Lenze 9300 User Manual

EDKVS93−01

.MñP

Ä.MñPä

Information for the operator of the machine

9300 0.37 ... 11 kW

EVS9321−xx ... EVS9326−xx

Servo controller

l

9300std078

Key for overview

Position Description

0Controller

1Fixing rails for standard mounting

2Cover for the motor connection

3Shield connection support with fixing screws (2 items)

1 support for the shield sheet for the supply connections 1 support for the shield sheet for the motor cable

4EMC shield sheet with fixing screws (2 items)

1 shield sheet for the supply connections

1 shield sheet for the motor cable and the feed cable for the motor temperature monitoring with PTC thermistor or thermal contact (NC contact)

5EMC shield sheet with fixing screws for shielded control cables

6Cover for the supply connections

Connections and interfaces

Position	Description
L1, L2, L3, PE	Mains connection
+UG, −UG	DC supply
U, V, W, PE	Motor connection
T1, T2	Connection of PTC thermistor or thermal contact (NC contact) of the motor
X1	AIF interface (automation interface)
	Slot for communication module (e. g. XT EMZ9371BC keypad)
X3	Jumper for setting analog input signal at X6/1, X6/2
X4	System bus (CAN) connection
X5	Connection of digital inputs and outputs
X6	Connection of analog inputs and outputs
X7	Connection of resolver and KTY temperature sensor of the motor
X8	Connection of incremental encoder with TTL level or SinCos encoder and KTY temperature sensor of the motor
X9	Connection of digital frequency input signal
X10	Connection of digital frequency output signal
X11	Connection of KSR relay output for "safe standstill" (for variants V004 and V104 only)

Status displays

Position	LED red	LED green	Operating status
•	Off	On	Controller enabled
	On	On	Mains is switched on and automatic start is inhibited
	Off	Blinking slowly	Controller inhibited
	Blinking quickly	Off	Undervoltage or overvoltage
	Blinking slowly	Off	Active fault

i Contents

1	About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			5
	1.1	Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5
	1.2	Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		5
	1.3	Validity information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		6
	1.4	Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		7
	1.5	Notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		8
2	Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			9
	2.1	General safety and application notes for Lenze controllers . . . . . . . . . . . . . . . . . .		9
	2.2	Thermal motor monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		13
		2.2.1	Forced ventilated or naturally ventilated motors . . . . . . . . . . . . . . . . . . .	14
		2.2.2	Self−ventilated motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	15
	2.3	Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		17
	2.4	Safety instructions for the installation according to UL . . . . . . . . . . . . . . . . . . . . .		18
3	Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			19
	3.1	Parameter setting with the XT EMZ9371BC keypad . . . . . . . . . . . . . . . . . . . . . . . .		19
		3.1.1	General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . .	19
		3.1.2	Installation and commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	20
		3.1.3	Display elements and function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	21
		3.1.4	Changing and saving parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	23
		3.1.5	Loading a parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	25
		3.1.6	Transferring parameters to other standard devices . . . . . . . . . . . . . . . . .	26
		3.1.7	Activating password protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	28
		3.1.8	Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	29
		3.1.9	Menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	30
4	Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			32
	4.1	Display of operating data, diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		32
	4.2	Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		33
		4.2.1	Status display via controller LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	33
		4.2.2	Fault analysis with the history buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . .	34
		4.2.3	Fault analysis via LECOM status words (C0150/C0155) . . . . . . . . . . . . .	35
	4.3	System error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		36
		4.3.1	General error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	36
		4.3.2	Resetting system error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	45

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EDKVS93−01 EN 3.0

About this documentation

1

Document history

1	About this documentation

)Note!

This documentation contains all necessary information for the machine operator to be able to operate the servo controllers of the 9300 series installed in your machine/plant.

You can make further use of all information in this documentation without consulting Lenze if you do not make any changes to the contents.

1.1Document history

What is new / what has changed?

Material number	Version			Description
.MñP	3.0	07/2013	TD06	Error corrections
13330541	2.1	03/2010	TD23	Change of the company’s address
13330541	2.0	03/2010	TD14	New edition due to reorganisation of the company
				UL−warnings updated
				Revision for software version 8x
13231631	1.0	11/2007	TD34	First edition

I Tip!

Information and auxiliary devices related to the Lenze products can be found in the download area at

http://www.Lenze.com

1.2Target group

This documentation is directed at qualified skilled personnel according to IEC 60364.

Qualified skilled personnel are persons who have the required qualifications to carry out all activities involved in installing, mounting, commissioning, and operating the product.

EDKVS93−01 EN 3.0

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1	About this documentation
	Validity information

1.3Validity information

... 9300 servo controllers as of nameplate data:

					•				‚	ƒ	Nameplate
		EVS 93xx			˘ x		x		Vxxx 1x	8x
Product series
EVS =	Servo controller
Type no. / rated power
	400 V	480 V
9321 =	0.37 kW	0.37 kW
9322 =	0.75 kW	0.75 kW
9323 =	1.5 kW	1.5 kW
9324 =	3.0 kW	3.0 kW
9325 =	5.5 kW	5.5 kW
9326 =	11 kW	11 kW
Type
E =	Panel−mounted unit
C =	Built−in unit in "cold plate" technique										9300vec112
Design
I =	Servo PLC
K =	Servo cam
P =	Servo position controller
R =	Register controller
S =	Servo inverter
T =	Servo PLC technology

Variant

˘Standard

V003 = In "cold plate" technique

V004 = With "safe standstill" function

V100 = For IT mains

V104 = With "safe standstill" function and for IT mains

Hardware version

Software version

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EDKVS93−01 EN 3.0

About this documentation

1

Conventions used

1.4Conventions 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	language−dependen	In each case, the signs typical for the target
		t	language are used as decimal separators.
			For example: 1234.56 or 1234,56
Warnings

UL warnings

UR warnings

Text

J

Are only given in English.

O

	Program name	» «	PC software
			For example: »Engineer«, »Global Drive
			Control« (GDC)
Icons
	Page reference	^	Reference to another page with additional
			information
			For instance: ^16 = see page 16
	Documentation reference	,	Reference to another documentation with
			additional information
			For example: ,EDKxxx = see
			documentation EDKxxx

EDKVS93−01 EN 3.0

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1	About this documentation
	Notes used

1.5Notes 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!

(characterises the type and severity of danger)

Note

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

Pictograph and signal word	Meaning
{ Danger!	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!	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.
( Stop!	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!	Important note to ensure troublefree operation
I Tip!	Useful tip for simple handling
,	Reference to another documentation
Special safety instructions and application notes for UL and UR
Pictograph and signal word	Meaning
J Warnings!	Safety or application note for the operation of a UL−approved
	device in UL−approved systems.
	Possibly the drive system is not operated in compliance with UL
	if the corresponding measures are not taken.
O Warnings!	Safety or application note for the operation of a UR−approved
	device in UL−approved systems.
	Possibly the drive system is not operated in compliance with UL
	if the corresponding measures are not taken.

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EDKVS93−01 EN 3.0

Safety instructions

2

General safety and application notes for Lenze controllers

2	Safety instructions

2.1General safety and application notes for Lenze controllers

(in accordance with Low−Voltage Directive 2006/95/EC)

For your personal safety

Disregarding the following safety measures can lead to severe injury to persons and damage to material assets:

ƒOnly use the product as directed.

ƒNever commission the product in the event of visible damage.

ƒNever commission the product before assembly has been completed.

ƒDo not carry out any technical changes on the product.

ƒOnly use the accessories approved for the product.

ƒOnly use original spare parts from Lenze.

ƒObserve all regulations for the prevention of accidents, directives and laws applicable on site.

ƒTransport, installation, commissioning and maintenance work must only be carried out by qualified personnel.

–Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN VDE 0110 and all national regulations for the prevention of accidents.

–According to this basic safety information, qualified, skilled personnel are persons who are familiar with the assembly, installation, commissioning, and operation of the product and who have the qualifications necessary for their occupation.

ƒObserve all specifications in this documentation.

–This is the condition for safe and trouble−free operation and the achievement of the specified product features.

–The procedural notes and circuit details described in this documentation are only proposals. It is up to the user to check whether they can be transferred to the particular applications. Lenze Automation GmbH does not accept any liability for the suitability of the procedures and circuit proposals described.

ƒDepending on their degree of protection, some parts of the Lenze controllers (frequency inverters, servo inverters, DC speed controllers) and their accessory components can be live, moving and rotating during operation. Surfaces can be hot.

–Non−authorised removal of the required cover, inappropriate use, incorrect installation or operation, creates the risk of severe injury to persons or damage to material assets.

–For more information, please see the documentation.

ƒHigh amounts of energy are produced in the controller. Therefore it is required to wear personal protective equipment (body protection, headgear, eye protection, ear protection, hand guard).

EDKVS93−01 EN 3.0

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2	Safety instructions
	General safety and application notes for Lenze controllers

Application as directed

Controllers are components which are designed for installation in electrical systems or machines. They are not to be used as domestic appliances, but only for industrial purposes according to EN 61000−3−2.

When controllers are installed into machines, commissioning (i.e. starting of the operation as directed) is prohibited until it is proven that the machine complies with the regulations of the EC Directive 2006/42/EC (Machinery Directive); EN 60204 must be observed.

Commissioning (i.e. starting of the operation as directed) is only allowed when there is compliance with the EMC Directive (2004/108/EC).

The controllers meet the requirements of the Low−Voltage Directive 2006/95/EC. The harmonised standard EN 61800−5−1 applies to the controllers.

The technical data and supply conditions can be obtained from the nameplate and the documentation. They must be strictly observed.

Warning: Controllers are products which can be installed in drive systems of category C2 according to EN 61800−3. These products can cause radio interferences in residential areas. In this case, special measures can be necessary.

Transport, storage

Please observe the notes on transport, storage, and appropriate handling.

Observe the climatic conditions according to the technical data.

Installation

The controllers must be installed and cooled according to the instructions given in the corresponding documentation.

The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.

Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and do not change any insulation distances during transport or handling. Do not touch any electronic components and contacts.

Controllers contain electrostatic sensitive devices which can easily be damaged by inappropriate handling. Do not damage or destroy any electrical components since this might endanger your health!

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Safety instructions

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General safety and application notes for Lenze controllers

Electrical connection

When working on live controllers, observe the applicable national regulations for the prevention of accidents (e.g. VBG 4).

The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross−sections, fuses, PE connection). Additional information can be obtained from the documentation.

This documentation contains information on installation in compliance with EMC (shielding, earthing, filter, and cables). These notes must also be observed for CE−marked controllers. The manufacturer of the system is responsible for compliance with the limit values demanded by EMC legislation. The controllers must be installed in housings (e.g. control cabinets) to meet the limit values for radio interferences valid at the site of installation. The housings must enable an EMC−compliant installation. Observe in particular that e.g. the control cabinet doors have a circumferential metal connection to the housing. Reduce housing openings and cutouts to a minimum.

Lenze controllers may cause a DC current in the PE conductor. If a residual current device (RCD) is used for protection against direct or indirect contact for a controller with three−phase supply, only a residual current device (RCD) of type B is permissible on the supply side of the controller. If the controller has a single−phase supply, a residual current device (RCD) of type A is also permissible. Apart from using a residual current device (RCD), other protective measures can be taken as well, e.g. electrical isolation by double or reinforced insulation or isolation from the supply system by means of a transformer.

Operation

If necessary, systems including controllers must be equipped with additional monitoring and protection devices according to the valid safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents). The controllers can be adapted to your application. Please observe the corresponding information given in the documentation.

After the controller has been disconnected from the supply voltage, all live components and power terminals must not be touched immediately because capacitors can still be charged. Please observe the corresponding stickers on the controller.

All protection covers and doors must be shut during operation.

Notes for UL−approved systems with integrated controllers: UL warnings are notes that only apply to UL systems. The documentation contains special UL notes.

Safety functions

Certain controller versions support safety functions (e.g. "Safe torque off", formerly "Safe standstill") according to the requirements of the EC Directive 2006/42/EC (Machinery Directive). The notes on the integrated safety system provided in this documentation must be observed.

Maintenance and servicing

The controllers do not require any maintenance if the prescribed operating conditions are observed.

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2	Safety instructions
	General safety and application notes for Lenze controllers

Disposal

Recycle metal and plastic materials. Ensure professional disposal of assembled PCBs.

The product−specific safety and application notes given in these instructions must be observed!

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EDKVS93−01 EN 3.0

Safety instructions

2

Thermal motor monitoring

2.2Thermal motor monitoring

From software version 8.0 onwards, the 9300 controllers are provided with an I2xt function for sensorless thermal monitoring of the connected motor.

)Note!

ƒI2 x t monitoring is based on a mathematical model which calculates a thermal motor load from the detected motor currents.

ƒThe calculated motor load is saved when the mains is switched.

ƒThe function is UL−certified, i.e. no additional protective measures are required for the motor in UL−approved systems.

ƒHowever, I2 x t monitoring is no full motor protection as other influences on the motor load could not be detected as for instance changed cooling conditions (e.g. interrupted or too warm cooling air flow).

Die I2 x t load of the motor is displayed in C0066.

The thermal loading capacity of the motor is expressed by the thermal motor time constant (t, C0128). Find the value in the rated motor data or contact the manufacturer of the motor.

The I2 x t monitoring has been designed such that it will be activated after 179 s in the event of a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128), a motor current of 1.5 x IN and a trigger threshold of 100 %.

Two adjustable trigger thresholds provide for different responses.

ƒAdjustable response OC8 (TRIP, warning, off).

–The trigger threshold is set in C0127.

–The response is set in C0606.

–The response OC8, for instance, can be used for an advance warning.

ƒFixed response OC6−TRIP.

–The trigger threshold is set in C0120.

Behaviour of the I2 x t monitoring	Condition
The I2 x t monitoring is deactivated.	When C0120 = 0 % and C0127 = 0 %, set controller
C0066 is set = 0 % and	inhibit.
MCTRL−LOAD−I2XT is set = 0.00 %.
I2 x t monitoring is stopped.	When C0120 = 0 % and C0127 = 0 %, set controller
The current value in C0066 and at the	enable.
MCTRL−LOAD−I2XT output is frozen.
I2 x t monitoring is deactivated.	Set C0606 = 3 (off) and C0127 > 0 %.
The motor load is displayed in C0066.

)Note!

An error message OC6 or OC8 can only be reset if the I2 x t load falls below the set trigger threshold by 5 %.

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2	Safety instructions

Thermal motor monitoring

Forced ventilated or naturally ventilated motors

2.2.1Forced ventilated or naturally ventilated motors

Parameter setting

The following codes can be set for I2 x t monitoring:

Code	Meaning	Value range	Lenze setting
C0066	Display of the I2 x t load of the motor	0 ... 250 %	−
C0120	Threshold: Triggering of error "OC6"	0 ... 120 %	0 %
C0127	Threshold: Triggering of error "OC8"	0 ... 120 %	0 %
C0128	Thermal motor time constant	0.1 ... 50.0 min	5.0 min
C0606	Response to error "OC8"	TRIP, warning, off	Warning

Calculate release time and I2 x t load

Formula for release time

Information

IMot

Actual motor current (C0054)

z ) 1

I

Rated motor current (C0088)

t + * ( t )

ln 1 *

r

IMot

2

t

Thermal motor time constant (C0128)

100

IN

z

Threshold value in C0120 (OC6) or C0127 (OC8)

Formulae for I2 x t load

Information

L(t)

Chronological sequence of the I2 x t load of the motor

(Display: C0066)

L(t) +

IMot

2

1

*t

IMot

Actual motor current (C0054)

100%

* e t

IN

Ir

Rated motor current (C0088)

tThermal motor time constant (C0128)

If the controller is inhibited, the I2 x t load is reduced:

			LStart	I2 x t load before controller inhibit
	t
L(t) + LStart e* t				If an error is triggered, the value corresponds to the
				threshold value set in C0120 (OC6) or C0127 (OC8).

Read release time in the diagram

Diagram for detecting the release times for a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128):

L [%]	IMot = 3 × IN	IMot = 2 × IN		IMot = 1.5 × IN		IMot = 1 × IN
120
100
50
0										t [s]
0	100	200	300	400	500	600	700	800	900	1000
										9300STD105

Fig. 2−1 I2 × t−monitoring: Release times for different motor currents and trigger thresholds

IMot	Actual motor current (C0054)
Ir	Rated motor current (C0088)
L	I2 x t load of the motor (display: C0066)

TTime

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EDKVS93−01 EN 3.0