Lenze 931EK User Manual

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SW−HB 13.0002−EN

.CN3

Ä.CN3ä

Software Manual

Servo Drives 930

931E/K

Small Drives Control

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

Document history

Material number Version Description

– 1.0 LKA First edition Word file

– 2.0 LKA Word file revision

13154139 3.0 06/2006 TD34 Complete revision

13344518 4.0 04/2010 TD34 Extended by new functions: Jogging & Teaching (931K), ge-

.CN3 4.1 08/2010 TD09 Corrections in chapter 5.2 and 5.4

0Fig. 0Tab. 0

neral revision

I Tip!

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

http://www.Lenze.com

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Contents i

1 Preface and general information 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this Manual 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Terminology used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Notes used 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Safety instructions 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Installation 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Validity information 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 System requirements 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Software installation 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 User interface 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Building up serial communication 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Starting SDC / user interface 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Standard buttons 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Numerical input fields 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Control elements 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 Display of setpoints and actual values 16 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5 Standard control windows 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.6 Directories 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.7 Communication via communication objects 18 . . . . . . . . . . . . . . . . . . . . . .

4.2.8 Exiting the program 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Commissioning 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Important notes 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Default parameter set (931E) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Default parameter set (931K) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Speed control 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Functions available 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Commissioning steps 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Selecting a motor from the motor database (only 931E) 25 . . . . . . . . . . . . .

5.2.4 Activating the operating mode 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Input configuration 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Setpoint selection via setpoint selectors 27 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Optimising the speed controller 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.8 Setting the controller enable logic 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.9 Making the controller ready for operation 38 . . . . . . . . . . . . . . . . . . . . . . . .

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5.3 Torque control 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Functions available 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Commissioning steps 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Selecting a motor from the motor database (only 931E) 42 . . . . . . . . . . . . .

5.3.4 Activating the operating mode 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.5 Input configuration 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Setpoint selection via setpoint selectors 45 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.7 Setting the controller enable logic 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.8 Making the controller ready for operation 52 . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Positioning mode 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Functions available 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2 Commissioning steps 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Selecting a motor from the motor database (only 931E) 57 . . . . . . . . . . . . .

5.4.4 Activating the operating mode 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.5 Input configuration 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.6 Global positioning settings 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.7 Target parameterisation 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.8 Setting the controller enable logic 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.9 Approaching targets 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.10 Setting digital outputs 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Course program 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Functions available 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Commissioning steps 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Selecting a motor from the motor database (only 931E) 69 . . . . . . . . . . . . .

5.5.4 Activating the operating mode 70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.5 Input configuration 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.6 Global positioning settings 73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.7 Target parameterisation 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.8 Creating the course programs 78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.9 Type of command − Position branch 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.10 Type of command − Branch (Line) 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.11 Type of command − Level test 85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.12 Type of command − End of Program 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.13 Setting the controller enable logic 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.14 Debugging the course program 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.15 Application examples 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Extending the function of the digital inputs by Jogging & Teaching

(only 931K) 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Teaching positions 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Incremental encoder emulation via DOUT1 and DOUT2 96 . . . . . . . . . . . . . . . . . . . . .

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6 Homing 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Parameterisation of homing 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Digital outputs and analog inputs and outputs 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Digital outputs DOUT1, DOUT2 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Holding brake DOUT3 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Analog inputs AIN 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Analog outputs AMON 114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Using the oscilloscope function 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Oscilloscope settings 116 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Oscilloscope window 119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Troubleshooting and fault elimination 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Error monitorings in the 931E/K 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.1 Overcurrent and short−circuit monitoring 121 . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.2 Monitoring the DC−bus voltage 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.3 Monitoring the logic supply 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.4 Monitoring the heatsink temperature 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.5 Monitoring the motor 123 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.6 Monitoring the sequence of motions 123 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.7 Other internal monitoring functions 124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.8 Elapsed time meter 124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Error message 125 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Error window 131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 Error management 132 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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10 Appendix 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Parameterisation of outside motors 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.1 Motor data 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.2 Angle encoder 135 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.3 Motor temperature monitoring 139 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.4 Selecting the safety parameters 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.5 Limit switch settings 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.6 Power stage 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.7 DC−bus monitoring 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.8 Current controller 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.9 Setting and optimising the position controller 146 . . . . . . . . . . . . . . . . . . . . .

10.1.10 General configuration settings 148 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.11 Display unit settings 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.12 User−defined display unit settings 152 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.13 Direct entry of distance, speed and acceleration units 154 . . . . . . . . . . . . . .

10.1.14 Defining the input limits 155 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Communication interfaces 156 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Control via CAN bus 156 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.2 Control via the serial interface 159 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.3 Control via the technology interface 162 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Serial communication protocol 163 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Communication object list 165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Base units 171 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.2 Bit assignment of command word / status word / error word 172 . . . . . . . .

10.5 Timing charts 176 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.1 Switch−on sequence 177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.2 Positioning / target reached 179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.3 Speed message 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.4 Error acknowledgement 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.5 Limit switches 181 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6 Parameter set management 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.1 General information 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.2 Loading and saving of parameter sets 183 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.3 Printing parameter sets 184 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.7 Offline parameterisation 186 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.8 Info window 188 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.9 Quick access via toolbar 189 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.10 Firmware download to the 931E/K / firmware update 190 . . . . . . . . . . . . . . . . . . . . . .

10.10.1 Firmware download 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 Index 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Preface and general information

1 Preface and general information

With the »Small Drives Control« parameterisation software, the 931E/K servo positioning controller can be optimally adapted to your application. The parameterisation program provides the following features:

ƒ Parameterisation of the 931E/K servo positioning controller

ƒ Parameter setting via PC

ƒ Display of status and operating values

ƒ Download of new firmware versions

ƒ Loading and saving of parameter sets

ƒ Printing of parameter sets

ƒ Offline parameterisation

ƒ Oscilloscope function

About this Manual

ƒ Language support: German, English, French

ƒ Windows−conform operation

ƒ Creation of traversing data records / course programparameterisation

1.1 About this Manual

Target group

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

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Preface and general information

Terminology used

Contents

The Product Manual shall ensure safe operation of the »Small Drives Control« parameterisation program for the 931E/K servo positioning controller. The Software Manual supplements the Mounting Instructions included in the delivery package:

ƒ The characteristics and functions of the operating software are described in detail.

ƒ The Manual provides detailed information about parameter setting and the use of

the servo inverter.

ƒ Parameter setting is explained by means of examples.

ƒ In case of doubt, the supplied Mounting Instructions always apply.

More detailed information can be found in the following manuals for the 931E/K product group:

ƒ CANopen Communication Manual "931E/K servo positioning controller":

Description of the implemented CANopen protocol according to DSP402

ƒ Profibus−DP Communication Manual "931E/K servo positioning controller"

ƒ EtherCAT Communication Manual "931E/K servo positioning controller"

ƒ Hardware Manual "931E servo positioning controller"

ƒ Hardware Manual "931K servo positioning controller"

How to find information

ƒ The table of contents and the index will help you to find information on a certain

topic.

ƒ Descriptions and data with regard to further Lenze products can be gathered from

the respective catalogs, Operating Instructions, and Manuals.

ƒ You can request Lenze documentation from your responsible Lenze sales partner or

download it as a PDF file from the Internet.

1.2 Terminology used

Term In the following text used for

Controller 931E/K servo inverter Drive 931E/K servo inverter Drive 931E/K servo inverter with connected motor SDC »Small Drive Control« parameterisation software

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Preface and general information

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!

(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!

( Stop!

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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Safety instructions2

2 Safety instructions

Please observe the following safety instructions when you want to commission a controller or system using »SDC«.

, Please read the documentation supplied with the controller / system

components carefully before you start commissioning the devices with »SDC«!

The device documentation contains safety instructions which must be observed!

} Danger!

According to our present level of knowledge it is not possible to ensure the absolute freedom from errors of a software.

If necessary, systems with built−in controllers must be provided with additional monitoring and protective equipment according to relevant safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents), so that an impermissible operating status does not endanger persons or facitilies.

During commissioning persons must keep a safe distance from the motor or the machine parts driven by the motor. Otherwise there would be a risk of injury by the moving machine parts.

( Stop!

If you change parameters in the »SDC« while a device is connected online, the changes will be directly accepted by the device!

A wrong parameter setting can cause unpredictable motor movements. By unintentional direction of rotation, too high speed or jerky operation, the driven machine parts may be damaged!

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3 Installation

3.1 Validity information

The »Small Drives Control« program is used to parameterise the 931E/K servo positioning controller. The information contained in this Manual refer to the following firmware and hardware versions:

ƒ 931E servo positioning controller (firmware: version 3.3 or higher)

ƒ 931K servo positioning controller (firmware: version 3.3 or higher)

ƒ »Small Drives Control« parameterisation software (version 2.4 or higher)

The firmware of the 931E/K servo positioning controller and the »Small Drives Control« parameterisation software must match each other, i.e. if a new firmware version with additional functions is used, the corresponding version of the Lenze »Small Drives Control« parameterisation software will be required.

Installation

Validity information

The »Small Drives Control« parameterisation software cannot be used for the parameterisation of other Lenze controllers.

3.2 System requirements

System requirements for installing the parameterisation program:

ƒ IBM−compatible PC−AT, Pentium II processor or higher with min. 32 MB main

memory capacity and min. 10 MB free hard disk capacity.

ƒ Operating system Windows

Windows

ƒ Free serial interface.

3.3 Software installation

) Note!

ƒ The current version of the »Small Drives Control« (SDC) software can be

downloaded as installation program from the Lenze web page (www.Lenze.com).

ƒ The installation is started with the file "Setup.exe".

95, Windows

98, Windows NT®, Windows 2000,

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User interface

Building up serial communication

4 User interface

4.1 Building up serial communication

For correct communication data setting, proceed as follows:

1. Completely connect the 931E/K servo positioning controller.

2. Use a serial cable to connect the free interface of your PC with the 931E/K servo positioning controller.

3. Switch on the control voltage (24VDC).

4. Start the parameterisation program

If the Online button is highlighted in green in the button menu (see figure), the communication parameters have been set correctly.

If the parameterisation program cannot open the serial interface, the following error window will appear when the program is started:

931e_202

Cause of the error will either be an incorrect interface setting (check the hardware settings in your control panel) or another Windows or DOS−program accessing the serial interface.

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User interface

Building up serial communication

ƒ Retry with old parameters (COM3, 9600 Baud):

To solve the access conflict with a program using the interface, close the other program (with MS−DOS programs, also close the MS−DOS shell!!) and click Retry with old parameters (COM3, 9600 Baud).

ƒ Change COM port:

Click Change COM port to correct a wrong interface setting and select a different interface.

ƒ Search Baud rates:

Under certain conditions, the servo positioning controller may use a baud rate other than the baud rate selected in the parameterisation program. If you select Search Baud rates, the parameterisation program will try to build up communication with different baud rates.

ƒ Offline parameterisation:

The Offline parameterisation is only useful, if you want to edit parameter set files without the servo positioning controller. For more information, please see the chapter "Offline parameterisation". (¶ 186)

ƒ Firmware download:

If the servo positioning controller contains an invalid firmware version or if you want to download a new firmware, select Firmware download to initiate the firmware download.

ƒ Exit program:

Click Exit program to exit the program.

The below table lists possible error causes and troubleshooting strategies:

Error Remedy

Communication problem Click Retry with old parameters.

Wrong COM port Click Change COM port and follow the instructions.

Baud rate of parameterisation program and servo positioning controller is not identical

Communication of servo positioning controller has been interfered

Hardware error

Servo positioning controller is not switched on

Connecting cable has not been plugged in

Connecting cable is broken

Wrong pin assignment for serial connection

Connecting cable is too long Reduce baud rate or use shorter cable.

Click Search Baud rates.

RESET the servo positioning controller, i.e. power−off/power−on. After this, click Retry with old parameters.

Remove error, then click Retry with old parameters.

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4.2 Starting SDC / user interface

4.2.1 Standard buttons

User interface

Starting SDC / user interface Standard buttons

If you open a control window, the control window will contain a "button bar" which may look as follows:

Meaning of the individual buttons:

ƒ OK:

All changes made will be accepted and the control window will be closed.

ƒ Cancel:

All changes will be undone, values that have already been transferred will be restored, and the control window will be closed.

931e_362

The buttons can be activated

ƒ by a click with the left mouse key,

ƒ with the tab key and confirmation with the ENTER key,

ƒ via the keyboard by entering the underlined letter while holding down the Alt key.

If the menu buttons optically differ from the above description, please see this Manual for more detailed information.

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4.2.2 Numerical input fields

The control windows of the parameterisation program often contain fields for numerical entries (see below figure):

The values can be entered as follows:

1. Directly via the keyboard: Enter the value directly into the input line. Until the entry has been completed, the text will be displayed in light characters and not yet accepted by the parameterisation program (see figure).

When the entry is complete, press the ENTER key or use the tab key to change to another input field. The numerical value will then be displayed in bold.

User interface

Starting SDC / user interface

Numerical input fields

2. By clicking the arrow keys: The value will change in small steps (fine adjustment).

3. By clicking the fields between grey field and arrow keys: The value will change in big steps (rough adjustment).

4. By clicking the grey field and moving the mouse with the left mouse button being held down: Quick value selection in the whole value range (rough adjustment).

4.2.3 Control elements

Graphically−oriented control windows are used to lead the users through the program.

The below table lists and describes the control elements used in the individual control windows:

Control elements Designation Function

Checkbox Option that can be activated or deactivated by

checking/unchecking the checkbox. Several checkboxes can be activated at the same time.

Option button Button used to select one out of several options.

"..." button Button that will start another menu, when clicked

by the user.

General button Button that will start another menu, when clicked

by the user.

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4.2.4 Display of setpoints and actual values

User interface

Starting SDC / user interface Display of setpoints and actual values

The parameterisation program uses the following concept to display the setpoints selected by the user and the actual controller values:

1. The user changes the scroll box value in the control window by using the scroll bar or direct entry of a new value.

2. The parameterisation program transfers the value to the 931E/K servo positioning controller.

3. The parameterisation program immediately reads the currently valid parameter and displays it in the green field. The scroll box value itself remains unchanged.

931e_222

Term definition:

ƒ Setpoint: Setpoint transferred to the 931E/K servo positioning controller (setting

defined by the user)

ƒ Actual value: Value currently effective in the 931E/K servo positioning controller. A

deviation from the setpoint may have different causes. Examples: – Quantisation effects, rounding effects, etc. – The modified parameter will only show effect after storage and controller RESET – Value range has been temporarily exceeded, e.g. rated current > maximum

current.

– Incorrect value ranges, e.g. when loading a parameter set from a servo positioning

controller with a higher power class (rated current > rated controller current).

) Note!

The concept of different setpoints and actual values shall enable loading a parameter set from a servo positioning controller of a certain power class into a servo positioning controller of another power class and back again. Unless no additional parameters have been set, the setpoints will remain unchanged. Only the actual values will change due to the different power classes. This largely ensures that a parameter set will not be step−by−step changed depending on the power class of the controller.

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4.2.5 Standard control windows

With online parameterisation, the command window, the status window and the actual value window will always be open by default. With offline parameterisation, the status window and the actual value window will not be open.

The actual value window displays current controller parameters such as current, speed, etc. Select the menu items Display W Actual values to configure the actual value window. Mark all values to be displayed with a tick. Select the options Enable all and Disable all to minimise or maximise the actual value window.

User interface

Starting SDC / user interface

Standard control windows

4.2.6 Directories

The installed version of the parameterisation program contains the following sub−directories:

Directory Contents

FIRMWARE Firmware versions

TXT Default directory for the plain text output of parameter data

DCO Default directory for the parameter files

EDS CAN configuration

GSD Profibus configuration

XML EtherCAT configuration

931e_366

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4.2.7 Communication via communication objects

User interface

Starting SDC / user interface Communication via communication objects

The parameterisation program uses so−called communication objects to access the 931E/K servo positioning controller via a standardised software interface inside the controller. During communication, the following error states will be internally monitored:

ƒ Write accesses to read−only communication objects

ƒ Read accesses to write−only communication objects

ƒ Value range exceeded/fallen below

ƒ Faulty data transfer

The first two errors are fatal errors that usually do not occur in practical operation. In the last case, the parameterisation program repeatedly tries to carry out reading/writing without bit errors.

When the value range of a communication object is exceeded/fallen below, a warning will be displayed. If an internal value is available for the object, the value will be saved as desired value, but the original value will be used internally, otherwise the value will be deleted.

4.2.8 Exiting the program

The program can be exited as follows:

ƒ By selecting the menu items File W Exit

ƒ By pressing the key combination <Alt>+F4

ƒ By a click on the x at the top left in the main window

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5 Commissioning

5.1 Important notes

Before switching on the supply voltage for the 931E/K servo positioning controller for the first time, check the following connections for correctness and completeness:

ƒ Motor cable and synchronous motor connection (X3) (only 931E)

ƒ Feedback system connection (X7/X8) (only 931E)

ƒ Digital I/O connection (X5)

ƒ Connection of the voltage supply for control section and power stage (X2)

ƒ Connection of the serial communication cable (X1)

For additional information, please see the Hardware Manual (GHB931E, GHB931K) or the Mounting Instructions. For parameter setting, the serial interface (X1) of the 931E/K must be connected with a free COM port on your notebook / PC.

Commissioning

Important notes

( Stop!

Please carefully check the wiring and the supply voltages selected, before switching on the voltage supply for the first time!

ƒ Malfunctions are most often due to wiring faults. ƒ Wiring faults or an excessive operating voltage may cause damage to the

controller!

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Page 20

Commissioning

Important notes Default parameter set (931E)

5.1.1 Default parameter set (931E)

In the delivery state of the 931E servo positioning controller, the default parameter set is loaded. During the first commissioning, the default parameter set must be adapted to your application. Otherwise, the 931E servo positioning controller will be in the status "not commissioned".

) Note!

The default parameter set contains the basic controller parameterisation for operation as a speed controller with setpoint selection via the analog input AIN0. The controller settings and the current limits have been selected that low that a connected motor of a typical frame size will not be overloaded or destroyed when controller enable is activated by mistake.

The manufacturer’s settings in the default parameter set can be restored via the menu File W Parameter set W Load default parameter set.

) Note!

When the default parameter set is loaded, the application−specific parameters will be overwritten and the controller status "not commissioned" will be set. This should be considered when using this function, because the first commissioning will have to be repeated as a result.

5.1.2 Default parameter set (931K)

In the delivery state, the 931K servo positioning controller has already been parameterised. The motor parameters are loaded and the most important parameter settings have been selected.

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Commissioning

Speed control

Functions available

5.2 Speed control

5.2.1 Functions available

The speed control has the structure of a cascade−shaped control system with an inner current control circuit and a higher−level speed control circuit. The controllers are designed as PI controllers. Using the setpoint selectors, you can select setpoints from different sources for the corresponding controllers. See the chapter "Setpoint selection via setpoint selectors". (¶ 27)

The system principles are described in the block diagram on the next page.

With rotor−oriented control, two phase currents and the rotor position will be measured. Using the Clark transformation, the phase currents will be converted into an imaginary and a real part first and then transformed into the rotor coordinates by using the Park transformation. Using PI controllers, the rotor currents can thus be converted into corresponding rotor voltages and again be inversely transformed into the stator system. The driver signal generation uses a symmetrical pulse−width modulation for the power stage in sine commutation with the 3rd harmonic wave.

An integrator monitors the current (maximum current for 2 sec) is exceeded, a warning will be sent and the current will be limited to the rated current.

−time−integral of the controller. If the maximum value

With speed control, a setpoint speed will be selected. The 931E/K servo positioning controller uses the encoder evaluation to determine the current actual speed n_act. The current setpoint i_set is determined to ensure that the setpoint speed will be observed.

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Page 22

Commissioning

Speed control Functions available

Usin_sc

U PhaseU

Usin_res

UPhaseV

UPhaseW

IPhaseU

I PhaseV

IPhaseW

U cos_res

U cos_sc

+jq

controller

PI idle current

set point = 0

eps_mot

PI active current controller

set

point

CAN

AIN0

AIN1

RS232

Profibus

fixed zero

Selector current controller

vel-contr.

EtherCAT

phi_mot

n_ist

Resolver

Sin/Cos Geber

eps_mot

reference run

-jq

I²t-

velocity filter

function

xact

EtherCAT

931E_100

i_max

AIN0

AIN1

Nact

CAN

RS232

Profibus

vel-contr.

DIN8

PI velocity controller

AIN0

Set point ramp

n_max

AIN1

Nsetpoint

CAN

RS232

n_set_pos

pos-contr.

n_limit

fixed Zero

Selector velocity controller

Sync

DIN7

-n_limit

i_limit

n_max

CAN

AIN0

AIN1

Profibus

EtherCAT

Selector correcting set point

RS232

feste Null

Profibus

EtherCAT

pos-contr.

Selector torque limit

The speed control has the structure of a cascade−shaped control system with an inner

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Commissioning

Speed control

Functions available

current control circuit and a higher−level speed control circuit. The controllers are designed as PI controllers. Using the setpoint selectors, you can select setpoints from different sources for the corresponding controllers. See the chapter "Setpoint selection via setpoint selectors". (¶ 27)

The system principles are described in the block diagram on the next page.

An integrator monitors the current (maximum current for 2 sec) is exceeded, a warning will be sent and the current will be limited to the rated current.

With speed control, a setpoint speed will be selected. The 931E/K servo positioning controller uses the encoder evaluation to determine the current actual speed n_act.

−time−integral of the controller. If the maximum value

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Page 24

Commissioning

Speed control Commissioning steps

5.2.2 Commissioning steps

Commissioning steps Comments

1. Use a serial cable to connect the serial controller interface X1 with a free

2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (only

3. Start the »Small Drive Control (SDC)« parameterisation software. If the "Online" button in the toolbar is

4. Open the menu Parameters W Device parameters W Motor data W Select

5. Select "Speed control" from the Commands window. ^ 26

6. Open the menu Parameters W I/Os W Digital inputs and check the digital

7. Open the menu Operating mode W Setpoint − Selection and select the

8. Open the menu Parameters W Device parameters W Controller enable logic

9. Ensure that the controller is inhibited! If the controller is only enabled via the

10. Switch on the power supply.

11. Check, if any error messages have occurred. First, remove and acknowledge the errors

12. Ensure that the drive can rotate without load!

13. Open the menu Parameters W Device parameters W Motor data and click

14. Open the menu Parameters W Controller parameters W Speed controller

15. Click the "Save parameters" icon in the menu bar to save the settings

16. Select a speed setpoint.

17. Enable the controller to start speed−controlled drive operation. If the controller is only enabled via the

COM port on your notebook/PC.

new motor and select a motor from the Lenze motor database (only 931E servo positioning controller, 931K servo positioning controller has already been parameterised).

input assignments.

setpoint source.

and activate the controller enable logic.

Auto detect.

and parameterise the speed controller.

fail−safe in the EEPROM of the controller.

931E), the voltage is within the permissible range.

highlighted in green, the communication parameters have been set correctly.

Apart from the motor data, this menu also includes default settings for the feedback system and the current and speed controller. ^ 25

^ 26

^ 27

^ 37

digital input DIN9, set the input to LOW. DIN9 = LOW

or change the error management.

This selection calibrates the motor and the feedback system. ^ 25

^ 34

digital input DIN9, set the input to HIGH. DIN9 = HIGH (controller enable) ^ 37 DIN6 = HIGH (quick stop)

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Commissioning

Speed control

Selecting a motor from the motor database (only 931E)

5.2.3 Selecting a motor from the motor database (only 931E)

The Small Drives Control parameterisation program contains a motor database with the most important data for different motor types.

) Note!

The motor database contains the data of the Lenze synchronous servo motors. Apart from the motor data (pole pair number, stator inductance, …), default settings for the feedback system and current and speed controller have been implemented. Using the default settings will make commissioning fast and easy.

The function can be accessed via the menu Parameters W Device parameters W Motor data W Select new motor. A list will be displayed, from which you can select the motor used:

If a Lenze motor is used, select the motor and confirm your selection with Accept values and close dialog.

Otherwise, click Quit without changes.

931e_372

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Commissioning

Speed control Activating the operating mode

5.2.4 Activating the operating mode

For speed control, configure the command window as follows:

5.2.5 Input configuration

Select the menu Parameters W I/Os W Digital inputs and check if the analog input has been configured correctly.

931e_208

) Note!

The analog inputs must not be configured as digital inputs. The selection "AIN’s used as DIN’s" must not be set, otherwise, the analog setpoint cannot be evaluated.

931e_214

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Commissioning

Speed control

Setpoint selection via setpoint selectors

5.2.6 Setpoint selection via setpoint selectors

With torque and speed control, you can use the setpoint management of the 931E/K servo positioning controller for setpoint selection. Select Operating mode W Setpoint selection to open the corresponding menu.

Speed control

) Note!

If an analog input is activated as setpoint source, but no line to the setpoint indicated, the digital entries might be activated.

The following setpoint sources can be selected:

ƒ 2 analog inputs: AIN0 and AIN1

For parameter setting, please see the chapter "Digital outputs and analog inputs and outputs".

ƒ RS232

ƒ CAN

ƒ Profibus

ƒ EtherCAT

ƒ Position controller (in operating mode speed control)

) Note!

If no setpoint source is activated (inactive), the setpoint will be zero.

931e_210

The setpoint management manages your settings separately for every operating mode. This means that the setpoint selectors will be automatically changed to the values you have selected in the corresponding operating mode, when the operating mode is changed.

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Commissioning

Speed control Setpoint selection via setpoint selectors

Setpoint selection via the analog input

The 931E/K servo positioning controller is equipped with two analog inputs with an input voltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speed and torque setpoints.

Select Parameters W I/Os W Analog inputs or click the "..." button when the analog input is activated in the setpoint selector menu to open the following menu:

AIN 0

931e_212

Here you can select a "conversion factor" between the input voltage and the Torque or Speed setpoint.

In the Offset field, you can select a voltage that will be automatically added to the voltage measured at the analog input. This function may, for instance, be used to compensate for the offset on the analog control voltage of a control and the offset of the analog input in the controller. This solves the problem of a very low setpoint still being generated with an external voltage selection of 0 V.

As another option, you can select positive and negative setpoints with an input voltage of 0 ... 10 V.

The function Safe Zero will limit the detected setpoint to zero, if it is within the voltage specified in this field. This ensures that the drive will not move or slowly drift away (see the following figure) with an analog setpoint selection of 0 V.

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Fig. 1 Safe zero

0 Setpoint 1 Safe zero

Commissioning

Speed control

Setpoint selection via setpoint selectors

931E_118

) Note!

In applications with position control (internal or via the extern control), the function "safe zero" must not be activated, because activation will have the same control effects as a dead band or "backlash" in the controlled system. During operation, this will lead to a reduced stability of the control circuit.

This menu contains separate tabs for the analog inputs. In this way, the inputs can be scaled independently of each other.

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Page 30

Commissioning

Speed control Setpoint selection via setpoint selectors

Setpoint ramp

The setpoint management includes a ramp generator. Via Selector: Speed setpoint, you can select one of the above setpoint sources and lead them via the ramp generator. In addition, you can select another source as setpoint (Selector: Connecting setpoint), which will, however, not be led via the ramp generator. The overall setpoint results from the summation of the two values. Depending on the direction of rotation, the acceleration or deceleration time of the ramp can be parameterised.

Speed control

931e_216

The 931E/K servo positioning controller can process speed setpoint jumps in different ways. It can transfer the jump without filtering it to the speed controller or calculate a function that will smooth the different setpoints of the speed setpoint selector with a selectable ramp.

Use the following button to activate/deactivate the ramp generator.

The menu for setting the ramp is activated in the setpoint selector menu via the following icon or via Operating mode W Ramps.

The following window will appear:

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Speed

Commissioning

Speed control

Setpoint selection via setpoint selectors

931e_218

You can separately select ramps for CW and CCW rotation and for rising and falling speeds.

If the ramp accelerations are sometimes identical, you can use the [r3 = r1], [r4 = r2] or [r2 = r3 = r4 = r1] checkboxes to facilitate the entry.

) Note!

The ramp generator should be used when the controller operates in speed control and no position control – nor in an external control – is available. The ramps should be selected in a way that ensures that the drive will not exceed the current limitation when accelerating under realistic load conditions.

When the setpoint ramp is selected correctly, the overshooting of the speed controller on reaching the setpoint speed can be considerably reduced compared to operation without setpoint ramp.

In applications with position control (internal or via the external control), the setpoint ramp must not be activated, because activation will have the same control effect as a PT

filter and reduce the stability of the control circuit.

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Commissioning

Speed control Setpoint selection via setpoint selectors

Setpoint selection via RS232 If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode

W Setpoint selection RS232 to select the setpoint. The menu can also be opened by a click on the "..." button next to the setpoint selector.

The following window appears:

Main

931e_220

The activated RS 232 sources will be marked with a green arrow.

Here, you can enter the setpoints and torque limitation. Click the red STOP symbol to stop faulty entries immediately. After this, the setpoint will be set to 0 and transmitted immediately.

If the setpoints are not to be transmitted immediately, uncheck Transmit immediately. After this, new setpoints will only be transmitted, when the Transfer button is clicked.

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Commissioning

Speed control

Setpoint selection via setpoint selectors

Torque limitation

As already mentioned, with speed control, it is possible to define a torque limitation. In this case, the selected setpoint source will specify a maximum torque which will symmetrically limit the setpoint for the current and torque controller.

Please observe that the current setpoint will also be limited by the rated current and maximum current values selected in the Motor data menu. The current setpoint will thus always be limited to the lower torque limit value.

) Note!

Applications requiring torque control in a quadrant, i.e. a torque setting from zero to maximum in one direction of rotation, can usually be conveniently implemented with speed control and torque limitation:

ƒ The torque setpoint is selected via the torque limitation ƒ The speed setpoint is selected via a separate setpoint to ensure that the

drive will not "race" when no load is applied. The speed will be limited to manageable values.

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Commissioning

Speed control Optimising the speed controller

5.2.7 Optimising the speed controller

To optimise the speed controller for your application, select Parameters W Controller parameters W Speed controller to open the menu for selecting the controller parameters:

In this menu, you can set the Gain and the Time constant for the PI controller.

The actual speed will be smoothed by means of an Actual speed filter to improve the control behaviour. The effective filter time constant can be parameterised:

) Note!

If the time constant of the actual speed filter is too high, the dynamic performance of the controller will be reduced because interferences can only be detected with a delay. In certain cases, the stability of the speed control circuit may be reduced, if the selected time constant is too high. The additional propagation time may lead to vibrations.

If the time constant is too low, high gain factors will lead to current noises in the speed controller and slight disturbances at the shaft. This will lead to an increased temperature rise in the motor.

For stability reasons, select the time constant as low as possible. The minimum value will be determined by the measuring noise. Typical values for the actual speed filter are 0.6 msec to 2.0 msec.

931e_222

The speed controller setting must ensure that the actual speed will only overshoot once. The overshoot should be approx 15% above the setpoint speed. The falling edge of the overshoot should, however, not or only slightly fall below the speed setpoint to reach the speed setpoint. This setting applies to most motors that can be operated with the servo positioning controller. If a stricter control behaviour is necessary, the speed controller gain can be increased further. The gain limit will be determined by the vibrations occurring with high speeds or disturbances at the shaft.

The maximum possible gain of the speed control circuit depends on the load conditions at the motor shaft. This is why the speed controller setting must be checked once again when the drive has been installed.

) Note!

If the speed controller is parameterised with a free−running motor shaft, the speed controller must be adapted to your application when the drive has been installed.

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Commissioning

Speed control

Optimisation strategies

( Stop!

Excessive speed jumps may damage or destroy your system / mechanical components. Please observe the load limits for the mechanical components.

Optimisation strategies

The behaviour of the speed controller can be monitored by recording the response to a speed jump. For this, select "Speed control" and deactivate the ramp functionality, if any, in the setpoint selector menu. A speed jump can be reached by entering setpoint jumps via the RS232 interface. As an alternative, you can use the setpoint selection via an analog input and short−circuit the analog input to reach a jump.

The speed controller response can be monitored by using the oscilloscope function. See the chapter "Using the oscilloscope function". (¶ 115)

Set the oscilloscope channels to the actual speed (raw) and the speed setpoint to display the step response of the speed controller.

) Note!

In general, the gain factor and the time constant must not be changed abruptly but only gradually.

To start with, select a comparatively long integral−action time between 8 msec and 10 msec and gradually increase the gain. Only reduce the integral−action time step−by−step after having found the right setting by increasing the gain.

Changing the values may have the following effects:

ƒ If the setting is too hard, the speed controller will become unstable.

ƒ If the setting is too soft, the drive will not be stiff enough. This would lead to

following errors during operating.

) Note!

The speed controller parameters are not independent of each other. I.e. if a measuring curve changes from one test to another, this may be due to different reasons. Therefore, only change one parameter at a time: either only the gain factor or only the time constant.

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Speed control Optimisation strategies

For speed controller adjustment, increase the gain until vibrations occur. Then slowly reduce the gain until the drive stops vibrating. After this, reduce the time constant until vibrations occur. Then slowly increase the time constant until the controller is stable and stiff with setpoint = 0.

Case 1: Too soft speed controller setting

Remedy:

l Increase the gain factor by 2 to 3 tenth of a point l Reduce the time constant by 1 to 2 msec

Case 2: Too hard speed controller setting

Remedy:

l Reduce the gain factor by 2 to 3 tenth of a point l Increase the time constant by 1 to 2 msec

Case 3: Correct speed controller setting

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Speed control

Setting the controller enable logic

5.2.8 Setting the controller enable logic

Select the controller enable logic to enable the power stage and control in the 931E/K servo positioning controller. The controller enable logic decides which conditions must be met to enable the power stage and energise the motor.

Select Parameters W Device parameters W Controller enable logic to open the menu for setting the controller enable logic.

The menu can also be selected via the Commands window. For selecting the menu, click the button in the Controller enable field.

Using the combo box, you can select the following options:

ƒ via digital input (DIN9):

Controller enable via digital input DIN9

ƒ via DIN9 and serial interface:

For controller enable, DIN9 must be set and a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via DIN9 and fieldbus: CAN bus, Profibus, EtherCAT:

For controller enable, DIN9 must be set and an enable command must be activated via the fieldbus.

931e_224

ƒ via serial interface:

For controller enable, a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via fieldbus: CAN bus, Profibus, EtherCAT (931K)

For controller enable, an enable command must be activated via the fieldbus.

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Speed control Making the controller ready for operation

5.2.9 Making the controller ready for operation

After controller enable, the shaft must start rotating. Unless the motor shows this behaviour, an error has occurred or the 931E/K servo positioning controller has not been parameterised correctly. In the below table, you can find typical errors and information on how to remove them.

Error Remedy

The motor builds up a holding torque and "snaps" in different positions.

The motor shaft vibrates and does not run smoothly. The selected angle encoder offset and/or controller

The shaft does not rotate. l No DC−bus voltage.

The shaft does not rotate. The actual value window displays the speed setpoint = "0".

( Stop!

When connecting the motor phases, please observe that the individual servo motor manufacturers may define different phase sequences. If necessary, change W and U phase.

Pole pair number and/or phase sequence are wrong. Select the correct pole pair number and/or change the motor phases. Repeat the automatic identification. See the chapter "Motor data". ^ 133

parameters are not correct. See the chapter "Speed control". ^ 34 Repeat the automatic identification. See the chapter "Angle encoder". ^ 135

l The limit switches are active. l "Quick stop" (DIN 6) has not been assigned correctly.

The speed setpoint has not been configured correctly. See the chapter "Setpoint selection via setpoint selectors". ^ 27

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Torque control

Functions available

5.3 Torque control

5.3.1 Functions available

The torque control has the structure of a cascade−shaped control system with an inner current control circuit and a higher−level speed control circuit. The controllers are designed as PI controllers. Using the setpoint selectors, you can select setpoints from different sources for the corresponding controllers. See the chapter "Setpoint selection via setpoint selectors". (¶ 46)

The system principles are described in the block diagram on the next page.

An integrator monitors the current (maximum current for 2 sec) is exceeded, a warning will be sent and the current will be limited to the rated current.

−time−integral of the controller. If the maximum value

With torque control, a current setpoint i_set will be selected for the active current controller. In this case, only the current controller will be active in the servo positioning controller. Since the torque generated on the motor shaft is more or less proportional to the active motor current, we can speak of torque control here.

) Note!

ƒ The quality of the torque control mainly depends on the motor and the

sensor technology for the rotor position detection.

ƒ With a good synchronous machine, a high−resolution rotary encoder

(SINCOS encoder) and a good controller setting, the 931E/K can reach a torque ripple between 1% and 3% referred to the maximum current resp. the corresponding maximum motor torque.

} Danger!

No speed limitation

In torque control mode, there is no speed limitation!

Possible consequences:

ƒ Death or severe injuries may occur unless appropriate protective measures

are taken.

Protective measures:

ƒ Take protective measures to ensure that the maximum speed will not be

exceeded.

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Commissioning

Torque control Functions available

Usin_sc

Usin_res

UPhaseU

UPhaseV

UPhaseW

IPhaseU

IPhaseV

IPhaseW

U cos_res

U cos_sc

+jq

-jq

Resolver

Sin/Cos Geber

eps_mot

controller

PI idle current

PI active current controller

set

AIN0

point

AIN1

CAN

RS232

Profibus

vel-contr.

I²t-

function

EtherCAT

set point = 0

fixed zero

Selector current controller

phi_mot

velocity filter

n_ist

eps_mot

reference run

DIN8

PI velocity controller

n_limit

Nsetpoint

DIN7

Set point ramp

n_max

CAN

AIN1

RS232

Sync

Profibus

pos-contr.

AIN0

fixed Zero

Selector velocity controller

n_max

AIN0

AIN1

RS232

feste Null

EtherCAT

Selector correcting set point

n_set_pos

Fig. 2 Block diagram: Controller cascade

-n_limit

CAN

pos-contr.

Nact

xact

i_limit

AIN0

AIN1

CAN

RS232

Profibus

EtherCAT

vel-contr.

931E_100

i_max

Profibus

i_max

EtherCAT

Selector torque limit

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Torque control

Commissioning steps

5.3.2 Commissioning steps

Commissioning steps Comments

1. Use a serial cable to connect the serial controller interface X1 with a free

2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (931E),

3. Start the »Small Drive Control (SDC)« parameterisation software. If the "Online" button in the toolbar is

4. Open the menu Parameters W Device parameters W Motor data W Select

5. Select "Torque control" from the Commands window. ^ 43

6. Open the menu Parameters W I/Os W Digital inputs and check the digital

7. Open the menu Operating mode W Setpoint − Selection and select the

8. Open the menu Parameters W Device parameters W Controller enable

9. Ensure that the controller is inhibited! If the controller is only enabled via the

10. Switch on the power supply.

11. Check, if any error messages have occurred. First, remove and acknowledge the errors

12. Ensure that the drive can rotate without load!

13. Open the menu Parameters W Device parameters W Motor data and click

14. Click the "Save parameters" icon in the menu bar to save the settings

15. Select a torque setpoint.

16. Enable the controller to start torque−controlled drive operation. If the controller is only enabled via the

COM port on your notebook/PC.

new motor and select a motor from the Lenze motor database (only 931E servo positioning controller, 931K servo positioning controller has already been parameterised).

input assignments.

setpoint source.

logic and activate the controller enable logic.

Auto detect.

fail−safe in the EEPROM of the controller.

the voltage is within the permissible range.

highlighted in green, the communication parameters have been set correctly.

Apart from the motor data, this menu also includes default settings for the feedback system and the current and speed controller. ^ 42

^ 44

^ 46

^ 51

digital input DIN9, set the input to LOW. DIN9 = LOW

or change the error management.

This selection calibrates the motor and the feedback system. ^ 42

digital input DIN9, set the input to HIGH. DIN9 = HIGH (controller enable) ^ 51 DIN6 = HIGH (quick stop)

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Torque control Selecting a motor from the motor database (only 931E)

5.3.3 Selecting a motor from the motor database (only 931E)

The Small Drives Control parameterisation program contains a motor database with the most important data for different motor types.

) Note!

The motor database contains the data of the Lenze synchronous servo motors (extra−low voltage version). Apart from the motor data (pole pair number, stator inductance, …), default settings for the feedback system and current and speed controller have been implemented. Using the default settings will make commissioning fast and easy.

The function can be accessed via the menu Parameters W Device parameters W Motor data W Select new motor. A list will be displayed, from which you can select the motor used:

If a Lenze motor is used, select the motor and confirm your selection with Accept values and close dialog.

Otherwise, click Quit without changes.

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Torque control

Activating the operating mode

5.3.4 Activating the operating mode

For torque control, configure the command window as follows:

The torque setpoint can be selected in A or Nm. Open the menu Options W Display units to select the unit. The corresponding menus will then automatically use the selected unit.

If the torque is to be selected in Nm, the torque constant, i.e. the conversion factor between current and torque, must be known. The torque constant can be entered in the menu Parameters W Device parameters W Motor data. Usually, it can also be calculated by means of the nameplate data on the motor. For this, divide the rated torque by the rated current.

931e_226

) Note!

A torque constant of 0 Nm/A is impermissible, if "Torque in Nm" has been activated.

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5.3.5 Input configuration

Commissioning

Torque control Input configuration

Select the menu Parameters W I/Os W Digital inputs and check if the analog input has been configured correctly.

) Note!

The analog inputs must not be configured as digital inputs. The selection "AIN’s used as DIN’s" must not be set, otherwise, the analog setpoint cannot be evaluated.

931e_214

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Torque control

Setpoint selection via setpoint selectors

5.3.6 Setpoint selection via setpoint selectors

When activating the Torque control tab, one of the above−mentioned setpoint sources can be selected via Selector: Torque setpoint Selector: . With torque control, there is no ramp generator and connecting setpoint.

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Torque control Setpoint selection via setpoint selectors

Torque control

) Note!

If an analog input is activated as setpoint source, but no line to the setpoint indicated, the digital entries might be activated.

The following setpoint sources can be selected:

ƒ 2 analog inputs: AIN0 and AIN1

For parameter setting, please see the chapter "Digital outputs and analog inputs and outputs".

For parameter setting, please see the chapter "Analog inputs AIN0 and AIN1".

ƒ RS232

ƒ CAN

ƒ Profibus

ƒ EtherCAT

ƒ Speed controller (in operating mode torque control)

) Note!

If no setpoint source is activated (inactive), the setpoint will be zero.

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Torque control

Setpoint selection via setpoint selectors

Setpoint selection via the analog input

Select Parameters W I/Os W Analog inputs or click the "..." button when the analog input is activated in the setpoint selector menu to open the following menu:

AIN 0

931e_212

Here you can select a "conversion factor" between the input voltage and the Torque or Speed setpoint.

As another option, you can select positive and negative setpoints with an input voltage of 0 ... 10 V.

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Torque control Setpoint selection via setpoint selectors

931E_118

Fig. 3 Safe zero

0 Setpoint 1 Safe zero

) Note!

This menu contains separate tabs for the analog inputs. In this way, the inputs can be scaled independently of each other.

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Torque control

Setpoint selection via setpoint selectors

Setpoint selection via RS232 If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode

W Setpoint selection RS232 to select the setpoint. The menu can also be opened by a click on the "..." button next to the setpoint selector.

The following window appears:

Main

931e_220

The activated RS 232 sources will be marked with a green arrow.

Here, you can enter the setpoints and torque limitation. Click the red STOP symbol to stop faulty entries immediately. After this, the setpoint will be set to 0 and transmitted immediately.

If the setpoints are not to be transmitted immediately, uncheck Transmit immediately. After this, new setpoints will only be transmitted, when the Transfer button is clicked.

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Torque control Setpoint selection via setpoint selectors

Torque limitation

As already mentioned, with torque control, it is possible to define a torque limitation. In this case, the selected setpoint source will specify a maximum torque which will symmetrically limit the setpoint for the current and torque controller.

) Note!

ƒ The torque setpoint is selected via the torque limitation ƒ The speed setpoint is selected via a separate setpoint to ensure that the

drive will not "race" when no load is applied. The speed will be limited to manageable values.

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Torque control

Setting the controller enable logic

5.3.7 Setting the controller enable logic

Select Parameters W Device parameters W Controller enable logic to open the menu for setting the controller enable logic.

The menu can also be selected via the Commands window. For selecting the menu, click the button in the Controller enable field.

Using the combo box, you can select the following options:

ƒ via digital input (DIN9):

Controller enable via digital input DIN9

ƒ via DIN9 and serial interface:

For controller enable, DIN9 must be set and a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via DIN9 and fieldbus: CAN bus, Profibus, EtherCAT:

For controller enable, DIN9 must be set and an enable command must be activated via the fieldbus.

931e_224

ƒ via serial interface:

For controller enable, a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via fieldbus: CAN bus, Profibus, EtherCAT (931K)

For controller enable, an enable command must be activated via the fieldbus.

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Torque control Making the controller ready for operation

5.3.8 Making the controller ready for operation

Error Remedy

The motor builds up a holding torque and "snaps" in different positions.

The motor shaft vibrates and does not run smoothly. The selected angle encoder offset and/or controller

The shaft does not rotate. l No DC−bus voltage.

The shaft does not rotate. The actual value window displays the speed setpoint = "0".

( Stop!

When connecting the motor phases, please observe that the individual servo motor manufacturers may define different phase sequences. If necessary, change W and U phase.

Pole pair number and/or phase sequence are wrong. Select the correct pole pair number and/or change the motor phases. Repeat the automatic identification. See the chapter "Motor data". ^ 133

parameters are not correct. Repeat the automatic identification. See the chapter "Angle encoder". ^ 135

l The limit switches are active. l "Quick stop" (DIN 6) has not been assigned correctly.

The torque setpoint has not been configured correctly. See the chapter "Setpoint selection via setpoint selectors". ^ 46

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Positioning mode

Functions available

5.4 Positioning mode

) Note!

You can skip this chapter, if you are only using speed or torque control.

5.4.1 Functions available

In positioning mode, the speed control is superimposed by a positioning control and a position is selected which is to be automatically approached by the motor, i.e. without external control. In this operating mode, the controller cascade of the 931E/K servo positioning controller is extended, as shown in figure Fig. 4:

ƒ The position controller is designed as a proportional−action controller (short P

controller). The current position is calculated from the data of the internal encoder evaluation. The position difference is processed by the position controller and transmitted as speed setpoint to the speed controller.

ƒ The trajectory generator calculates the traversing profile necessary to approach the

target position from the current position and with the current speed. It provides the setpoint position for the position controller and a precontrol speed for the speed controller to improve the dynamic performance of the control in case of fast positioning processes.

ƒ The positioning control provides a large number of messages which are required for

the external control, e.g. a target reached message and a following error message.

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Positioning mode Functions available

POS

931E_101

Fig. 4 Block diagram: Positioning control

0 Positioning parameters of:

(positioning control, fieldbus (CAN), homing, course program)

1 Trajectory generator

 Positioning parameters  Temp. data record

2 Pos set 3 N precontrol 4 Target reached 5 Remaining path message 6 x act 7 Positioning start 8 Following error monitoring 9 Following error : Correction speed ; N set pos < Dead range = Position controller

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Positioning mode

Functions available

) Note!

Unlike many competitive products, the 931E/K servo positioning controller re−calculates the complete traversing process in every control cycle. With this concept, positioning processes can be modified or cancelled any time, even during traversing.

This is made possible by the high performance of the Motion Control DSP used in the 931E/K servo positioning controller.

The powerful positioning control of the 931E/K includes many parameters and position sets. Up to 64 position sets can be saved in the non−volatile memory of the 931E/K and be processed via the trajectory generator.

Each of the 64 position sets includes a separate target position. The other parameters of the 64 position sets are equally divided into 4 groups. For each of the 4 groups, you can set the following parameters:

ƒ Acceleration

ƒ Traversing speed

ƒ Type of acceleration:

Acceleration with jerk limitation or time optimal (constant acceleration)

ƒ Relative or absolute positioning

ƒ Waiting until end of current positioning or deletion of current positioning

ƒ Start delay

In addition, there are position sets for positioning via the fieldbus and homing.

The positioning control supports point−to−point motion sequences with final speed = zero (standstill at target position). The cancellation of positioning processes during traversing and direct approaching of the next position selected is also supported.

The groups and positions are selected via the digital inputs (¶ 66). As an alternative, the groups and positions can also be selected via the RS232 interface.

For homing or positioning via fieldbus, the corresponding position data records will be directly assigned to the trajectory generator.

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Positioning mode Commissioning steps

5.4.2 Commissioning steps

Commissioning steps Comments

1. Use a serial cable to connect the serial controller interface X1 with a free

2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (931E),

3. Start the »Small Drive Control (SDC)« parameterisation software. If the "Online" button in the toolbar is

4. Open the menu Parameters W Device parameters W Motor data W Select

5. Select "Positioning, Selection: 64 positions" from the Commands window. ^ 58

6. Open the menu Parameters W I/Os W Digital inputs and activate "AIN’s

7. Open the menu Parameters W Positioning W Settings position sets /

8. Open the menu Parameters W Positioning W Destination parameters and

9. Ensure that positioning is inhibited! Digital input DIN6: Positioning start

10. Switch on the power supply.

11. Check, if any error messages have occurred. First, remove and acknowledge the errors

12. Ensure that the drive can rotate without load!

13. Open the menu Parameters W Device parameters W Motor data and click

14. Click the "Save parameters" icon in the menu bar to save the settings

15. Enable the controller. If the controller is only enabled via the

16. Select the target position.

COM port on your notebook/PC.

the voltage is within the permissible range.

highlighted in green, the communication parameters have been set correctly.

new motor and select a motor from the Lenze motor database (only 931E servo positioning controller, 931K servo positioning controller has already been parameterised).

used as DIN’s".

course program and select the positioning range.

parameterise the position sets.

Auto detect.

fail−safe in the EEPROM of the controller.

A Open the menu Parameters W Positioning W Go to destination and click the

corresponding button.

B Set the corresponding digital inputs and enable positioning. After a rising edge at digital input DIN6,

Apart from the motor data, this menu also includes default settings for the feedback system and the current and speed controller. ^ 57

The digital inputs DIN0 ... DIN5 are used for addressing a target position. ^ 58

^ 59

^ 60

must be set to LOW. DIN6 = LOW

or change the error management.

This selection calibrates the motor and the feedback system. ^ 57

digital input DIN9, set the input to HIGH. The yellow LED (power) goes on. DIN9 = HIGH. ^ 64

Positioning is started and the selected target is approached. ^ 65

the destinations will be accepted and positioning will be started. DIN6 = HIGH.

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Positioning mode

Selecting a motor from the motor database (only 931E)

5.4.3 Selecting a motor from the motor database (only 931E)

The Small Drives Control parameterisation program contains a motor database with the most important data for different motor types.

) Note!

The function can be accessed via the menu Parameters W Device parameters W Motor data W Select new motor. A list will be displayed, from which you can select the motor used:

If a Lenze motor is used, select the motor and confirm your selection with Accept values and close dialog.

Otherwise, click Quit without changes.

931e_372

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Positioning mode Activating the operating mode

5.4.4 Activating the operating mode

For homing or positioning, configure the command window as follows:

5.4.5 Input configuration

Select the menu Parameters W I/Os WDigital inputs to assign functionalities to the digital inputs DIN0 ... DIN5. In positioning mode, you can specify a 6−bit position selector (DIN0 ... DIN5) to address a target position out of the 64 freely programmable target positions. Moreover, the start input is important for positioning. As an option, it is possible to derive an offset for the CAN node address from the digital inputs DIN0 ... DIN5. These two functionalities can, however, only be used, if the analog inputs AIN0 and AIN1 are used as digital inputs.

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Positioning mode

Global positioning settings

5.4.6 Global positioning settings

Select Parameters W Positioning W Settings position sets / course program to open the menu Settings position sets / course program. With this menu you can define the positioning range as a global setting for all positioning processes.

With absolute positioning, every new target position is checked for compliance with the limits of the absolute positioning range. The parameters Minimum value and Maximum value in the Positioning range field specify the absolute positioning limits for the position setpoint and the actual position. The positioning range always refers to the zero position of the drive.

931e_232

A click on the Homing run button opens the Homing run menu. See the chapter "Homing". (¶ 98)

A click on the Destination parameters button opens the menu for parameterising the target positions.

In the lower part of the window, you can select settings for the course program. If you check Course program active, the course program will be enabled in positioning mode. A click on the "..." button opens the menu for the course program. See the chapter "Course program". (¶ 67)

In addition, you can define two entry lines for the course program.

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Positioning mode Target parameterisation

5.4.7 Target parameterisation

64 position sets can be parameterised in the 931E/K servo positioning controller. For parameterising the position sets, open the menu Parameters W Positioning W Destination parameters.

Click GO! to start positioning with the displayed destination position. Please observe the controller enable logic. Positions can only be approached after controller enable.

Click Positioning settings to change general positioning settings (e.g. limit positions). See the chapter " Global positioning settings". (¶ 73)

Settings

931e_236

In the Destination field you can select the position set to be parameterised. If 64 position sets are used, they will be combined to 4 position groups (0 ... 15, 16 ... 31, 32 ... 47, 48 ... 63). The entry (0 ... 15) after the Positioning field indicates that the selection "relative" applies to all positions of the position group 0 to 15. Other parameters of this menu also apply to all 64 positions. In this case, the entry (0 ... 63) will follow the field name. If there is no entry after the field name, the parameter only applies to the corresponding position.

As an alternative to the standard position sets 0 ... 63, you can activate the option "CAN−Bus" to display and change the traversing profile currently parameterised via the CAN bus. The same applies to Profibus and EtherCAT.

In the Positioning field you can select, an absolute (referred to the home position) or relative interpretation of the target position. relative refers to the current setpoint position, for instance, during an active positioning process. The option relative to last destination calculates the new position on the basis of the currently approached target position or the target position to be approached.

The results of the option relative will differ, depending on the setting in the Start during positioning field (see below). If the combination relative/wait for end of positioning run is selected, the new position will refer to the target position.

If the combination relative/Interrupt actual positioning is selected, the new target

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Positioning mode

Target parameterisation

position will be calculated from the current setpoint position.

In the Start during positioning field you can select the behaviour of the servo positioning controller, if a start command for a new target position is received during an active positioning process.

You can choose between the following options:

ƒ Wait for end of positioning run: the current positioning process will be completed

before the new positioning process will be started. The next positioning process can be selected before the current positioning process. The following positioning process will then be automatically started after completion of the current positioning process.

ƒ Interrupt actual positioning: the current positioning process will be interrupted and

the new position will be approached immediately.

ƒ Ignore start command: the new positioning command can only be selected and

started, when the previous positioning process has been completed.

) Note!

Please observe that a bouncing switch at the digital start input may lead to problems, if wait for end of positioning run or Interrupt actual positioning is selected during a relative positioning process. In this case, it may happen that the drive traverses a little bit too far!

In the Messages field, you can parameterise the remaining path message. The message can be output via the fieldbus or a digital output. These trigger messages show the Remaining distance to the end of the current positioning process. The selected remaining path applies to all 64 target positions.

In the chapter "Setting the messages for the digital outputs", you will be informed how to assign the message to the digital outputs. (¶ 106)

In the Start delay field, you can select the time the servo positioning controller will wait for after a start command before starting the positioning process.

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Positioning mode Target parameterisation

Traversing profile

931e_238

Use the Destination field to enter the target position. The target position can be interpreted in different ways, depending on whether absolute or relative positioning has been selected (see the Settings) tab).

Use the Speed field to enter the Running speed for traversing to the target position. The final speed is always zero and cannot be parameterised.

Use the Acceleration field to parameterise the accelerations for accelerating and decelerating the drive.

The times resulting from running speed and accelerations can be read in the Times field.

Use the Time constant: jerk−free field to set the filter time for smoothing the acceleration ramps to reach jerk−free acceleration. The following figures show the speed profile of a positioning process with and without acceleration with jerk−limitation.

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Positioning mode

Target parameterisation

Time−optimal positioning Positioning with jerk limitation

Fig. 5 Time optimal positioning and positioning with jerk limitation

The positioning range selected under Parameters W Positioning W Settings position sets /

course program is shown in the Positioning range (input limits) field.

) Note!

The settings of the setpoint ramp do not have any influence on the traversing profiles during homing and positioning.

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Positioning mode Setting the controller enable logic

5.4.8 Setting the controller enable logic

Select Parameters W Device parameters W Controller enable logic to open the menu for setting the controller enable logic.

The menu can also be selected via the Commands window. For selecting the menu, click the button in the Controller enable field.

Using the combo box, you can select the following options:

ƒ via digital input (DIN9):

Controller enable via digital input DIN9

ƒ via DIN9 and serial interface:

For controller enable, DIN9 must be set and a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

931e_224

ƒ via DIN9 and fieldbus: CAN bus, Profibus, EtherCAT:

For controller enable, DIN9 must be set and an enable command must be activated via the fieldbus.

ƒ via serial interface:

For controller enable, a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via fieldbus: CAN bus, Profibus, EtherCAT (931K)

For controller enable, an enable command must be activated via the fieldbus.

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Positioning mode

Approaching targets

5.4.9 Approaching targets

There are different ways to select destinations and start positioning:

ƒ Via the serial interface:

Target position approaching and homing can be activated via the parameterisation program. For this, activate the menu items Parameters W Positioning W Go to destination. For approaching a target position, click the corresponding button.

In addition, you can start positioning to the indicated destination by clicking the GO! button.

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ƒ Via the digital inputs:

The individual destinations are selected via the digital inputs (DIN0 ... DIN5). After a rising edge at digital input DIN6, the destinations will be accepted and

positioning will be started.

In positioning mode, some inputs are assigned with fixed functions. In all operating modes it is possible to derive a CAN node number offset from the digital inputs DIN5 ... DIN0.

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Positioning mode Setting digital outputs

Input Function Description

DIN9 Controller enable With a rising edge, the controller will be initialised and enabled together

Error acknowledgement

Limit switch acknowledgement

DIN8 Positive limit switch Positive (DIN8) and negative (DIN7) setpoints will only be enabled, if the

DIN7 Negative limit switch

DIN6 Positioning start With a rising edge, positioning will be executed with the selected

DIN5 Selection of

DIN4

DIN3

DIN2

DIN1

DIN0

positioning parameter set

5.4.10 Setting digital outputs

with the power stage. With a falling edge, the motor will be decelerated to speed = 0 and the power stage will be switched off.

If the controller indicates an error, the falling edge will be used to acknowledge active errors. If the error acknowledgement has been successful, the controller will change to "Ready for operation" and can be enabled again with the next edge.

If the motor has reached a limit switch, the falling edge will be used to allow traversing in the same direction.

limit switch inputs are connected with + 24 V (limit switches with NC contact). If no signal is received, the drive will decelerate to speed = 0 when the current limit is reached, the power stage will remain on.

parameter set.

Selection of the positioning parameter group (accelerations / times, positioning speed, subgroup selection with 16 target positions)

In positioning mode, you can inform the higher−level control via digital outputs that a positioning process has been completed/is being completed.

The digital outputs can transfer the following information:

ƒ Target reached.

ƒ Remaining path to end of positioning process reached.

ƒ Homing completed.

Please see the chapter "Digital outputs" for the configuration of the digital outputs. (¶ 106)

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Course program

Functions available

5.5 Course program

) Note!

You can skip this chapter, if you are only using speed or torque control.

5.5.1 Functions available

The course program allows you to link several position sets in a sequence. These positions will be approached one after another. Characteristics of the course program:

ƒ Up to 32 course program steps can be selected.

ƒ Both linear sequences which will terminate automatically and ring−shaped linkages

are possible.

ƒ Via a special digital input, it is possible to approach a selectable position within the

course program. The position can be selected via digital inputs.

ƒ For every course program step, you can select up to 2 following positions. They can

be used for branches in the course program. The branches depend on the logical status of the digital inputs.

ƒ The course program can control two digital outputs. For every course program step,

there are 4 different options (On, Off, Target reached, Remaining path message) available.

ƒ The course program provides two alternative entry points. The entry points can be

freely parameterised and are started by means of digital inputs. Thus, you can use a course program with two entries or, alternatively, two smaller course programs with up to 32 program steps which can be called completely independently of each other.

ƒ The course program can be easily created and monitored by using the

parameterisation interface. The created application will be saved in a parameter set or, alternatively, in a course program file and can be transferred to other 931E/K servo positioning controllers.

ƒ The program lines of the course program are processed every 1.6 msec. This ensures

that each output set by the course program will remain set for at least 1.6 msec.

The course program mode is activated via the corresponding option button in the command window. See the chapter "Activating the operating mode". (¶ 70)

The setting can be permanently saved in the servo positioning controller.

The course program is controlled via the digital inputs. Digital inputs with level (High/Low) evaluation must remain at the same level for at least 1.6 msec (cycle time of the sequence control for the course program) to ensure reliable level detection. Edge−sensitive inputs must be set for at least 100 ms.

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Course program Commissioning steps

5.5.2 Commissioning steps

Commissioning steps Comments

1. Use a serial cable to connect the serial controller interface X1 with a free

2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (931E),

3. Start the »Small Drive Control (SDC)« parameterisation software. If the "Online" button in the toolbar is

4. Open the menu Parameters W Device parameters W Motor data W Select

5. Select "Positioning Course program (DIN3)" from the Commands window. ^ 70

6. Open the menu Parameters W I/Os W Digital inputs and activate "AIN’s

7. Open the menu Parameters WW Positioning WW Settings position sets /

8. Open the menu Parameters W Positioning W Destination parameters and

9. Open the menu Parameters W Positioning W Course program and create

10. Ensure that the controller is inhibited! If the controller is only enabled via the

11. Switch on the power supply.

12. Check, if any error messages have occurred. First, remove and acknowledge the errors

13. Ensure that the drive can rotate without load!

14. Open the menu Parameters W Device parameters W Motor data and click

15. Click the "Save parameters" icon in the menu bar to save the settings

16. Enable the controller. If the controller is only enabled via the

17. Start the course program. The defined positions will be approached

COM port on your notebook/PC.

new motor and select a motor from the Lenze motor database (only 931E servo positioning controller, 931K servo positioning controller has already been parameterised).

used as DIN’s".

course program to select the positioning range and activate "Course program active" in the Course program field.

parameterise the position sets.

the course program.

Auto detect.

fail−safe in the EEPROM of the controller.

the voltage is within the permissible range.

highlighted in green, the communication parameters have been set correctly.

Apart from the motor data, this menu also includes default settings for the feedback system and the current and speed controller. ^ 69

^ 71

^ 73

^ 74

^ 78

digital input DIN9, set the input to LOW. DIN9 = LOW ^ 88

or change the error management.

This selection calibrates the motor and the feedback system. ^ 69

digital input DIN9, set the input to HIGH. The yellow LED (power) goes on. DIN9 = HIGH. ^ 88

depending on the assignment of the digital inputs DIN4 and DIN5.

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Course program

Selecting a motor from the motor database (only 931E)

5.5.3 Selecting a motor from the motor database (only 931E)

The Small Drives Control parameterisation program contains a motor database with the most important data for different motor types.

) Note!

The function can be accessed via the menu Parameters W Device parameters W Motor data W Select new motor. A list will be displayed, from which you can select the motor used:

If a Lenze motor is used, select the motor and confirm your selection with Accept values and close dialog.

Otherwise, click Quit without changes.

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Course program Activating the operating mode

5.5.4 Activating the operating mode

For selecting the course program positioning, configure the command window as follows:

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5.5.5 Input configuration

In the menu Parameters W I/Os W Digital inputs, the two analog inputs must be used as digital inputs.

Commissioning

Course program

Input configuration

Select Functional overview to display the digital inputs available and the current input assignments.

When the course program is activated, the digital inputs that are usually used for starting and selecting position sets will be used as follows:

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Course program Input configuration

DIN: Function: Explanation:

DIN 0 NEXT 2 Rising edge: Continue with next position 2.

DIN 1 NEXT 1 Rising edge: Continue with next position 1.

(NEXT1 has priority over NEXT2, if both inputs are switched at the same time)

DIN 2 Stop Low = A currently active positioning process will be interrupted.

DIN 3 Course / Posi High = Activation of course program.

DIN 4 Start 1 Rising edge: Traversing to a defined start position. Start of course

DIN 5 Start 2 Rising edge: Traversing to a defined start position. Start of course

DIN 6 Positioning: Start Rising edge:

DIN 7 Limit switch 0 Limit switch 0

DIN 8 Limit switch 1 Limit switch 1

DIN 9 Clear error / Controller

enable

The program will stop in the current course program line.

Low = Position will be approached, then standard positioning mode

program.

program. (START1 has priority over START2, if both inputs are switched at the same time)

If DIN 3 = Low: Start of positioning

If errors have occurred, they can be acknowledged after having been removed. If no errors have occurred, the power stage will be enabled.

If the digital input COURSE is set to 0 V, the course program will be inactive. Standard positioning processes can be activated via the digital inputs, but the number of targets will be reduced to half, i.e. 32 targets.

DIN4 and DIN5 are used to select the position groups; DIN0, DIN1 and DIN2 are used to select the target positions.

Assignment 32 positions: Explanation:

Table above 4 groups à 8 positions

Pos. 0 ... 7, 16 ... 23, 32 ... 39, 48 ... 55

Standard assignment. Control signal COURSE at DIN 3

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Course program

Global positioning settings

5.5.6 Global positioning settings

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A click on the Homing run button opens the Homing run menu. See the chapter "Homing". (¶ 98)

A click on the Destination parameters button opens the menu for parameterising the target positions.

In addition, you can define two entry lines for the course program.

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Course program Target parameterisation

5.5.7 Target parameterisation

64 position sets can be parameterised in the 931E/K servo positioning controller. For parameterising the position sets, open the menu Parameters W Positioning W Destination parameters.

Click GO! to start positioning with the displayed destination position. Please observe the controller enable logic. Positions can only be approached after controller enable.

Click Positioning settings to change general positioning settings (e.g. limit positions). See the chapter " Global positioning settings". (¶ 73)

Settings

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As an alternative to the standard position sets 0 ... 63, you can activate the option "CAN−Bus" to display and change the traversing profile currently parameterised via the CAN bus.

If the combination relative/Interrupt actual positioning is selected, the new target

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Course program

Target parameterisation

position will be calculated from the current setpoint position.

In the Start during positioning field you can select the behaviour of the servo positioning controller, if a start command for a new target position is received during an active positioning process.

You can choose between the following options:

ƒ Wait for end of positioning run: the current positioning process will be completed

ƒ Interrupt actual positioning: the current positioning process will be interrupted and

the new position will be approached immediately.

ƒ Ignore start command: the new positioning command can only be selected and

started, when the previous positioning process has been completed.

) Note!

In the chapter "Setting the messages for the digital outputs", you will be informed how to assign the message to the digital outputs. (¶ 106)

In the Start delay field, you can select the time the servo positioning controller will wait for after a start command before starting the positioning process.

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Course program Target parameterisation

Traversing profile

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Use the Speed field to enter the Running speed for traversing to the target position. The final speed is always zero and cannot be parameterised.

Use the Acceleration field to parameterise the accelerations for accelerating and decelerating the drive.

The times resulting from running speed and accelerations can be read in the Times field.

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Course program

Target parameterisation

Time−optimal positioning Positioning with jerk limitation

Fig. 6 Time optimal positioning and positioning with jerk limitation

The positioning range selected under Parameters W Positioning W Settings position sets /

course program is shown in the Positioning range (input limits) field.

) Note!

The settings of the setpoint ramp do not have any influence on the traversing profiles during homing and positioning.

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Course program Creating the course programs

5.5.8 Creating the course programs

Select Parameters W Positioning W Course program to open the menu for managing and creating course programs with up to 32 program lines.

Click File>>Program to load a course program that has already been created into the servo positioning controller or click Program>>File to save the program you have created.

In the Modus field, you can select between the Edit entry mode and the Debug monitoring mode. For a detailed description of the monitoring mode, please see the chapter "Debugging the course program".

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A click on the Edit line button or a line in the table opens another window in which you can define the commands for the selected course program line.

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Course program

Creating the course programs

You can select between the following basic course program commands:

ƒ Position branch (and linear position sequence)

ƒ Branch (line)

ƒ Level test (and unconditional program jump)

ƒ End of program

In the chapters "Position branch" (¶ 81) to "End of program" (¶ 86), the individual course programs will be explained in detail.

Course program options

In the Options field, you can define the evaluation of the digital inputs NEXT1 and NEXT2. If Evaluate NEXT1 or Evaluate NEXT2 is set, an additional field with the input options for the corresponding signal will appear in the lower field of the window:

ƒ Ignore, if target not reached

If the signal is received during an active positioning process, it will be ignored. If positioning is not in progress, the new following position / next line X will be approached.

ƒ Go to position / line immediately

The new following position / next line X will be approached immediately. The current positioning process will be interrupted immediately.

ƒ Complete positioning, then following position / line

The current positioning process will be completed. Then the following position / next line X will be approached in accordance with the signal received.

Basically applies:

ƒ If both "Evaluate NEXT" signals are deactivated, the following position / next line 1

will be approached.

ƒ If "Evaluate NEXT1" is activated and "Evaluate NEXT2" is deactivated, NEXT1 will be

used.

ƒ If "Evaluate NEXT2" is activated and "Evaluate NEXT1" is deactivated, NEXT2 will be

used.

In the Options field, you can furthermore define the following states for the digital outputs DOUT1/DOUT2:

ƒ On

ƒ Off

ƒ Target reached

ƒ Remaining path message

Basically applies:

ƒ The options "on" and "Off" will be accepted immediately.

ƒ The options "Target reached" and "Remaining path message" will only be accepted,

The response to the stop signal can also be defined in the Options field. If the digital stop

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if the positioning of the course program line is started.

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Course program Creating the course programs

signal is evaluated, the following actions will follow:

ƒ The current positioning process, if any, will be interrupted. The drive will decelerate

along the set deceleration ramp. As soon as the stop signal changes to HIGH again, positioning will be continued.

ƒ The position branch will not be executed. The program will stop in the current

program line.

ƒ The edge evaluation of the signals NEXT1 and NEXT2 will even be continued, if the

stop signal is active.

ƒ The outputs DOUT1 and DOUT2 will not be influenced by the stop signal.

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Course program

Type of command − Position branch

5.5.9 Type of command − Position branch

Depending on NEXT1 and NEXT2, different positions will be approached. The course program will continue execution in the next command line.

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NEXT1

POS A POS B

Fig. 7 Course program − position branch

0 Line N 1 LIne N+1 2 Neither NEXT1 nor NEXT2

NEXT2

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If the digital signal NEXT1 changes to HIGH (rising edge), position A will be approached. If the digital signal NEXT2 changes to HIGH (rising edge), position B will be approached. If no rising edges are detected, the course program will remain in standby.

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Course program Type of command − Position branch

If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, the target selected under NEXT1 will be approached. Thus, you can carry out a linear positioning process (e.g. POS1WPOS2WPOS3).

Figure 19 assumes that positioning will be started in program step 10. With the start of positioning (10), the course program will change to the next line, program step 11.

Assuming that NEXT1/2 has been set to "Complete position, then target", the NEXT1/2 inputs will be polled in the second half of the program step when the message "Target reached" has been activated. All signal transitions detected since the start of positioning are evaluated. If the signal "Target reached" has been set without detection of a rising signal of NEXT1/2, the program will remain in program step 11 until at least one signal of NEXT1/2 has been detected.

Fig. 8 Time chart − position branch

 Program step 10  Program step 11

0 Positioning 1 Target reached 2 NEXT1/2 edge found 3 DOUT1/2=HIGH/LOW 4 DOUT1/2=Target reached/remaining path 5 Course program activities

Approach position (program step 10)

New position

DOUT1/2=HIGH/LOW program step 10

DOUT1/2=HIGH/LOW program step 11

Target reached/remaining path (positioning program step 10)

Approach new position

Evaluate NEXT1/2

Calculate new jump destination/new positioning

931E_112

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Course program

Type of command − Branch (Line)

5.5.10 Type of command − Branch (Line)

Depending on NEXT1 and NEXT2, the program will continue execution in different lines. If the digital signal NEXT1 changes to HIGH (rising signal), program execution will continue in line X. If the digital signal NEXT2 changes to HIGH (rising signal), program execution will continue in line Y. If no rising signals are detected, the course program will remain in standby.

If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, you can select the next line to which the program will jump automatically.

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NEXT1 NEXT2

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Fig. 9 Course program − branch (line)

0 Line N 1 Line X 2 Line Y 3 Neither NEXT1 nor NEXT2

Fig. 10 assumes that positioning has been started in program step 10. With the start of

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Commissioning

Course program Type of command − Branch (Line)

positioning (10), the course program changes to the following status.

Assuming that "Go to line immediately" has been selected for NEXT1/2, the NEXT1/2 inputs will already be polled in the active positioning process. It is furthermore assumed that the NEXT1/2 signal will become active before positioning has been completed. The inputs will be evaluated and the program will jump to the corresponding course program line (Next line 1 or 2, depending on whether NEXT1 or NEXT2 has been active first) and process it.

Fig. 10 Time chart − branch (line)

 Program step 10  Program step 11  Program step X/Y

0 Positioning 1 Target reached 2 NEXT1/2 edge found 3 DOUT1/2=HIGH/LOW 4 DOUT1/2=Target reached/remaining path 5 Course program activities

Approach position (program step 10)

DOUT1/2=HIGH/LOW program step 10

DOUT1/2=HIGH/LOW program step 11

Target reached/remaining path (positioning program step PS 10)

Approach new position

Evaluate NEXT1/2

Calculate new jump destination

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NEXT1=HIGH NEXT1=LOW

Course program

Type of command − Level test

5.5.11 Type of command − Level test

Depending on the level of NEXT1, the program will continue execution in different lines.

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Fig. 11 Course program − level test

0 Line N 1 Line X 2 Line Y 3 Neither NEXT1 nor NEXT2

If the digital signal NEXT1 = HIGH, program execution will continue in line X. If the digital signal NEXT1 = LOW, program execution will continue in line Y.

931E_115

For an unconditional program jump (e.g. for never−ending loops), select the same jump target for NEXT1=HIGH and NEXT1=LOW.

In Fig. 12, the level of NEXT1/2 is checked at the beginning of program step 11. Depending on the result, the line of the next course program command will be determined.

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Course program Type of command − Level test

Fig. 12 Time chart − level test

 Program step 10  Program step 11  Program step 12

0 DOUT1/2=HIGH/LOW 1 DOUT1/2=Target reached/remaining path 2 Course program activities

DOUT1/2=HIGH/LOW program step 10

DOUT1/2=HIGH/LOW program step 11

DOUT1/2=HIGH/LOW program step 12

Target reached/remaining path (positioning program step 10)

Evaluate level of NEXT1/2

Calculate new jump destination/new positioning

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Course program

Type of command − End of Program

5.5.12 Type of command − End of Program

The current positioning process will be completed, then the program will be closed. No digital outputs will be set/reset. No other positioning process will be started.

If Evaluate stop signal is activated, the current positioning process can be interrupted.

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Course program Setting the controller enable logic

5.5.13 Setting the controller enable logic

Select Parameters W Device parameters W Controller enable logic to open the menu for setting the controller enable logic.

The menu can also be selected via the Commands window. For selecting the menu, click the button in the Controller enable field.

Using the combo box, you can select the following options:

ƒ via digital input (DIN9):

Controller enable via digital input DIN9

ƒ via DIN9 and serial interface:

For controller enable, DIN9 must be set and a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

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ƒ via DIN9 and fieldbus: CAN bus, Profibus, EtherCAT:

For controller enable, DIN9 must be set and an enable command must be activated via the fieldbus.

ƒ via serial interface:

For controller enable, a corresponding serial command must be activated, e.g. by checking the Controller enable field in the Commands window.

ƒ via fieldbus: CAN bus, Profibus, EtherCAT (931K)

For controller enable, an enable command must be activated via the fieldbus.

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Course program

Debugging the course program

5.5.14 Debugging the course program

If you change to debug mode, additional status information will be displayed in the course program window:

ƒ Course program active: Will be on when the course program is active or being

processed.

ƒ Course program stop: Will be on when the course program has been stopped by the

stop signal.

ƒ NEXT1 / NEXT2: Indicates the current status of the digital inputs for NEXT1 & 2.

ƒ DOUT1 / DOUT2: Indicates the current status of the digital outputs DOUT1 & 2.

ƒ Line: Indicates the line currently processed by the course program. In the table, the

line will be highlighted in blue.

ƒ Position: Indicates the last−approached position set.

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Pos 1 Pos 2 Pos 3 Pos 18

Start

Stop

Commissioning

Course program Application examples

5.5.15 Application examples

The following examples will give you an idea of the flexible solutions provided by the course program.

Linear linkage of positions

Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at every position. Then, the course program shall stop.

Fig. 13 Linear linkage of positions

Implementation:

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Implementation:

ƒ The start delay for positions 1, 2, 3 and 18 must be parameterised when the target

positions are programmed.

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Pos 1 Pos 2 Pos 3 Pos 18

Start

Stop

Course program

Application examples

Linear linkage of positions with digital output setting

Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at every position. Then, the course program shall stop.

When position 3 is reached, the digital output DOUT1 shall be set to HIGH for one second.

931E_119

Fig. 14 Linear linkage of positions with digital output setting

Implementation:

ƒ Positions 1, 2, 3 and 18 are parameterised with a start delay of 1 second.

ƒ The setting "Target reached" for DOUT1 must stand in line 3 because the setting

"On" or "Off" will be accepted immediately and the signal will thus not be active for one second. When position 18 is approached, DOUT1 will be deleted.

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Pos 16

Start

Commissioning

Course program Application examples

Setting and querying of digital inputs and outputs; never−ending loop

Set DOUT1 for one second to HIGH. Then wait until NEXT1 will be active.

When NEXT1 is active, position 16 will be constantly approached (3 seconds start delay).

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Fig. 15 Setting and querying of digital inputs and outputs

0 Query of NEXT1

Implementation:

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Implementation:

ƒ The following trick is used for a defined setting of DOUT1: Position 0 is set to 0

revolutions relative with a start delay of 1 second. First, position 0 will be "approached" and DOUT1 set to HIGH. Then, the program will jump to line 2.

ƒ For a never−ending loop, the program will jump from line 4 to table line 3.

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Extending the function of the digital inputs by Jogging & Teaching (only 931K)

Application examples

5.6 Extending the function of the digital inputs by Jogging & Teaching (only 931K)

If the Jogging & Teaching option is activated in the Commands window, the extended function of the digital inputs can be used.

This function is used to approach and program any desired target position via the digital inputs. The programming procedure will be described in the following sections.

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In addition, it is possible to start a homing run via a digital input or to cancel a homing run and stop the drive via another digital input without switching off the power stage.

When the extended function is active, the digital inputs that are usually used for starting and selecting position sets will be used as follows:

DIN Function Explanation

DIN 0 Spec. / posi High = activation of the extended configuration.

Low = normal positioning mode with destination selection via DIN1, DIN2, DIN3 and position group selection via DIN4 and DIN5 (only even position numbers are possible).

DIN 1 # STOP (low active) Low = a running positioning run will be cancelled.

# STOP has a higher priority than TIP POS, TIP NEG and Start homing. The deceleration ramp used for this is set in the Safety parameters

window. DIN 2 − −

DIN 3 TEACH High = activation of the Teach function

DIN 4 JOG (neg) High = positioning in negative direction with the Jog & Teach

traversing parameters.

DIN 5 JOG (pos) High = positioning in positive direction with the Jog & Teach

traversing parameters.

DIN 6 Start positioning / homing Rising edge:

If DIN 0 = low: start positioning

If DIN 0 = high: start homing

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Extending the function of the digital inputs by Jogging & Teaching (only 931K) Teaching positions

5.6.1 Teaching positions

The procedure described below can be used to approach (jog) positions and to save them (teach) in the up to 64 position sets of the controller via the digital inputs:

The controller must be enabled during the teaching process.

1. Activate the Jog & Teach mode via the Commands window with DIN 0

2. Approach the desired target position with DIN 4 / DIN 5.

3. Set DIN 3 to HIGH to activate the Teach function (step 1). This deactivates the "Start homing" function of digital input DIN 6 and activates the

Teach function.

4. Set DIN 6 to HIGH to activate the Teach function (step 2).

5. Use the digital inputs DIN 0 to DIN 5 to select the position set in which the current actual position is to be saved.

6. With the falling edge at DIN 6, the current actual position is taken over into the selected position set.

7. The digital inputs will now be ignored for a set time before they will be available again. This time is set in the Destination parameters window in the Jog & Teach position set.

) Note!

The position(s) that is/are written into the position set(s) via the Teach function is/are not automatically saved in the position set(s).

Use the Save Parameters button to save them permanently.

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Commissioning

Extending the function of the digital inputs by Jogging & Teaching (only 931K)

Teaching positions

DIN 6

DIN 5

DIN 4

DIN 3

DIN 2

DIN 1

DIN 0

Ref /Teach

Jog up

Jog down

Teach

free

#Stop

activate special assignment

Fig. 16 Time sequence for teaching a target position

= t

setup

= t

min

= t

teach

= t

set pos

= t

hold

= t

ignore

2. 3.

³ 1.6 ms ³ 1.6 ms ³ 1.6 ms ³ 5.0 ms ³ 1.6 ms ³ 200.0 ms (parameterisable)

} Danger!

Drive may restart

After the time t had before the Teach mode. This may lead to an unintentional restart of the drive.

Possible consequences:

ƒ Death or severe injuries.

Protective measures:

ƒ Check the functionality of the digital inputs.

, the digital inputs will re−assume the functionality they

ignore

4. / 5.

6. / 7.

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Commissioning

Incremental encoder emulation via DOUT1 and DOUT2 Teaching positions

5.7 Incremental encoder emulation via DOUT1 and DOUT2

) Note!

An activated incremental encoder emulation requires the digital outputs DOUT1 and DOUT2. Since these outputs are connected to the digital inputs DIN2 and DIN3, the inputs cannot be used when the incremental encoder emulation is active.

Exception: 931KxK: extra−low voltage devices can only be used as master (digital frequency output), but not as slave (digital frequency input).

For complex control tasks, two servo positioning controllers can be synchronised by coupling them in a master/slave configuration via incremental encoder signals. At present, the 931KxK servo positioning controller can only act as master. The master transmits the position information in the form of incremental encoder track signals via the outputs DOUT1 (track signal A) and DOUT2 (track signal B) to the slave which reads the information via the corresponding incremental encoder input.

Master

X1 out

Input

Slave

Fig. 17 Configuration for master/slave operation

The master operates in one of the operating modes described before (speed control, positioning), while the slave is in synchronised mode.

The following applications are possible with this configuration:

ƒ Speed−synchronous traversing ƒ Position−synchronous traversing

The classical servo applications, speed control in the servo controller and position control in the control system, also require an actual position feedback from the servo controller to the control system. This is also done by using the incremental encoder emulation of the servo positioning controller.

In both cases, the servo inverter as the master emulates the track signals of the incremental encoder defined by the parameters in the menu Operating mode / Incremental encoder emulation.

Here you can also deactivate the incremental encoder emulation to use the digital inputs DIN2 & 3 or the digital outputs DOUT1 & 2 for other functions.

In the Incremental encoder emulation / Incremental input dialog box you can select the following settings:

931e_501

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Incremental encoder emulation via DOUT1 and DOUT2

Teaching positions

ƒ Number of increments: You can select 32, 64, 128, 256, 512 or 1024 as number

of increments for the emulation.

ƒ Suppress zero pulse: If the checkbox is activated, no zero pulse will be output. ƒ Reversal of rotation direction: If the checkbox is activated, the direction of rotation

of the incremental encoder emulation will be inverted.

ƒ Offset angle: Here you can set an offset between the zero position of the encoder

of the servo positioning controller and the emulated zero pulse.

) Note!

The outputs DOUT1 and DOUT2 supply signals with a 24 V level, so−called HTL signals. Older and low−cost control systems can directly process these signals.

To enable the transmission of high speeds with a high resolution, DOUT1 and DOUT2 should be equipped with a resistor of 1 kW against 0 V.

Please contact your Lenze representative if your control system cannot process HTL signals but only RS422−compatible track signals.

In many cases, the 931K servo positioning controller can also be connected to these inputs if they are equipped with additional resistors.

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Homing6

6 Homing

In most applications in which the 931E/K servo positioning controller is used in positioning mode, a zero position must be defined to which the position controller can refer. This position is called homing position and must be defined every time the controller is switched on. The homing position is defined in the so−called homing run. You can select between different homing modes.

) Note!

An exception are absolute value encoders (e.g. sin/cos encoders with multi−turn functionality). For these encoders, the home position only has to be defined once during commissioning.

Homing mode

There are 4 possible destinations for the homing run:

ƒ Homing to the negative or positive limit switch with or without the zero pulse of the

angle encoder.

ƒ Homing (without additional signal) to the negative or positive limit stop.

ƒ Homing to the zero pulse of the angle encoder.

ƒ No run.

Homing is started by setting controller enable or via the fieldbus. When homing has been completed successfully, a status bit will be set in the device. The status can be evaluated via the fieldbus or via a digital output.

The different homing modes will be described on the next pages. The circled numbers in the figures correspond to the home positions of the corresponding homing modes. The numbers correspond to the homing mode numbering specified in the CANopen DSP402.

For information about the activation of the homing modes and the selection of the corresponding parameters, please see the chapter "Parameterising the homing run". (¶ 103)

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Homing 6

Mode 1: Negative limit switch with zero pulse evaluation

With this mode, the drive traverses at search speed in negative direction until reaching the negative limit switch. In Fig. 18, this is indicated by the rising edge (movement from CW to CCW direction). Then the drive traverses back at crawl speed and searches for the exact position of the limit switch. The zero position refers to the first zero pulse of the angle encoder in positive direction from the limit switch.

931E_102

Fig. 18 Homing to the negative limit switch with zero pulse evaluation

0 Zero pulse 1 Negative limit switch

Mode 2: Positive limit switch with zero pulse evaluation

With this mode, the drive traverses at search speed in positive direction until reaching the positive limit switch. In Fig. 19, this is indicated by the rising edge. Then the drive traverses back at crawl speed and searches for the exact position of the limit switch. The zero position refers to the first zero pulse of the angle encoder in negative direction from the limit switch.

931E_103

Fig. 19 Homing to the positive limit switch with zero pulse evaluation

0 Zero pulse 1 Positive limit switch

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Homing6

) Note!

With homing modes 1 and 2, ensure that the zero mark or the index pulse of the encoder will not coincide with the switching edge of the limit switch or be near the switching edge, because this may lead to a home position shift by one motor revolution.

Mode 17: Homing to the negative limit switch

With this mode, the drive traverses at search speed in negative direction until reaching the negative limit switch. In Fig. 20, this is indicated by the rising edge. Then the drive traverses back at crawl speed and searches for the exact position of the limit switch. The zero position refers to the falling edge of the negative limit switch.

931E_104

Fig. 20 Homing to the negative limit switch

0 Negative limit switch

Mode 18: Homing to the positive limit switch

With this mode, the drive traverses at search speed in positive direction until reaching the positive limit switch. In Fig. 21, this is indicated by the rising edge. Then the drive traverses back at crawl speed and searches for the exact position of the limit switch. The zero position refers to the falling edge of the positive limit switch.

100

Fig. 21 Homing to the positive limit switch

0 Positive limit switch

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Lenze 931EK User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Document history

Contents i

1 Preface and general information

1.1 About this Manual

1.2 Terminology used

1.3 Notes used

2 Safety instructions

3 Installation

3.1 Validity information

3.2 System requirements

3.3 Software installation

4 User interface

4.1 Building up serial communication

4.2 Starting SDC / user interface

4.2.1 Standard buttons

4.2.2 Numerical input fields

4.2.3 Control elements

4.2.4 Display of setpoints and actual values

4.2.5 Standard control windows

4.2.6 Directories

4.2.7 Communication via communication objects

4.2.8 Exiting the program

5 Commissioning

5.1 Important notes

5.1.1 Default parameter set (931E)

5.1.2 Default parameter set (931K)

5.2 Speed control

5.2.1 Functions available

5.2.2 Commissioning steps

5.2.3 Selecting a motor from the motor database (only 931E)

5.2.4 Activating the operating mode

5.2.5 Input configuration

5.2.6 Setpoint selection via setpoint selectors

5.2.7 Optimising the speed controller

5.2.8 Setting the controller enable logic

5.2.9 Making the controller ready for operation

5.3 Torque control

5.3.1 Functions available

5.3.2 Commissioning steps

5.3.3 Selecting a motor from the motor database (only 931E)

5.3.4 Activating the operating mode

5.3.5 Input configuration

5.3.6 Setpoint selection via setpoint selectors

5.3.7 Setting the controller enable logic

5.3.8 Making the controller ready for operation

5.4 Positioning mode

5.4.1 Functions available

5.4.2 Commissioning steps

5.4.3 Selecting a motor from the motor database (only 931E)

5.4.4 Activating the operating mode

5.4.5 Input configuration

5.4.6 Global positioning settings

5.4.7 Target parameterisation

5.4.8 Setting the controller enable logic

5.4.9 Approaching targets

5.4.10 Setting digital outputs

5.5 Course program

5.5.1 Functions available

5.5.2 Commissioning steps

5.5.3 Selecting a motor from the motor database (only 931E)

5.5.4 Activating the operating mode

5.5.5 Input configuration

5.5.6 Global positioning settings

5.5.7 Target parameterisation

5.5.8 Creating the course programs

5.5.13 Setting the controller enable logic

5.5.14 Debugging the course program

5.5.15 Application examples

5.6 Extending the function of the digital inputs by Jogging & Teaching (only 931K)

5.6.1 Teaching positions

5.7 Incremental encoder emulation via DOUT1 and DOUT2

6 Homing