed type (field)

VAR Variable

UINT8 Unsigned integer, 1 byte without sign

UINT16 Unsigned integer, 2 bytes without sign

UINT32 Unsigned integer, 4 bytes without sign

INT8 Integer, 1 byte with sign

INT16 Integer, 2 bytes with sign

INT32 Integer, 4 bytes with sign

RO Read only

RW Read/write

WO Write only

Parameter number XXXX

PNU Name

930 0 Operating Mode

967 0 Control word 1 0

968 0 Status word 1 0

971 0 Transfer into a

non−volatile memory

Possible settings

Lenze Selection Description

Characteristics

 UINT16 RO 

0 No action

1 Save

2 ... 65535Reserved

Speed control

Positioning

Reading−out of the operating mode.

 UNIT16 RW 

Control of the device functions of the controller

 UNIT16 RO 

Current state of the controller

 UNIT16 RW 

Save current parameter set and all position data sets Also saves position data set

68.

KHB 13.0004−EN 2.1

Page 67

Appendix

Table of parameter numbers (PNU)

NamePNU

1000 0 Position Set

Number

1001 Position Data

0 Target Position 0 −32768 {1 inc} 32768 Target position

1 Profile Velocity 1000 0 {1 rpm} 3000 Travelling speed

3 Acceleration

Positioning

4 Deceleration

Positioning

5 All Accelerations

Positioning

1002 0 Start Set Number 68

1003 0 Motion Profile Type 0

1010 0 Target Velocity 0

Possible settingsNamePNU

10000 0 {1 rpm/s} 20000 Acceleration

10000 0 {1 rpm/s} 20000 Deceleration

10000 0 {1 rpm/s} 20000 Acceleration and

0 ... 63 Standard position data sets

64 ... 67 Reserved

68 PROFIBUS position data set

0 ... 63 Standard position data sets

64 ... 67 Reserved

68 PROFIBUS position data set

0 Jerk−limited ramp is deactivated

2 Jerk−limited ramp is activated

0 {1 rpm} 6000

Characteristics

DescriptionSelectionLenze

 UINT16 RW 

Position data sets of the controller. The selected data set can be parameterised via PNU 1001. For position data set 68, additional settings can be transferred via bits 4, 12 and 13 of control word 1.

 INT32 RW 

Parameterisation of the position data set selected via PNU 1000.

deceleration

l Writes the set value to

PNU 1001.3 and PNU 1001.4.

l Reads out PNU 1001.3

only.

 UINT8 RW 

When positioning is started via control word 1, the selected data set is activated.

 UNIT16 RW 

The acceleration/deceleration time of the ramp cannot be adjusted. When the ramp is activated, the maximum time (50 ms) is set automatically.

 INT32 RW 

Selection of the speed setpoint.

l If the speed control mode

is selected in SDC, the selector under "setpoint selection" changes over if required: AIN0/1, Profibus or RS232

KHB 13.0004−EN 2.1

Page 68

Appendix

Table of parameter numbers (PNU)

NamePNU

1011 Acceleration for

Velocity Control

0 Acceleration

Velocity Control

1 Deceleration

Velocity Control

2 All Accelerations

Velocity Control

Possible settingsNamePNU

10000 0 {1 rpm/s} 20000 Acceleration, the value set is

10000 0 {1 rpm/s} 20000 Deceleration, the value set is

10000 0 {1 rpm/s} 20000 Acceleration and

Characteristics

DescriptionSelectionLenze

 UINT32 RW 

Setting the acceleration and deceleration for the speed control mode

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

valid for both directions of rotation

l Reads out only the actual

value for the positive direction of rotation

deceleration, the value set is valid for both directions of rotation

l Writes the value set to

PNU 1011, subindexes 0 and 1

l Reads out the actual value

for the positive direction of rotation under PNU 1011, subindex 0

KHB 13.0004−EN 2.1

Page 69

Appendix

Table of parameter numbers (PNU)

NamePNU

1022

1040

1050 0 Homing Method 1

Current Limitation

0 Limit Current Input

Channel

1 Limit Current

Jog Value Simplified access to the

0 Jog Velocity

1 Symmetrical Jog

Accelerations

Possible settingsNamePNU

100 0 {1 rpm} 6000

10000 0 {1 rpm/s} 20000

Characteristics

DescriptionSelectionLenze

Selection of the torque limitation independently of the operating mode

0 No limitation

1 Limitation via AIN0

2 Limitation via AIN1

3 Limitation via RS232

7 Limitation via PROFIBUS

0 {1 mA} 40000

Homing to

1 the negative limit switch with zero

pulse evaluation

2 the positive limit switch with zero

pulse evaluation

17 the negative limit switch

18 the positive limit switch

33, 34 the zero pulse

35 the actual position (no movement)

−1 the negative end stop with zero pulse evaluation

−2 the positive end stop with zero pulse evaluation

−17 the negative end stop

−18 the positive end stop

 INT8 RW 

Selection of the source for the limitation

 INT32 RW 

Selection of the current value to which the torque is limited proportionally

l For limitation via AIN0,

AIN1: – The selected current

value is achieved at an input voltage of 10 V

l For limitation via RS232,

PROFIBUS: – The current value is

specified directly

inching values. This type of access reduces the amount of data to be transferred in the cyclic data telegram. Internally all parameters are written.

 INT32 RW 

Inching speed

l The physical unit is the

PROFIBUS speed

 UINT32 RW 

Inching acceleration

l The physical unit is the

PROFIBUS acceleration

l The value read is the

acceleration

 INT8 RW 

Selection of the homing method to be used.

KHB 13.0004−EN 2.1

Page 70

Appendix

Table of parameter numbers (PNU)

NamePNU

1051 0 Home Offset 0

1100 0 Position Actual

Value

1101 0 Velocity Actual

Value

1102 0 Current Actual

Value

1140 0 Digital Outputs 0

1141 0 Digital Inputs 0

Possible settingsNamePNU

−32767 {1 inc} 32767

{1 inc}

{1 rpm}

{1 }

Bit Value

0 00000001

1 ... 15 Reserved

16 00010000

17, 18 00060000

19 ... 32 Reserved

Bit Value

0 00000001

1 Reserved

2 00000002

3 00000008

16 ... 25 03FF0000

26 ... 32 Reserved

Holding brake (read only)

Ready for operation (read only)

DOUT1, DOUT2 (read and write)

Negative limit switch (DIN7)

Positive limit switch (DIN7)

Controller enable is missing (DIN9)

DIN0 ... DIN9

Characteristics

DescriptionSelectionLenze

 INT32 RW 

Definition of the distance between the zero position and the reference point of a homing sequence.

l Positive values shift the

zero point to the positive direction with respect to the reference point.

 INT32 RO 

Actual position value. The value is scaled to the physical unit set for PROFIBUS.

 INT32 RO 

Actual speed value. The value is scaled to the physical unit set for PROFIBUS.

 INT32 RO 

Actual value of active current. The value refers to the rated motor current.

 UINT32 RW 

Triggering of the digital outputs. Important! Up to 10 ms may pass between triggering and switching of the output. The state of an output can be checked by reading out the parameter.

 UINT32 RO 

Actual states of the digital inputs. The available digital inputs depend on the parameterisation of the controller

KHB 13.0004−EN 2.1

Page 71

Appendix

Table of parameter numbers (PNU)

1150

1160

1200

1201

1202

1203

1204

NamePNU

DC_link_circuit_ voltage

Temperature Reading of different

0 Power stage

temperature

1 Motor temperature

0 Gearbox factor

PROFIBUS numerator

1 Gearbox factor

PROFIBUS denominator

0 Feed constant

PROFIBUS numerator

1 Feed constant

PROFIBUS denominator

2 Feed constant

PROFIBUS variable index

3 Feed constant

PROFIBUS con. index

0 Representation

position PROFIBUS var.

1 Representation

position PROFIBUS con.

0 Representation

speed PROFIBUS var.

1 Representation

speed PROFIBUS con.

0 Representation

acceleration PROFIBUS var.

1 Representation

acceleration PROFIBUS con.

Possible settingsNamePNU

{1 V}

{1 °C}

1 {} 32768

1 {} 128

Characteristics

DescriptionSelectionLenze

 UINT32 RO 

temperatures.

 INT16 RO 

Reading of the current power stage temperature.

 INT16 RO 

Reading of the current motor temperature.

 UINT32 RW 

 UINT8 RW 

 INT8 RW 

 UINT8 RW 

 INT8 RW 

 UINT8 RW 

 INT8 RW 

 UINT8 RW 

 INT8 RW 

KHB 13.0004−EN 2.1

Page 72

Appendix

Table of parameter numbers (PNU)

NamePNU

1290

1350 0 Enable Logic 0

1500 0 Operating Mode

1601

Motor Data

0 iit Time Motor 2000

1 iit Ratio Motor

Error Code Error messages

0 Error Field 0

1 Error Field 1

1610

Error Management Error management

0 Error Number

1 Error Reaction Code

Possible settingsNamePNU

0 {1 ms} 10000

{1 }

Controller is enabled via:

0 Digital input DIN 9

1 Digital input DIN 9 and RS232

3 Digital input DIN 9 and PROFIBUS

Speed control

Positioning

{1} 40hSelection of the error number

No response

Warning

Emergency stop

Power stage off (motor coasts to

standstill)

Characteristics

DescriptionSelectionLenze

Overload protection for the motor connected.

 UNIT16 RW 

Time for which the motor is fed with the specified maximum current.

l When the time has

elapsed, the motor current is automatically limited to the rated current set.

 UNIT16 RO 

Reading−out of the actual utilisation of the I limitation.

 UNIT16 RW 

Selection of the source for controller enable

 UINT8 RO 

Reading−out of the operating mode.

 UINT32 RO 

Error numbers 1 ... 32 of the controller

 UINT32 RO 

Error numbers 33 ... 64 of the controller

 UNIT8 RW 

for which a response is to be set under PNU 1610.1. Overview of error numbers: ^ 62

 UNIT8 RW 

Response of the controller to an error event. Notes on settings: ^ 62

KHB 13.0004−EN 2.1

Page 73

Appendix

Table of parameter numbers (PNU)

NamePNU

2000 0 PKW Access 0

2010

2011 0 Element 0 0

Placeholder

0 8 Bit 0

1 16 Bit 0

2 32 Bit 0

Possible settingsNamePNU

Byte Value Meaning

1, 2 Parameter number (PNU)

3 Subindex of PNU

4 ... 7 Data

No access

Read access

Write access

(All other values are reserved)

Characteristics

DescriptionSelectionLenze

 2 ×

Manufacturer−specific access to the parameter identifier value (PKW). In the receive and response messages only one access is possible. For this access the corresponding PNU must be entered under the same address in all receive and response messages used and it must be parameterised accordingly.

 UINT8 RW 

 UINT16 RW 

 UINT32 RW 

Wildcard to adapt the telegram length of the slave to the telegram length of the master.

 UINT32 RW 

32−bit wildcard to adapt the telegram length of the slave to the telegram length of the master. The function is identical to that of PNU 2010, subindex 2.

UINT32

RW 

KHB 13.0004−EN 2.1

Page 74

Index11

11 Index

Actual position, 40

Actual speed value, 40

Actual value of effective current, 40

Basic wiring of the PROFIBUS, 11

Baud rate, 10

Cable length, per bus segment, 10

Cable specification, 13

Command, control word 1, 55 , 57

Commissioning, 19

− Defining the positioning profile, setting of positioning profile parameters, 49

− Initial switch−on, 19

− Setting of homing, 31 homing modes, 51

Communication, PROFIBUS, 15

Communication profile, 10

Consistent parameter data, 18

Control word 1

− "Positioning" mode, 57

− "Speed control" mode, 55

Definition of notes used, 8

Device control, 54

Digital inputs, 41

Digital outputs, 41

Drive profile, 10

Electrical installation, 11

Fault elimination, 61

Homing, offset setting, 52

Homing modes, 51

Inching mode (manual jog), setting, 45

Initial switch−on, 19

Inputs, digital, 41

Installation, electrical, 11

Jerk limitation, 50

Manual jog (inching mode), setting, 45

Modes for homing, 51

Motor data, 42 , 46

Network topology, 10

Notes, definition, 8

Number of bus stations, 12

Offset, for homing, 52

Outputs, digital, 41

Parameter data, consistent , 18

Parameter setting, 43

Parameters, positioning profile parameters, setting, 49

Position data set

− At starting of positioning, 50

− Selection for parameter setting, 49

Positioning, 32

− Actual position, 40

− Control word 1, 57

− Data set at starting of positioning, 50

− Selection of data set for parameter setting, 49

− Status word 1, 58

Positioning profile parameters, setting, 49

Product description, 9

Product features, 9

PROFIBUS, communication, 15

PROFIBUS−DP function module, communication medium, 10

KHB 13.0004−EN 2.1

Page 75

Index 11

Receive message, structure, 15

Response message, structure, 16

Safety instructions

− definition, 8

− layout, 8

Saving, parameter set, 45

Saving of parameter set, 45

Setting of homing, 31

− homing modes, 51

Specification of the transmission cable, 13

Speed control

− Control word 1, 55

− Status word 1, 56

Speed setpoint, 47

State diagram, 59

Status word 1

− "Positioning" mode, 58

− "Speed control" mode, 56

Switch on, initial, 19

Technical data, 10

Transmission cable, specification, 13

Troubleshooting and fault elimination, 61

Validity of the documentation, 6

KHB 13.0004−EN 2.1

Page 76

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KHB 13.0004−EN § .Bò* § § 2.1 § TD34

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