Lenze 931EK User Manual

SW−HB 13.0002−EN

.CN3

Ä.CN3ä

Software Manual

Servo Drives 930

931E/K

Small Drives Control

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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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

SW−HB 13.0002−EN 4.1

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!

SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

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

SW−HB 13.0002−EN 4.1

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

SW−HB 13.0002−EN 4.1

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!

SW−HB 13.0002−EN 4.1

l 19

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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SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

l 21

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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SW−HB 13.0002−EN 4.1

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

SW−HB 13.0002−EN 4.1

l 23

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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SW−HB 13.0002−EN 4.1

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

SW−HB 13.0002−EN 4.1

l 25

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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SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

l 27

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.

l 28

SW−HB 13.0002−EN 4.1

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.

SW−HB 13.0002−EN 4.1

l 29

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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SW−HB 13.0002−EN 4.1

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