Lenze 9400 User Manual
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E94AxHExxxx
Servo Drives 9400 HighLine_ _ _ _ _ _ _ _ _ _ _
Reference manual
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Ä.MvGä
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Overview of technical documentation for Servo Drives 9400
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Project planning, selection & order Legend:
Hardware manual 9400 Printed documentation
Catalogue / electronic catalogue (DSC - Drive Solution Catalogue) Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
MA - 9400 StateLine/HighLine BA Operating instructions
MA - communication module KHB Communication manual
MA - extension module MA Mounting instructions
MA - safety module SW Software Manual
MA - accessories
MA - remote maintenance components
Parameter setting
BA - keypad
SW - Lenze software »Engineer«
SW - controller (9400 StateLine/HighLine/PLC) This documentation
SW - regenerative power supply module
KHB - communication module
SW - extension module
SW - safety module
SW - Lenze technology application
SW - function library 9400
Configuring & programming
SW - Lenze software »Engineer«
SW - Lenze software »PLC Designer«
SW - controller (9400 HighLine/PLC) This documentation
KHB - communication module
SW - extension module
SW - safety module
SW - Lenze technology application
SW - function library 9400
Drive commissioning
Commissioning guide
SW - controller (9400 StateLine/HighLine/PLC) This documentation
Chapter "Commissioning
Chapter "Oscilloscope
Chapter "Diagnostics & fault analysis
Remote maintenance manual
Networking structure
KHB - communication medium used
" ( 22)
" ( 579)
" ( 598)
2 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
Contents
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
1.3 Definition of notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
2Introduction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
2.1 Parameter setting, configuring, or programming? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
2.1.1 Basic functionalities _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
2.1.2 Technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
2.2 Communicating with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2.2.1 Going online via diagnostic adapter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2.2.2 Going online via system bus (CAN on board) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.2.3 Use of other communication interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.3 Signal types & scaling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
3 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
3.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.2 Notes on commissioning using the keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
3.3 Initial commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.4 Standard set-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
3.5 Controller replacement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.6 Motor replacement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4 Drive interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.1 Machine parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.1.1 Mains voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.1.2 Gearbox ratio _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.1.3 Motor mounting direction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
4.1.4 Feedback configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
4.1.5 Unit/user-defined unit _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
4.1.6 Traversing range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
4.1.7 Feed constant _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
4.1.8 Resolution of an encoder revolution _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
4.1.9 Max. position, speed, and acceleration that can be displayed internally _ _ _ _ _ _ _ _ _ _ 40
4.2 Device commands _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
4.2.1 Load Lenze setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
4.2.2 Load start parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
4.2.3 ENP:Load plant data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46
4.2.4 Activate application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
4.2.5 Save selected application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
4.2.6 Save start parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
4.2.7 Delete logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
4.2.8 Archive logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
4.2.9 Start application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
4.2.10 Stop application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
4.2.11 Reset program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
4.2.12 Delete program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56
4.2.13 Restart program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
4.2.14 Reset runtime measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 58
4.2.15 Inhibit controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60
4.2.16 Enable controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61
4.2.17 Reset error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 62
4.2.18 Activate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63
4.2.19 Reset quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 3
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2.20 Identify pole position (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65
4.2.21 Identify pole position (min. motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
4.2.22 Resolver error identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
4.2.23 Load Lenze INV characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
4.2.24 Calculate inv. characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
4.2.25 Determine motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 71
4.2.26 Calculate current controller parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72
4.2.27 Calculate speed controller parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
4.2.28 CAN on board: Reset Node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75
4.2.29 CAN module: Reset node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76
4.2.30 CAN on board: Pred.Connect.Set _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77
4.2.31 CAN module: Pred.Connect.Set _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
4.2.32 CAN on board: Identify node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
4.2.33 CAN module: Identify node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
4.2.34 Unbind/bind Ethernet module MXI1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81
4.2.35 Unbind/bind Ethernet module MXI2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
4.2.36 Activate parameter set 1 ... 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
4.2.37 Activate parameter set 1 ... 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
4.2.38 Load cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
4.2.39 Save cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89
4.2.40 Calculate cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91
4.2.41 Calculate cam data checksum _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
4.2.42 Format file system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
4.2.43 Restore file system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
4.2.44 Prepare firmware update _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
4.2.45 Restart controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
4.3 Device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
4.3.1 "Initialisation active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99
4.3.2 "Safe torque off active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
4.3.3 "Device is ready to switch on" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
4.3.4 "Device is switched on" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
4.3.5 "Operation" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
4.3.6 "Warning active" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
4.3.7 "Warning locked active" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
4.3.8 "Quick stop by trouble active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
4.3.9 "Trouble active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
4.3.10 "Fault active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
4.3.11 "System fault active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
4.4 Automatic restart after mains connection/trouble... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104
4.5 Behaviour after task overflow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
4.6 Device output power _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
4.6.1 Switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
4.6.2 Monitoring of the device utilisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
4.6.3 Operation with increased continuous power _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
4.7 Internal interfaces | "LS_DriveInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
4.7.1 Status signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 113
4.7.2 Monitoring of external events _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
4 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5Motor interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.1.1 Reading out motor data from the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.1.2 Selecting a motor from the motor catalogue in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118
5.1.3 Displaying/editing motor data in »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 119
5.2 Select motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121
5.3 Adjusting motor and controller to each other _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
5.3.1 Accepting/adapting plant parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.3.2 Parameterising motor encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 126
5.3.3 Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 128
5.3.4 Optimising the switching performance of the inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
5.3.5 Determining the motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
5.4 Servo control (SC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.4.1 Optimising the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143
5.4.2 Signal flow (servo control for synchronous motor) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159
5.4.3 Signal flow (servo control for asynchronous motor) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 161
5.5 Sensorless vector control (SLVC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
5.5.1 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164
5.5.2 Optimising motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
5.5.3 Optimising the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172
5.5.4 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 180
5.6 V/f control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181
5.6.1 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181
5.6.2 Optimising the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 188
5.6.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 196
5.7 V/f control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 197
5.7.1 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 198
5.8 Parameterisable additional functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 200
5.8.1 Correction of the stator leakage inductance... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 201
5.8.2 Field weakening for synchronous machines _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 206
5.8.3 Flying restart function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 209
5.8.4 DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 212
5.9 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214
5.9.1 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214
5.9.2 Motor monitoring (I
5.9.3 Motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 222
5.9.4 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 226
5.9.5 Maximum current monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 230
5.10 Internal interfaces | "LS_MotorInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 231
2
xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 215
6 Encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 236
6.1 Internal interfaces | "LS_Feedback" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 237
6.1.1 Use of an external position encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239
6.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 240
6.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 241
6.3.1 Controller configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 243
6.3.2 System with motor encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
6.3.3 System with motor encoder and position encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
6.3.4 Position feedback with a linear distance measuring device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
6.3.5 Adaptation of the resolver evaluation dynamics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 250
6.3.6 Parameterisation of an unknown Hiperface® encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251
6.3.7 Parameterisation of a Hiperface® encoder with increased initialisation time _ _ _ _ _ _ _ 251
6.3.8 Use of an SSI encoder at X8 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 252
6.3.9 Rotative encoder with SSI protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 258
6.3.10 Provision of the encoder signal of input X8 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 260
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 5
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
6.3.11 Resolver error compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 263
6.3.12 Encoder angular drift monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 264
7 Braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 266
7.1 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 267
7.1.1 Setting the voltage threshold for braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 267
7.2 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 268
7.2.1 Overcurrent protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 268
7.2.2 Ixt utilisation - brake transistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 269
7.2.3 I2t utilisation - brake resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 270
7.2.4 DC bus overvoltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
8I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
8.1 Overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
8.2 Analog inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 274
8.2.1 Terminal assignment/electrical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 274
8.2.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 275
8.2.3 Reconfiguring analog input 1 into current input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 275
8.2.4 "LS_AnalogInput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 276
8.3 Analog outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 277
8.3.1 Terminal assignment/electrical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 277
8.3.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 278
8.3.3 "LS_AnalogOutput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 278
8.4 Digital inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
8.4.1 Terminal assignment/electrical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
8.4.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
8.4.3 "LS_DigitalInput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 280
8.5 Digital outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281
8.5.1 Terminal assignment/electrical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281
8.5.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281
8.5.3 "LS_DigitalOutput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 282
8.6 "State bus" monitoring function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283
8.6.1 Detecting the current state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
8.6.2 Setting the state bus to the "Error" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
8.7 Touch probe detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 285
8.7.1 Actual value interpolation (principle) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286
8.7.2 Dead time compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 287
8.7.3 "LS_TouchProbe1...8" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 288
8.7.4 "LS_TouchProbeMotor" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289
8.7.5 "LS_TouchProbeLoad" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289
8.8 Configure exception handling of the outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 290
6 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9 "CAN on board" system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 292
9.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 293
9.1.1 General data and application conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 294
9.1.2 Supported protocols _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 294
9.1.3 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 295
9.2 Possible settings by DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 296
9.2.1 Setting the node address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 296
9.2.2 Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 297
9.3 LED status displays for the system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 298
9.4 Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
9.4.1 Identifier _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
9.4.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 301
9.5 Communication phases/network management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 302
9.5.1 State transitions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 303
9.5.2 Network management telegram (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 304
9.5.3 Parameterising the controller as CAN master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 305
9.6 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 306
9.6.1 Identifiers of the process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 307
9.6.2 Transmission type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 308
9.6.3 Masking of the TPDOs for event control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
9.6.4 Monitoring of the RPDOs for data reception _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
9.6.5 Synchronisation of PDOs via sync telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310
9.7 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 315
9.7.1 Identifiers of the parameter data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
9.7.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
9.7.3 Parameter data telegram examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 322
9.8 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 327
9.9 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 328
9.9.1 Node guarding protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 328
9.9.2 Heartbeat protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 334
9.9.3 Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 338
9.10 Implemented CANopen objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 339
9.11 System block "LS_SyncInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 364
9.11.1 Behaviour of the status signal bSyncInsideWindow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 365
10 Safety engineering _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 366
10.1 Integration into the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 367
10.2 Selecting the required safety module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
10.3 System block "LS_SafetyModuleInterface" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
10.3.1 Status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 369
10.3.2 I/O status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 370
10.3.3 Control information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 370
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 7
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
11 Basic drive functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 372
11.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 373
11.1.1 Internal state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 373
11.1.2 Function states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 375
11.1.3 Interrupting/replacing states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 377
11.1.4 Priorities _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 378
11.1.5 Requesting control via a basic function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 379
11.1.6 Start acceleration/acceleration reduction when the basic function changes _ _ _ _ _ _ _ 380
11.1.7 Setting the S-ramp time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 382
11.2 Stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 384
11.2.1 Internal interfaces | "LS_Stop" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 385
11.2.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 386
11.2.3 Behaviour of the function (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 387
11.3 Quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 388
11.3.1 Internal interfaces | "LS_Quickstop" system block" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 388
11.3.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 389
11.3.3 Activate/deactivate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 391
11.3.4 DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 392
11.4 Manual jog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 395
11.4.1 Internal interfaces | "LS_ManualJog" system block" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 396
11.4.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 399
11.4.3 Executing manual jogging _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 401
11.5 Manual job, encoderless _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 407
11.5.1 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 408
11.5.2 Carrying out encoderless manual jogging _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 409
11.5.3 Internal interfaces | "LS_ManualJogOpenLoop" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 414
11.6 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 416
11.6.1 Internal interfaces | "LS_Homing" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 418
11.6.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 420
11.6.3 Overview of the Lenze homing modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 427
11.6.4 Overview of DS402 homing modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440
11.6.5 Execute homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 471
11.7 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 474
11.7.1 Internal interfaces | "LS_Positioner" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 475
11.7.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 480
11.7.3 Carrying out positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 482
11.8 Position follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 485
11.8.1 Internal interfaces | "LS_PositionFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 486
11.8.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 487
11.8.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 489
11.8.4 Activating setpoint interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 491
11.9 Speed follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 492
11.9.1 Internal interfaces | "LS_SpeedFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 492
11.9.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 494
11.9.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 495
11.9.4 Activating setpoint interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 496
11.10 Torque follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 497
11.10.1 Internal interfaces | "LS_TorqueFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 498
11.10.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 499
11.10.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 500
11.10.4 Activating setpoint interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 501
11.11 Limiter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 502
11.11.1 Internal interfaces | "LS_Limiter" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 502
11.11.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 507
8 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
11.12 Brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 517
11.12.1 Internal interfaces | "LS_Brake" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 519
11.12.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 521
11.12.3 Mode 0: Brake control is switched off _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 537
11.12.4 Mode 1/11: Direct control of the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 538
11.12.5 Mode 2/12: Automatic control of the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 539
11.12.6 Mode 22: Automatic DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 544
11.12.7 Grinding the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 547
11.12.8 Carrying out brake test _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 549
11.12.9 Control of two motor holding brakes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 551
11.13 Cam data management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 552
11.13.1 "Online" tab for cam data management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 553
11.13.2 Internal interfaces | "LS_CamInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 558
11.13.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 560
11.13.4 Product/track change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 567
11.13.5 Invalid cam data due to changed machine parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 568
11.13.6 Behaviour after mains switching _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 569
11.14 Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 570
11.14.1 Internal interfaces | System block "LS_PolePositionIdentification" _ _ _ _ _ _ _ _ _ _ _ _ _ 571
11.14.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 573
11.14.3 Execute pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 573
11.14.4 Signal characteristics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 575
11.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable _ _ _ _ _ _ _ _ _ 577
12 Oscilloscope _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
12.1 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
12.2 Functional description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 580
12.3 User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 581
12.4 Operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 582
12.4.1 Selecting the variables to be recorded _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 582
12.4.2 Selecting the recording time/sample rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 584
12.4.3 Selecting the trigger condition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 585
12.4.4 Starting recording _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 586
12.4.5 Adjusting the representation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 587
12.4.6 Cursor function: Reading individual measured values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 589
12.5 Managing oscillograms (measured data records) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 590
12.5.1 Commenting the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 590
12.5.2 Saving the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 591
12.5.3 Loading an oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 592
12.5.4 Closing an oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
12.5.5 Overlay function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
12.5.6 Deleting a data record saved in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 594
12.6 Variables of the motor control (oscilloscope signals) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 595
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 9
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
13 Diagnostics & fault analysis _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 598
13.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 598
13.1.1 LED status displays for the device state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 599
13.2 Drive diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 600
13.3 Drive diagnostics via keypad/bus system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 601
13.4 Logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 603
13.4.1 Functional description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 604
13.4.2 Filtering logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 604
13.4.3 Reading out logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 605
13.4.4 Export logbook entries to a file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 606
13.5 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 607
13.5.1 Setting the error response _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 608
13.6 Maloperation of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 609
13.7 Error messages of the operating system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 610
13.7.1 Structure of the error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 610
13.7.2 Reset error message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 614
13.7.3 Short overview (A-Z) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 615
13.7.4 Cause & possible remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 623
14 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 713
14.1 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 714
14.1.1 Data type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 714
14.1.2 Parameters with read-only access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 715
14.1.3 Parameters with write access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 715
14.1.4 Parameter attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 719
14.1.5 Abbreviations used in parameter & selection texts _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 719
14.2 Parameter list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 720
14.3 Attribute table _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 913
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 927
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 952
10 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
1 About this documentation
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
Danger!
The controller is a source of danger which may cause death or serious personal injury.
In order to ensure protection against this danger, observe the safety instructions before
switching on the controller.
Please read the safety instructions in the mounting instructions and hardware manual
of the Servo-Inverter 9400 HighLine. Both instructions are included in the scope of
supply.
Target group
This documentation addresses to all persons who want to parameterise, configure, and diagnose
the 9400 HighLine controller by means of the engineering software L-force »Engineer« and the
keypad.
Validity
The information in this documentation are valid for the following standard devices:
Product series Type designation from software version
9400 Servo Drives E94AxHExxxx 1.5
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the 9400 HighLine and the software version of the engineering tools installed
(»Engineer« or » Easy Starter«), the screenshots in this documentation may deviate from the screen
representation.
Document history
Version Description
10.0 11/2013 TD05 Error corrections; parameter reference V12.00.xx
9.0 12/2012 TD06 Extended by new functions for 9400 HighLine V11
8.0 12/2011 TD06 Extended by new functions for 9400 HighLine V10
7.1 10/2010 TD06 Error corrections & supplements
7.0 04/2010 TD06 Extended by new functions for 9400 HighLine V8
6.1 08/2009 TD05 Error corrections & supplements
6.0 08/2009 TD05 Extended by new functions for 9400 HighLine V7
5.2 01/2009 TD05 Error corrections & supplements
5.1 12/2008 TD05 Error corrections
5.0 11/2008 TD05 Extended by new functions for 9400 HighLine V5
4.1 07/2008 TD05 New main chapter: "CAN on board" system bus
4.0 06/2008 TD05 Supplemented with new functions for 9400 HighLine V4
3.0 11/2007 TD05 Supplemented with new functions for 9400 HighLine V3
2.0 05/2007 TD05 Extended edition
1.0 12/2006 TD05 First edition for 9400 HighLine V1.5
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 11
1 About this documentation
1.1 Conventions used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.1 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Writing Examples/notes
Spelling of numbers
Decimal separators Point The decimal point is generally used.
For example: 1234.56
Text
Version information Blue text colour Information that is only valid for or from a certain software
Program name » « The Lenze PC software »PLC Designer«...
Window italics The Message window ... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element bold The OK button... / The Copy command... / The Properties
Sequence of menu
commands
Shortcut <bold> Press <F1> to open the online help.
Program code Courier
Keyword Courier bold
version of the controller is marked accordingly in this
manual.
Example: This function extension is available from software
version V3.0!
tab... / The Name input field...
If the execution of a function requires several commands,
the individual commands are separated by an arrow: Select
Open to...
File
If a command requires a combination of keys, a "+" is placed
between the key symbols: Use <Shift>+<ESC> to...
IF var1 < var2 THEN
a = a + 1
END IF
Hyperlink Underlined
Icons
Page reference ( 12) Optically highlighted reference to another page. In this
Step-by-step instructions
Optically highlighted reference to another topic. In this
documentation activated by mouse-click.
documentation activated by mouse-click.
Step-by-step instructions are indicated by a pictograph.
12
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
1 About this documentation
1.2 Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.2 Terminology used
Term Meaning
Engineering tools Software solutions for easy engineering in all project stages
»EASY Navigator« – provides a good guide to the user
• All convenient Lenze engineering tools at a glance
• Tools can be selected quickly
• The clear structure simplifies the engineering process from the start
»EASY Starter« – easy-to-use tool for service technicians
• Specially designed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with just a few buttons
• Easy online diagnostics, parameterisation, and commissioning
• No risk of an unintended change in applications
• Loading of ready-to-use applications to the device
»Engineer« – multi-device engineering
• For all products in our L-force portfolio
• Practical user interface
• Graphic interfaces make it easy to navigate
• Can be applied in every phase of a project (project planning,
commissioning, production)
• Parameter setting and configuration
L-force Controller The L-force controller is the central component of the automation system which (by
means of the runtime software) controls the Logic and Motion functionalities.
The L-force Controller uses the fieldbus to communicate with the field devices.
Engineering PC The Engineering PC and the engineering tools installed on it serve to configure and
parameterise the system.
The Engineering PC uses Ethernet to communicate with the L-force Controller.
Code "Container" for one or several parameters used for controller parameter setting or
monitoring.
Subcode If a code contains several parameters, the individual parameters are stored under
"subcodes".
This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
Function block editor Graphical interconnection tool which is provided for controllers in the MotionControl
HighLevel and TopLevel license level in the »Engineer« on the FB editor tab and by means
of which the technology applications supplied can also be reconfigured and extended by
individual functions.
Function block A function block (FB) can be compared with an integrated circuit that contains a specific
control logic and delivers one or several values when being executed.
• A n in stan ce ( repro ducti on, co py) of the f unc tion b lock i s alw ays inser ted in the ci rcuit .
• It is also possible to insert several instances of a function block in a circuit.
• Each instance has an unequivocal identifier (the instance name) and a processing
number which defines the position at which the function block is calculated during
the task cycle.
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 13
1 About this documentation
1.3 Definition of notes used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.3 Definition of notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Danger! Danger of personal injury through a general source of danger
Stop! Danger of property damage
Application notes
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Tip! Useful tip for simple handling
Reference to other documentation
14
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
2Introduction
2.1 Parameter setting, configuring, or programming?
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2 Introduction
The basis of every L-force application is an easy and quick parameter setting of prepared technology
applications and solutions*.
This chapter contains basic information on the runtime software model of L-force and on how you
can establish an online connection between the PC and controller for parameter setting with
»Engineer« very easily.
At the end of this chapter you will find an overview of the different signal types & scaling which
serve to process physical values (e.g. a speed or position) within the application.
* In preparation!
2.1 Parameter setting, configuring, or programming?
The graded runtime software model of L-force provides a simple and consistent solution for motion
and process tasks as well as for complex machine functions:
Runtime software
PLC level Programming*
Freely programmable open and closed
loop control functions*
Technology level Configuring
Motion Control TopLevel
Additional motion and process control
modes for complex drive tasks.
Motion Control HighLevel
Individual extensibility of the basic
functions & technology applications by
means of the function block editor and
the comprehensive function library.
Motion Control StateLevel
Parameterisable basic functions &
technology applications.
The HighLevel and TopLevel licenses enable you to
extend the provided technology applications by
individual functions using the graphic function block
editor of »Engineer«. Here you can access the
comprehensive function libraries of Lenze which
among other things contain process controllers,
arithmetic functions, logic blocks, and ramp
generators and integrators.
Parameter setting
The StateLevel license includes a range of technology
applications which can be put into operation easily
with a keypad or via dialogs in »Engineer«.
* In preparation!
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 15
2Introduction
2.1 Parameter setting, configuring, or programming?
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.1.1 Basic functionalities
Important basic drive functions and further basic functions are implemented in the firmware of the
controller and thus are always provided, irrespective of the runtime software licence available.
Firmware
Motion Control basic drive functions Further basic functionalities
• Stop
• Quick stop
• Manual jog
• Homing
• Positioning
• Position follower
• Speed follower
• Torque follower
• Limiter
• Brake control
• Drive interface
• Motor interface
• Encoder evaluation
• I/O terminals
• Safety engineering
• Logbook
• Oscilloscope
2.1.2 Technology applications
Technology applications (TAs) are applications prepared by Lenze which can serve as a basis for
solving typical applications.
• The technology applications available for the Servo Drives 9400 can be selected in »Engineer«
from the application catalogue.
Runtime software
Technology level Each higher license contains additional technology
Motion Control TopLevel
• TA "Positioning sequence control"
• TA "Electronic cam" *
• TA "Register control" *
•TA "Winding technology" *
Motion Control HighLevel
•TA "Electronic gearbox"
•TA "Synchronism with mark
synchronisation"
Motion Control StateLevel
• TA "Actuator – speed"
• TA "Actuator – torque"
• TA "Table positioning"
applications for further application fields.
16
* In preparation!
Tip!
Detailed information about the individual technology applications can be found in the
corresponding software manuals.
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
2Introduction
2.2 Communicating with the controller
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.2 Communicating with the controller
The following interfaces/communication modules can be used to establish communication
between the PC and controller:
• Diagnostic interface X6/Going online via diagnostic adapter
• CAN on board interface/Going online via system bus (CAN on board) ( 20)
• Optional interfaces which are provided by corresponding communication modules in the
module slots MXI1/MXI2 of the controller.
Note!
For communication with the controller, at least the control electronics of the controller
must be supplied with 24 V low voltage via plug X2. For detailed information, please see
the Mounting Instructions for the controller.
Stop!
If you change parameters in the »Engineer« while the controller is connected online, the
changes will be directly accepted by the controller!
Tip!
Detailed information about the individual interfaces can be found in the corresponding
Communication Manuals (KHB).
2.2.1 Going online via diagnostic adapter
For initial commissioning of the controller you can for instance use the diagnostic adapter offered
by Lenze:
Note!
Please observe the documentation for the diagnostic adapter!
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 17
2Introduction
2.2 Communicating with the controller
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Preconditions:
• The diagnostic adapter is connected to the controller at the diagnostic interface X6 and to the
PC at a free USB port.
• The driver required for the diagnostic adapter is installed.
• The control electronics of the controller is supplied with 24 V low voltage via plug X2.
How to build up an online connection via the diagnostic adapter:
1. Select the 9400 HighLine controller to which you want to build up an online connection in
the Project view of the »Engineer«:
2. Click the icon.
If the changes you have made on the project have not been accepted yet, first a query on
whether an update is to be carried out is effected.
If an update is to be carried out:
•Click on Yes to open the Update project dialog box.
•Press the Create button in the Update project dialog box to update the changed project
elements.
• After the update a note is shown, saying whether the update was carried out
successfully.
18
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
2Introduction
2.2 Communicating with the controller
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
If no communication path was configured yet for the controller selected, the
Communication path dialog box is shown after the update has been carried out:
• The "Diagnostic adapter" bus connection is already preset.
3. Click on Connect.
• The dialog box is closed and the online connection with the controller is built up.
•In the Project view a yellow icon indicates the online connection with the controller:
Now you can use the icons and to easily build up and end a connection with the controller.
The communication settings are only required when communication with a controller is built up for
the first time.
• If you want to change the configured communication path, select the command Online Set
communication path and go online to open the Communication path dialog box and change the
settings.
• When an online connection has been established, the »Engineer« displays the current
parameter settings of the controller with a yellow background colour.
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 19
2Introduction
2.2 Communicating with the controller
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.2.2 Going online via system bus (CAN on board)
As an alternative to the diagnostic adapter, you can use the integrated system bus interface (CAN on
board, terminal X1) of the controller for communication.
• Lenze offers the following communication accessories for connection to the PC:
Communication accessories PC interface
PC system bus adapter 2173
incl. connection cable and voltage supply adapter
• for DIN keyboard connection (EMF2173IB)
• for PS/2 keyboard connection (EMF2173IBV002)
• for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
PC system bus adapter 2177
incl. connection cable (EMF2177IB)
Parallel interface
(LPT port)
USB
(Universal Serial Bus)
Note!
• For detailed information about the PC system bus adapter, please see the "CAN
Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• The online connection is established as described in the previous chapter "Going
online via diagnostic adapter", only that this time the entry "CAN system bus" is to be
selected in the Bus connection list field of the Communication path dialog box.
( 18)
2.2.3 Use of other communication interfaces
The controller can be extended by further communication interfaces, if required, e.g. Ethernet,
ETHERNET Powerlink, or PROFIBUS.
• For this the controller is provided with the module slots MXI1 and MXI2 for accepting
communication modules.
• Detailed information on this subject can be found in the Hardware Manual and Communication
Manual for the corresponding communication system.
20
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
2Introduction
2.3 Signal types & scaling
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.3 Signal types & scaling
It is very helpful for the parameterisation & configuration of the controller to know the signal types
and their scaling listed below, which serve to process physical quantities (e.g. a speed or position)
within the function block interconnection.
Note!
From software version V3.0 the resolution of an encoder revolution can be
parameterised in C00100
(Lenze setting: 16 bits/encoder revolution).
Resolution of an encoder revolution
Signal type (data type)
Scaled (INT) 16 bits ± 199.99 % 2 _a
Scaled (DINT) 32 bits ± 200.00 % 2 _n
Speed (INT) / 16 bits ± 30000.0 rpm 1 _v
Speed (DINT) 32 bits ± 480000.0 rpm 1 _s
Position/angle (DINT) / 32 bits -2
Digital (BOOL) Bit 1 0 ≡ FALSE; 1 ≡ TRUE 0
Acceleration (DINT) 32 bits ± 7.69 * 10
Time 28 bits 0 ... 268435.456 s 3
Other (BYTE) 8 bits 0 ... 255 0
Other (WORD) 16 bits 0 ... 65535 0
Other (DWORD) 32 bits 0 ... 4294967295 0
Other (INT) 16 bits -32768 ... 32767 0
Other (DINT) 32 bits -2147483648 ... 2147483647 0
Connection
symbol in
the FB editor
Resolution
( 37)
Value range (external)
31
... 231-1 increments 3 _p
9
rpm/s 3 _x
Decimal positions/
signal type suffix
in the identifier
Scaling of physical units
Signal type
Scaled (INT) 16 bits 100 % ≡ 2
Scaled (DINT) 32 bits 100 % ≡ 2
Speed (INT) / 16 bits 15000 rpm ≡ 2
Speed (DINT) 32 bits 15000 rpm ≡ 2
Position/angle (DINT) / 32 bits 1 encoder revolution ≡ 2
Acceleration (DINT) 32 bits 15000000 rpm/s ≡ 2
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 21
Connection
symbol in
the FB editor
Resolution
Scaling
External value ≡ internal value
14
≡ 16384
30
≡ 1073741824
14
≡ 16384
26
≡ 67108864
16
increments
22
≡ 4194304
3 Commissioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3 Commissioning
This documentation contains detailed information on parameter setting and configuration of the
controller. Sequential reading is not required.
In order to obtain the information relevant for initial commissioning, this chapter describes
different commissioning scenarios which can also be used as a guide through this manual:
A. Initial commissioning
• Target: Adapting the controller to the electromechanics and the control system.
B. Standard set-up
• Target: Taking over the application and parameter set of an already preconfigured "Engineer"
project into several controllers.
( 25)
( 26)
C. Controller replacement
• Target: Replacing a controller which has failed in a running system by a replacement device
using the "old" memory module.
D. Motor replacement
• Target: Replacing a motor which has failed in a running system.
( 27)
( 27)
22 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
3 Commissioning
3.1 General information
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.1 General information
Note!
Some parameters of the controller have a setting range depending on the device type.
If parameterisation is carried out offline or if the memory module is exchanged between
different 9400 HighLine device types, always check the settings of the parameters listed
in the following table and adapt them, if required, to prevent a parameter error after the
parameter set download or module change!
Parameter Info Lenze setting
C00018
C00022
C00173
C00174
Switching frequency 8 kHz variable
Maximum current
Accepting/adapting plant parameters
Mains voltage and undervoltage threshold (LU)
Machine parameters
( 29)
( 124)
0.00 A
400/415 V, LU = 285 V
Tip!
The rated data of the different device types can be found in the Hardware Manual in the
"Rated data" chapter.
Term definition of "Plant parameters"
The term "plant parameters" which is frequently used in the following chapters summarises all
parameters which result from the combination of motor and load. They characterise the transfer
behaviour of the entire controlled system including the desired monitoring functions. The plant
parameters depend on the application in which the controller and motor are used.
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 23
3 Commissioning
3.2 Notes on commissioning using the keypad
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.2 Notes on commissioning using the keypad
For a motor with an electronic nameplate (ENP)
• A display of the plant parameters offered by ENP via keypad is not provided. The plant
parameters must be edited and optimised individually.
• To avoid that the motor starts unintentionally without adjusting the plant parameters, the
maximum current in the Lenze setting is set to "0 A" in C00022
• After setting the plant parameters, they have to be saved on the memory module of the
controller with mains failure protection, just as the motor data that have been read out from
the ENP (C00002
For a motor without an electronic nameplate (ENP)
• The motor data and plant parameters must be edited and set individually.
• To avoid that the motor starts unintentionally without adjusting the plant parameters, the
maximum current is set to "0 A" in C00022
• After setting the motor data and plant parameters, they have to be saved on the memory
module of the controller with mains failure protection (C00002
= "11: Save start parameters").
by the factory.
.
= "11: Save start parameters").
Commissioning of the application
• The application must already be stored on the memory module of the controller. Otherwise
commissioning by only using the keypad is not possible.
• All application parameters which deviate from the factory adjustment have to be edited
individually. For this the project planner has to provide a corresponding list to the commissioner
(including the motor and plant data).
• In the case of a standard set-up, a pole position identification may have to be carried out for
synchronous motors of a third party manufacturer or Lenze synchronous motors with a
Stegmann absolute value encoder.
• After setting the parameters, they have to be saved on the memory module of the controller
with mains failure protection (C00002
= "11: Save start parameters").
Tip!
Detailed information on the individual technology applications can be found in the
corresponding Software Manual for the technology application and the »Engineer« online
help in the chapter "L-force Servo Drives 9400 Technology applications".
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
3 Commissioning
3.3 Initial commissioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.3 Initial commissioning
Worksteps
Parameterising motor control:
1. Read out the motor data of the controller or select them via the »Engineer« motor catalogue.
• If the motor connected to the controller is provided with an electronic nameplate (ENP), all motor
data are automatically read out from the ENP and a selection in the motor catalogue is not required.
Reading out motor data from the controller
• If a motor without ENP or a motor by a third-party manufacturer is used, the selection is carried out
via the »Engineer« motor catalogue. Selecting a motor from the motor catalogue in the »Engineer«
( 118)
2. Select motor control
• Servo control is preset for the synchronous motor.
3. Adjusting motor and controller to each other
4. Carry out settings for selected motor control.
• For this see description for the corresponding motor control:
• Servo control (SC)
• Sensorless vector control (SLVC) (from software version V3.0)
• V/f control (VFCplus)
• V/f control (VFCplus)
Parameterise/configure application:
5. Load & parameterise technology application.
Detailed information on the individual technology applications can be found in the corresponding
Software Manual for the technology application and the »Engineer« online help in the chapter "L-force
Servo Drives 9400 Technology applications".
6. If required, reconfigure the interconnection of the technology application with the function block editor.
Optimise control mode:
7. Optimise control mode of the selected motor control.
• By means of traversing profile from the application and oscilloscope.
• For this see description for the corresponding motor control:
• Servo control (SC)
• Sensorless vector control (SLVC) (from software version V3.0)
• V/f control (VFCplus)
• V/f control (VFCplus)
Save project and parameter set:
8. Execute device command C00002
9. Save »Engineer« project.
. ( 121)
(from software version V3.0)
(from software version V3.0)
(from software version V3.0)
(from software version V3.0)
= "11: Save start parameters".
( 117)
( 123)
More (optional) worksteps
Worksteps
Establish network:
1. Insert network and machine application into the »Engineer« project.
2. Interconnect port blocks reasonably to each other within the machine application.
3. Configure network (set addresses, baud rate, and process data channels in a reasonable manner).
4. Establish communication with the control system.
5. Establish communication with other drive components (e.g. HMIs, I/O extensions and other controllers).
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 25
3 Commissioning
3.4 Standard set-up
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Worksteps
Check & optimise application/DC-bus operation:
1. Traverse axis in manual operation.
•See chap. Basic drive functions
2. Check area boundaries (path, speed, torque).
3. Traverse axis in automatic operation with set-up speed, possibly together with coupled axes.
4. Check coupling with other movements (master/slave axes, tools, …).
5. Optimisation of the process at higher speeds.
6. Recording of typical signal characteristics using the oscilloscope function for the documentation.
•See chapter Oscilloscope
Save & archive project and parameter set:
1. Execute device command C00002
2. Save »Engineer« project.
3. Deposit a backup copy of the »Engineer« project, e.g. on CD ROM, in the control cabinet.
Manual jog ( 395)
( 579)
= "11: Save start parameters".
3.4 Standard set-up
Worksteps
Transfer application and parameter set to the controller:
1. Transfer the application preconfigured in »Engineer« and the corresponding parameter set to the
For a motor with an electronic nameplate (ENP):
For a motor without an electronic nameplate (ENP):
2. Execute device command C00002
3. Restart controller with connected motor to read out the motor data from the electronic nameplate
4. Execute device command C00002
memory module of the controller.
= "11: Save start parameters".
(ENP).
• Either by switching off/switching on again the voltage supply or by means of device command
•See chap. Motor interface
Note:
The motor is operated with the motor data and plant parameters identified during initial
commissioning. Adjusting motor and controller to each other
= "11000: Restart controller".
C00002
Reading out motor data from the controller ( 117)
= "11: Save start parameters".
( 123)
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
3 Commissioning
3.5 Controller replacement
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.5 Controller replacement
Scenario: The controller has failed in a running system.
Note!
For the procedure described in the following it is assumed that the memory module and
possibly available extension modules in the controller, as well as the motor are not
affected by the failure and that all parameters have been saved with mains failure
protection.
Worksteps
Replacement of the controller:
1. Replace controller.
See Mounting Instructions for the controller!
2. Insert the memory module of the failed controller into the replacement device.
3. If further extension modules are plugged into the failed controller, they must be inserted into the
replacement device as well.
Further steps are not required since all data required are on the memory module.
3.6 Motor replacement
Scenario: The motor has failed in a running system.
Note!
For the procedure described in the following it is assumed that the controller is not
affected by the failure.
Worksteps
Replacement of the motor:
1. Replace the motor.
See Mounting Instructions for the controller!
Note:
The motor connection on the controller is accessible without having to remove the standard device
from the installation backplane.
For a motor with an electronic nameplate (ENP):
2. Restart controller with connected motor to read out the motor data from the electronic nameplate.
• Either by switching off/switching on again the voltage supply or by means of device command
C00002
• See chap. Motor interface
3. Execute device command C00002
For a motor without an electronic nameplate (ENP):
Note:
The motor is operated with the motor data and plant data from the memory module.
= "11000: Restart controller".
Reading out motor data from the controller ( 117)
= "11: Save start parameters".
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 27
4 Drive interface
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4 Drive interface
This chapter provides you with information on the drive interface via which you can control the
drive controller into specific states and call different pieces of status information of the controller.
Furthermore the machine constants for the motor end are entered via the drive interface.
How to get to the dialog for setting the drive interface parameters:
1. Go to the Project view of the »Engineer« and select the 9400 HighLine controller.
2. Select the Application parameters tab from the Workspace.
3. Click the following button of the Overview dialog level:
Parameterisation dialog in the »Engineer«
• The white buttons indicate the configuration of the drive interface inputs. Internal interfaces
| "LS_DriveInterface" system block ( 110)
• The assignment is predefined by the technology application selected (in the example
"Actuating drive – speed"). If required, this assignment configuration can be changed by
clicking the corresponding buttons.
• If you click a button marked with the symbol, you go one level deeper in the corresponding
parameterisation dialog.
28 Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
4 Drive interface
4.1 Machine parameters
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4.1 Machine parameters
The global machine constants ("machine parameters") are set in the »Engineer» on the Application
parameters tab in the dialog level Overview Drive interface Machine parameters:
Tip!
Detailed information on the different machine parameters can be obtained from the
following subchapters.
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 29
4 Drive interface
4.1 Machine parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.1.1 Mains voltage
Via the Mains voltage list field (C00173) the mains voltage for the controller is set.
• If you set a mains voltage with an adjustable threshold for undervoltage ("LU adjustable"), this
undervoltage threshold can be set in the Undervoltage threshold (LU) input field (C00174
•In the Resp. to DC-bus overvoltage list field (C00600
effected when a DC-bus overvoltage occurs.
) you can select the response that is to be
).
Note!
Changing the setting in C00173 also affects the permissible device utilisation!
Tip!
In the chapter "Rated data" of the hardware manual the device types and their permissible
device utilisation at a certain mains voltage and switching frequency are specified.
See also: Monitoring of the device utilisation ( 108)
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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