Lenze 9400 User Manual

Download

9400

E94AxHExxxx

Servo Drives 9400 HighLine_ _ _ _ _ _ _ _ _ _ _

Reference manual

Ä.MvGä

13448538

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

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

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

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.



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 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



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.

* 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.

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.

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)

... 231-1 increments 3 _p

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

≡ 16384

≡ 1073741824

≡ 16384

≡ 67108864

increments

≡ 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)

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

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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".

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

3 Commissioning

3.3 Initial commissioning

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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)

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)

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)

= "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).

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3 Commissioning

3.4 Standard set-up

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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)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

3 Commissioning

3.5 Controller replacement

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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".

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4 Drive interface

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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.

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4 Drive interface

4.1 Machine parameters

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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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4 Drive interface

i = 58.667

L EXTERTAL / Germany

GFL05-2M HCR 080-32 004 B

295 Nm 24/min (50Hz)

i = 58.667

GT/40000027

CLP 460 1196

00500038

GFL 05

58.667

z112z2

Gearbox factor numerator (C02520) z2 z4× 88 72×==

6336=

Gearbox factor denominator (C02521) z1 z3× 12 9×==

108=

4.1 Machine parameters

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4.1.2 Gearbox ratio

The gearbox ratio indicates the number of revolutions of the motor axis it takes for exactly one revolution of the load axis (e.g. spindle or drive roll) to take place.

[4-1] Schematic diagram of gearbox ratio

• In the example shown in illustration [4-1] one revolution of the spindle is carried out at exactly 58,667 revolutions of the motor axis.

Specification of the gearbox ratio

• The gearbox ratio is to be defined in the form of a quotient (numerator/denominator); the data required can be found in the technical data for the gearbox:

[4-2] Example: Technical data relating to the gearbox (from gearbox catalogue)

 Tip!

In order to specify the gearbox ratio exactly, use the number of teeth indicated on the data sheet or in the catalogue, if possible, instead of the information on the nameplate (see following calculation).

In C02531/1

Example calculation on the basis of the technical gearbox data:

[4-3] Calculation example

the gearbox factor is displayed in decimal format.

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4 Drive interface

 

4.1 Machine parameters

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4.1.3 Motor mounting direction

Depending on the motor mounting position, you can carry out an inversion of the direction of rotation via the Motor mounting direction list field (C02527

), if required:

• C02527

4.1.4 Feedback configuration

In most cases the system only has one motor encoder, i.e. no separate position encoder is installed on the load side. The motor position (angle of rotation) and motor speed are detected via the motor encoder selected in C00495

 Motor encoder

[4-4] Schematic diagram - feedback with position encoder = motor encoder

The actual position and speed values on the machine side result from the conversion via the

Gearbox ratio

 Tip!

= "0": Clockwise rotating motor ≡ positive machine direction.

= "1": Counter-clockwise rotating motor ≡ positive machine direction.

on the motor side and the Feed constant.

Detailed information on the parameterisation of the feedback systems for the motor control can be found in the chapter "Encoder evaluation

and converted with regard to the load side.

". ( 236)

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4.1 Machine parameters

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4.1.5 Unit/user-defined unit

Via these machine parameters you define the real unit of the machine in which the feed constant and the parameters for a travel profile must be specified (e.g. position, speed, acceleration, and deceleration).

• If you for instance set the unit "mm" for a linear axis, the position must be specified in [mm] and the speed in [mm/s].

• By means of the user-defined unit, significant production units, like for example "bottles" can also be set.

• For this, select the "User-defined" entry as unit in C02525 defined unit in C02526

and then enter the desired user-

 Note!

In this documentation the term "unit" in the parameter unit data only serves as a wildcard for the real unit of the machine.

Display parameter

Parameter Info

C02534 Time unit used

C02535 Unit used

C02537 Speed unit

C02538 Acceleration unit

Greyed out = display parameter

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4 Drive interface

4.1 Machine parameters

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4.1.6 Traversing range

The selection of the traversing range ("Unlimited", "Limited", or "Modulo") in the Traversing range list field (C02528

) serves to define the machine measuring system.

 Note!

A change-over of the traversing range results in a loss of the reference information!

"Unlimited" traversing range

The drive can rotate continuously in one direction.

• By referencing and activating the software limit positions the traversing range can be limited.

• For positioning with absolute travel command the home position must be known.

[4-5] Unlimited traversing range, taking the "feed control tape" as an example

"Limited" traversing range

The travel range is limited by positive and negative position limits (mechanical limits/travel range limit switches/software limit positions).Limiter

( 502)

• After a defined distance the drive must travel in the opposite direction again.

• For positioning in the limited traversing range the home position must be known.

• The software limit positions are basically monitored with regard to the maximum value range that can be represented internally (±2

via C02700

• An overflow of the value range results in a loss of the reference information.

[4-6] Example: Limited traversing range - "spindle drive" (linear axis)

increments), even if monitoring has been deactivated

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

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











4.1 Machine parameters

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"Modulo" traversing range

The measuring system is repeated.

• If the cycle set in C02536 typically corresponds to a revolution or tool distance.

• For positioning in the "Modulo" traversing range the home position must be known.

• Software limit positions are not effective.

• Absolute targets can be approached by exceeding the measuring system limit, e.g. from 10° to 350°.

 C02536: Cycle (illustration = 60°)

is exceeded, a defined overflow occurs. In a rotative system, the cycle

[4-7] Example: Modulo traversing range - "rotary table""

Dependencies - traversing range/basic drive functions

• The following table lists the different dependencies between the selected traversing range and the basic drive functions.

Basic drive function Traversing range

Position data for Encoder evaluation

Position data for Position follower

Positioning modes for Positioning

Restrictions for Homing

Limit positions (Limiter

) Permitted Permitted Not permitted

Unlimited Limited Modulo

Continuously Continuously Clocked

Absolute Absolute Absolute (in time)

1, 2, 5, 6, 7, 8 1, 2, 5, 6, 7, 8 5, 6, 11 ... 16

None None Home position must

be in time

Example 1: Unlimited/limited position display

 Reference setting  Position in the machine measuring system  Position in the motor measuring system

Example 2: Modulo position display

 Cycle  Position in the machine measuring system  Position in the motor measuring system

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4 Drive interface

d = 200 mm

Feed constant π d

[unit]

Revolution

--------------------------- -

π 200

Revolution

--------------------------- -

628.3185

Revolution

--------------------------- -

=⋅=⋅=

h = 5.023 mm

4.1 Machine parameters

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4.1.7 Feed constant

The feed constant corresponds to the movement of the machine during one revolution of the gearbox output shaft.

• The entry in the Feed constant field (C02524 one revolution.

• In the case of a conveyor drive, the feed constant is obtained from the drive roll's circumference, which, in the following example, is calculated on the basis of the indicated diameter:

d = diameter

[4-8] Schematic diagram: Feed constant for a conveyor driver

• In the case of a spindle drive (linear axis), the feed constant is derived from the leadscrew pitch. The feed constant indicates the distance the slide travels during one revolution of the spindle (in the following example: 5.023 mm).

) is made in the unit defined in C02525 relating to

h = leadscrew pitch (can be obtained from the technical data of the linear axis)

[4-9] Schematic diagram: Feed constant for a spindle drive

• In the case of a rotary table and its specification as an angle, the feed constant is = 360°/ revolution.

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

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4.1 Machine parameters

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4.1.8 Resolution of an encoder revolution

The following applies to software versions lower than V3.0:

The resolution of an encoder revolution and hence of a position value is constantly set to 16 bits/ revolution, which corresponds to 65536 increments/revolution. At this resolution, the traversing range comprises ±32767 revolutions.

The following applies from software version V3.0:

C00100

 Sign bit  Number of revolutions: 15 bits ≡ ±32767 revolutions  Resolution of one encoder revolution: 16 bits ≡ 65536 increments/revolution

serves to adjust the resolution to the application.

• The default resolution of 16 bits/revolution is sufficient for standard applications.

[4-10] Example: standard resolution (16 bits/revolution)

• For more significant applications, a higher resolution of the position values can clearly improve the control properties and positioning accuracies:

• Finer resolution of the position targets  improved positioning accuracy

• Finer quantisation of setpoints and actual values  better control quality

• Higher loop gain adjustable  less following errors

• However, a higher resolution at the same time causes a restricted number of encoder revolutions, and only smaller traversing distances can be displayed.

 Sign bit  Number of revolutions: 9 bits ≡ ±512 revolutions  Resolution of one encoder revolution: 22 bits ≡ 4194304 increments/revolution

[4-11] Example: Higher resolution (22 bits/revolution) with a restricted traversing range

 Tip!

In the following subchapter "Determining the optimum resolution how you can determine the optimum resolution of the position values.

" ( 39) it is described

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4 Drive interface

4.1 Machine parameters

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 Note!

The position values (e.g. setpoints, actual values, parameters, …) in the signal flow always use the resolution set in C00100 resolution is delivered directly by the encoder.

Multi-axis systems

In an interconnection via the electrical shaft, at least two measuring systems (master and slave) are available in the drive.

• Each measuring system is provided with an individual setting of the resolution.

• The machine parameters (gearbox factors, feed constants, encoder resolution and cycle) for the master measuring system or master value must be set identically for all drives in the system.

Technology applications "Electronic gearbox" and "Synchronism"

For these two technology applications the machine parameters of the master measuring system are defined on the Application parameters tab in the "Master value scaling" dialog level.

Electronic cam

The machine parameters of the master measuring system for electronic cams can be defined on the Measuring systems tab for the electrical shaft.

. In this connection it is irrelevant which

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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4.1 Machine parameters

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4.1.8.1 Determining the optimum resolution

This function extension is available from software version V3.0!

 How to determine the optimum resolution:

In the dialog level Overview  Drive interface  Machine parameters:

1. Set gearbox factors.

2. Set real unit of the machine.

3. Set feed constant.

4. Press the Optimum positional resolution button.

•The Optimum positional resolution dialog box is displayed:

5. Go to the Max. presentable position input field and enter the highest position which is to

be entered in a parameter during operation.

• If required, set a reserve in the Overshoot input field to take into account possible following errors (overshoot of actual values).

Then the maximum resolution for the position entered is shown in the Maximum resolution for encoder revolution field.

6. Click Accept value to accept the displayed resolution in C00100

7. Click Close to close the dialog box again.

 Tip!

In order to display the position that can be maximally represented for a defined resolution, activate the second option Determine max. presentable position. Then you can set the resolution for which the maximally presentable position is to be displayed in the Maximum resolution for encoder revolution input field.

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4.1 Machine parameters

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4.1.9 Max. position, speed, and acceleration that can be displayed internally

By setting the following machine parameters, the connection between the real units (application units) of the machine and the internal units in the controller is described:

• Gearbox ratio (C02520

• Feed constant (C02524

• Resolution of an encoder revolution (C00100

Possibly the defined values for position, speed, and acceleration cannot be represented in the internal units by the numerical 32-bit format used.

• The following display parameters show the values that can be maximally displayed:

Parameter Info Lenze setting

C02539 Max. presentable position - Unit

C02540 Speed that can be maximally displayed - Unit/s

C02541 Acceleration that can be maximally displayed - Unit/s

Greyed out = display parameter

Response if a value that cannot be displayed internally is entered

If a position, speed, or acceleration which cannot be represented internally is defined via parameters, the value defined is limited to the maximum value that can be represented internally (±2147483647).

, C02521, C02522, C02523)

)

Value Unit

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4.1 Machine parameters

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The following only applies to software version V3.0:

• If a position, speed, or acceleration which cannot be represented internally is defined via parameters, the value defined is rejected.

• If an internal counter overflow of a parameter value due to a subsequent change of the machine parameters for the gearbox ratio, feed constant, or resolution of an encoder revolution is detected, the "Fault" error response is triggered and a corresponding error message is entered in the logbook of the controller:

Error number Error message

0x00B8001A Int. overflow C02620

0x00B8001B Int. overflow C02621 (manual speed 2)

0x00B8001C Int. overflow C02622

0x00B8001D Int. overflow C02624

0x00B80020 Int. overflow C02701/1 (positive SW limit position)

0x00B80021 Int. overflow C02701/2

0x00B80022 Int. overflow C02703

0x00B80023 Int. overflow C02705

0x00B80024 Int. overflow C02708/1

0x00B80025 Int. overflow C02708/2

0x00B80026 Int. overflow C02708/3

0x00B80027 Int. overflow C02708/4

0x00B80028 Int. overflow C02710/1

0x00B80029 Int. overflow C02710/2

0x00B8002A Int. overflow C02710/3

0x00B8002B Int. overflow C02710/4

0x00B8002C Int. overflow C02713

0x00B8002D Int. overflow C02642

0x00B8002E Int. overflow C02643

0x00B8002F Int. overflow C02644 (homing: speed 1)

0x00B80030 Int. overflow C02645

0x00B80031 Int. overflow C02646

0x00B80032 Int. overflow C02647 (homing: acceleration 2)

0x00B80033 Int. overflow C02670

(manual speed 1)

(manual acceleration)

(manual deceleration)

(negative SW limit position)

(maximum speed)

(maximum acceleration)

(limited speed 1)

(limited speed 2)

(limited speed 3)

(limited speed 4)

(decel. limited speed 1)

(decel. limited speed 2)

(decel. limited speed 3)

(decel. limited speed 4)

(maximum distance manual jog)

(home position)

(homing: target position)

(homing: acceleration 1)

(homing: speed 2)

(positioning: tolerance for target position)

 Tip!

Possible measures for error correction:

• Plausibility check of the machine parameters set for gearbox ratio, feed constant, or resolution of an encoder revolution.

• Set parameters with a counter overflow to a value which can also be represented internally.

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 41

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2 Device commands

In the following subchapters the device commands of the controller are described, which are provided in C00002 keypad when an online connection has been established.

and which can be executed by means of the »Engineer« or alternatively with the

 Note!

Before switching off the supply voltage after a device command has been executed, check the successful execution of the device command via the status display in C00003

The meaning of the status display in C00003 the corresponding device command.

Activating frequently required device commands via the toolbar

The simplest way to execute the frequently required device commands is directly via the Toolbar of »Engineer« when an online connection has been established.

Icon Function

Enable controller

Inhibit controller

Start application

Inhibit controller and Stop application

can be obtained from the subchapter for

 Note!

Device commands that can be executed via the Toolbar of the »Engineer« always affect the element currently selected in the Project view including all subelements!

• If no controller but a system module is selected in the Project view, the corresponding device command will be activated in all lower-level controllers having an online connection with the »Engineer«.

Before the desired action is carried out, a confirmation prompt appears first, asking whether the action is really to be carried out.

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Activating device commands via the "Device commands" dialog box

All device commands of the controller are available in »Engineer« in the Device Commands dialog box:

•The Device commands dialog box can be opened by clicking on the Device commands list field

on the Application parameters tab in the dialog level Overview  Drive interface.

•The Device commands dialog box can also be opened by clicking the setting of C00002

parameters tab.

on the All

 Note!

If you click a device command in the list field of the Device commands dialog box, the corresponding device command is executed immediately!

• During and after the execution of the device command, the processing status is displayed in the

Device Commands dialog box:

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 43

4 Drive interface

Application 3

Application 2

Memory module MM

9400

RAM

Firmware Application 1Application

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.1 Load Lenze setting

The C00002 = "0: Load Lenze setting" device command is used to reset the parameters of the active application to the Lenze setting, which is stored in the controller firmware:

[4-12] "Load Lenze setting" function

• Only possible when the application has stopped and the controller is inhibited.

• All parameter changes made since the last saving of the parameter set will get lost!

• This device command only affects the settings of the operating system, application and module parameters, the active application or the configuration selected with the function block editor remains unchanged.

Possible status displays for this device command

Status (C00003) Meaning

34050 Device command in process

0 Device command executed successfully

1 General fault

39424 CAN fault

... ...

39679 CAN fault

Related device commands

Load start parameters

Save start parameters

( 45)

( 49)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

9400

RAM

Firmware Application 1*

Application 3

Application 2

Memory module MM

Application 1*

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.2 Load start parameters

Via C00002 = "1: Load start parameters" the start parameters of the active application can be reloaded from the memory module to the controller:

* In this example, application 1 is the active application

[4-13] "Load start parameters" function

• Only possible when the application has stopped and the controller is inhibited.

• All parameter changes made since the last saving of the parameter set will get lost!

Possible status displays for this device command

Status (C00003) Meaning

99586 Device command in process

65536 Device command executed successfully

65537 General fault

99371 Fault while reading the parameter set partition

99374 No memory module available

104960 CAN fault

... ...

105215 CAN fault

Related device commands

Save start parameters

Load Lenze setting

( 49)

( 44)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 45

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.3 ENP:Load plant data

If the Lenze motor connected to the controller is provided with an electronic nameplate (ENP), all motor data are automatically read out from the electronic nameplate of the motor when the controller is switched on for the first time and are temporarily stored in the controller at first.

With the device command C00002 the electronic nameplate (ENP) of the motor.

• Only possible when the application has stopped and the controller is inhibited.

• For a permanent acceptance of the motor data, the parameter set must be saved.Save start

parameters ( 49)

• The following plant data are read out from the ENP:

Parameter Info

C00022

C00070 Speed controller gain

C00071

C00596

Maximum current

Speed controller reset time

Threshold max. speed reached

= "2: ENP: Load plant data" the motor data can be reread from

 Note!

The two pieces of plant data C00011 and C00497 listed in the following table are not read out from the ENP and thus have to be checked and, if required, set manually after this device command has been executed!

Parameter Info

C00011

C00497

Motor reference speed

Speed act. val. time const.

Possible status displays for this device command

Status (C00003) Meaning

165122 Device command in process

131072 Device command executed successfully

131073 General fault

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

9400

RAM

Firmware Application

Application 3

Memory module MM

Application 1

Application 2*

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.4 Activate application

If several applications are available on the memory module, the C00002 = "5: Activate application" device command can be used to activate the application the number of which has been set in

C00005

* In this example, application selection "2" is set in C00005

[4-14] "Activate application" function

• Only possible when the application has stopped and the controller is inhibited.

• Whether the application is started at the same time, depends on the auto-start setting selected in C02104

• After mains switching, the preset application will be loaded into the controller.

• If after mains switching another application than the one preset by Lenze is to be loaded, it must be activated first and then the selected application must be saved with the device command "Save selected application

• The number of the currently active application is displayed in C00007

". ( 48).

 Note!

When the application is activated, the corresponding start parameter set is loaded automatically and parameter settings executed before will get lost unless the parameter set was saved before!

Possible status displays for this device command

Status (C00003) Meaning

361730 Device command in process

327680 Device command executed successfully

327681 General fault

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 47

Related device commands

Save selected application

Start application

( 53) / Stop application ( 54)

( 48)

4 Drive interface

9400

RAM

Firmware Application 2*

Application 3

Memory module MM

Application 1

Application 2*

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.5 Save selected application

After mains switching the controller always loads the preset start application from the memory module, even if a different application has been active before.

With the device command C00002

= "7: Save selected application" the active application can be

defined as start application.

* In this example, the active application 2 is defined as start application

[4-15] "Save selected application" function

• When this device command is executed, the parameter set is also saved automatically.

• The number of the currently active application is displayed in C00007

Possible status displays for this device command

Status (C00003) Meaning

492802 Device command in process

458752 Device command executed successfully

458753 General fault

Related device commands

Activate application

Start application

Stop application

( 47)

( 53)

( 54)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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9400

RAM

Firmware Application 1*

Application 3

Application 2

Memory module MM

Application 1*

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.6 Save start parameters

Controller parameter changes made via »Engineer« or keypad will get lost after mains switching of the controller or loading of another application unless the settings have been explicitly saved.

With the device command C00002 the active application can be saved with mains failure protection in the memory module of the controller:

* In this example, application 1 is the active application

[4-16] "Save start parameters" function

= "11: Save start parameters" the current parameter settings of

 Tip!

With the keypad this device command can be executed via the left function key if it is currently assigned with the  function.

 Note!

The saving process can take several seconds. Before you switch off the supply voltage after having executed this device command, therefore be absolutely sure to check via the status display in C00003 successfully!

Saving of the cam data

whether the device command has been executed

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 49

From software version V4.0, this device command also includes the powerfail-proof

saving of the cam data on the memory module.

• The saving process is only carried out if the cam data in the controller and the memory module differ from each other (based on the time stamp/GUID of the cam data).

• For saving the cam data, you do not need to enter a possibly existing user password (C02900

•The C00002

data ( 89)

= "502: Save Cam Data" device command remains available.Save cam

4 Drive interface

4.2 Device commands

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Possible status displays for this device command

Status (C00003) Meaning

754946 Device command in process

720896 Device command executed successfully

720897 General fault

754718 Fault while writing into a file

754734 No memory module available

761857 Access to file has been denied since the file is already accessed from another position

761861 I/O fault when accessing the file system

761868 RAM is full

761869 Access authorisation denied

761884 No free memory on the memory module

Related device commands

Load start parameters

( 45)

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4.2 Device commands

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4.2.7 Delete logbook

The C00002 = "20: Delete logbook" device command is used to delete all entries in the logbook.

 Tip!

To display the logbook in the »Engineer«, click the Logbook button on the Diagnostics tab.

In the Logbook dialog box, it is also possible to delete all logbook entries by clicking the Delete button.

Further information on the logbook can be found in the chapter "Diagnostics & fault

analysis". ( 598)

Possible status displays for this device command

Status (C00003) Meaning

1344770 Device command in process

1310720 Device command executed successfully

1310721 General fault

Related device commands

Archive logbook

( 52)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.8 Archive logbook

The C00002 = "21: Archive logbook" device command is used to archive the entries in the logbook.

 Tip!

To display the logbook in the »Engineer«, click the Logbook button on the Diagnostics tab.

You can also export all entries available in the logbook into a file (*.log) by clicking the Export button in the Logbook dialog box.

Further information on the logbook can be found in the chapter "Diagnostics & fault

analysis". ( 598)

Possible status displays for this device command

Status (C00003) Meaning

1410306 Device command in process

1376256 Device command executed successfully

1376257 General fault

Related device commands

Delete logbook

( 51)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

Memory module MM

9400

RAM

Firmware Application 1Application

Application 2

Application 3

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.9 Start application

The C00002 = "31: Start application" device command is used to start the active application in the controller.

[4-17] "Start application" function

• The number of the currently active application is displayed in C00007.

• The current program status is displayed in C02108

• The active function state of the application is displayed in C02530

 Tip!

This device command can also be activated via the icon in the Toolbar.

Possible status displays for this device command

Status (C00003) Meaning

2065666 Device command in process

2031616 Device command executed successfully

2031617 General fault

Related device commands

Stop application

Activate application

Save selected application

( 54)

( 47)

( 48)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 53

4 Drive interface

Memory module MM

9400

RAM

Firmware Application 1Application

Application 2

Application 3

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.10 Stop application

The C00002 = "32: Stop application" device command can be used to stop the application started in the controller again.

[4-18] "Stop application" function

• Only possible when the controller is inhibited.

 Tip!

Via the icon in the Toolbar the controller can be inhibited, and at the same time the application in the controller can be stopped.

Possible status displays for this device command

Status (C00003) Meaning

2131202 Device command in process

2097152 Device command executed successfully

2097153 General fault

Related device commands

Start application

Inhibit controller

Activate application

Save selected application

( 53)

( 60)

( 47)

( 48)

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4.2.11 Reset program

The C00002 = "33: Reset program" device command is used to reset the application program in the controller.

• All variables are reset to their initialisation value.

• The situation corresponds to the start of a new program loaded into the control (cold start).

Possible status displays for this device command

Status (C00003) Meaning

2196738 Device command in process

2162688 Device command executed successfully

2162689 General fault

Related device commands

Delete program

Restart program

( 56)

( 57)

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.12 Delete program

The C00002 = "34: Delete program" device command is used to delete the application program in the controller and reset the controller to its original state.

• All variables are reset to their initialisation value.

Possible status displays for this device command

Status (C00003) Meaning

2262274 Device command in process

2228224 Device command executed successfully

2228225 General fault

Related device commands

Reset program

Restart program

( 55)

( 57)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.13 Restart program

The C00002 = "35: Restart program" device command is used to restart the application program in the controller.

• All variables except the RETAIN variables are reset to their initialisation value.

• The situation corresponds to a power failure or switching the controller off/on (warm start) while the program is running.

Possible status displays for this device command

Status (C00003) Meaning

2327810 Device command in process

2293760 Device command executed successfully

2293761 General fault

Related device commands

Reset program

Delete program

( 55)

( 56)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 57

4 Drive interface

0 1 ms 4 ms

T2 T2

T1 T1 T1 T1T1

2 3

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.14 Reset runtime measurement

When the application is started, the controller continuously carries out a runtime measurement for the interval-controlled application task, the interval-controlled user task, and the free-running idle task and displays the current and maximum task runtimes via parameters.

The C00002 measurement, i.e. the memory for the maximum values is reset to "0".

Possible status displays for this device command

Status (C00003) Meaning

= "36: Reset runtime measurement" device command is used to reset the runtime

2393346 Device command in process

2359296 Device command executed successfully

2359297 General fault

 Note!

The runtime measurement is also reset by the following actions:

• Start application

• Reset/delete/restart program

Example for runtime measurement

 System task  Application task (here: task interval = 1 ms)  User task (here: task interval = 4 ms)  Free-running idle task

[4-19] Example: Runtimes of the different tasks

T1 = runtime of the application task T2 = runtime of the user task T3 = runtime of the idle task

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

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Display parameter

Parameter Info Lenze setting

Value Unit

C02121/1 Current runtime - application task - μs

C02121/2 Maximum runtime - application task - μs

C02122/1 Current runtime - user task - μs

C02122/2 Maximum runtime - user task - μs

C02123/1 Current runtime - idle task - μs

C02123/2 Maximum runtime - idle task - μs

Greyed out = display parameter

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4 Drive interface

4.2 Device commands

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4.2.15 Inhibit controller

The C00002 = "41: Inhibit controller" device command is used to inhibit the controller ("controller inhibit"), i.e. the power output stages in the controller are inhibited and the speed/current and position controllers of the motor control are reset. The motor becomes torqueless and coasts unless it is already at standstill.

• The controller can also be inhibited by other sources, e.g. via the digital input RFR or through the application.

• C00158

provides a bit coded representation of all active sources/triggers of a controller inhibit.

 Note!

This device command has no status display in C00003, i.e. the display remains unchanged showing the previous device command status.

 Tip!

This device command can also be activated via the icon in the Toolbar.

Related device commands

Enable controller

( 61)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.16 Enable controller

The C00002 = "42: Enable controller" device command is used to re-enable an inhibited controller.

 Note!

Please note that the controller will only be enabled if all sources for controller inhibit are reset!

• C00158 controller inhibit.

provides a bit coded representation of all active sources/triggers of a

This device command has no status display in C00003 unchanged showing the previous device command status.

 Tip!

This device command can also be activated via the icon in the Toolbar.

Related device commands

Inhibit controller

( 60)

, i.e. the display remains

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.17 Reset error

The C00002 = "43: Reset error" device command is used to acknowledge an error message if the error cause has been eliminated and the error is thus no longer pending.

 Tip!

An error message can also be acknowledged by activating the Reset error button in the Diagnostics tab.

Further information on error messages can be found in the chapter "Diagnostics & fault

analysis". ( 598)

 Note!

This device command has no status display in C00003, i.e. the display remains unchanged showing the previous device command status.

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.18 Activate quick stop

The C00002 = "45: Activate quick stop" device command is used to activate the basic function "Quick stop", i. e. the drive is brought to standstill within the deceleration time set, irrespective of the setpoint defined.

• Quick stop can also be activated by other sources, e.g. by the application.

• C00159

displays a bit code of active sources/causes for the quick stop.

 Note!

The activation of quick stop may cause following errors in superimposed controls (e.g. synchronous or position control). If several drives execute a coordinated movement, the quick stop function should therefore only be used for the motion master (master drive) in order to maintain the coordination.

This device command has no status display in C00003 unchanged showing the previous device command status.

, i.e. the display remains

 Tip!

In contrast to the "stop" function, quick stop is required for a stop in the event of an error. Thus, quick stop can also be set as an error response ("quick stop by trouble) for many monitoring functions. Detailed information on this can be found in the chapter "Diagnostics & fault analysis

Related device commands

Reset quick stop

( 64)

". ( 598)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.19 Reset quick stop

The C00002 = "46: Reset quick stop" device command is used to exit an active quick stop again.

 Note!

Please note that the quick stop is only exited if all sources for quick stop are reset!

• C00159

This device command has no status display in C00003 unchanged showing the previous device command status.

Related device commands

Activate quick stop

displays a bit code of active sources/causes for the quick stop.

, i.e. the display remains

( 63)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.20 Identify pole position (360°)

If no absolute value encoder is connected, or a synchronous motor of a third-party manufacturer is driven by the controller, the C00002 determine the pole position with regard to the motor encoder currently activated in C00495

• The function can only be activated if the controller is inhibited. Then the execution of the function starts automatically as soon as the controller inhibit is deactivated again.

• During the pole position identification, the motor carries out one electrical revolution. This leads to a mechanical rotation of the motor shaft.

• The determined pole position is indicated under code C00058

= "51: Identify pole position (360°)" device command is used to

 Note!

From software version V4.0 the response parameterised in C00640 (Lenze setting:

"Fault") is triggered and the error message "Pole position identification cancelled" is entered in the logbook of the controller if the pole position identification process is aborted.

 Tip!

Detailed information on the pole position identification can be found in the chapter "Motor interface", subchapter "Pole position identification

Possible status displays for this device command

Status (C00003) Meaning

3376386 Device command in process

3342336 Device command executed successfully

3342337 General fault

3382023 Pole position identification cannot be executed because of wrong motor type (asynchronous

motor).

3382024 Pole position identification has been aborted

3382025 Pole position identification cannot be executed because another identification is already

active.

3382026 Identification of pole position cannot be executed because U-rotation or I-rotation test

mode is active.

3382027 Identification of pole position cannot be executed because current controller optimisation

mode is active.

3382033 Pole position identification cannot be executed because the motor is blocked (e.g. by a

mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.

3382047 Pole position identification cannot be executed because an error or trouble is active.

3382065 Pole position identification cannot be executed because either the entire motor or a motor

phase is not connected.

• This error message is only available from software version V3.0 onwards.

". ( 128)

Related device commands

Identify pole position (min. motion)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 65

( 66)

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.21 Identify pole position (min. motion)

If no absolute value encoder is connected, or a synchronous motor of a third-party manufacturer is driven by the controller, the C00002 used to determine the pole position with respect to the motor encoder currently activated in

C00495

• The function can only be activated if the controller is inhibited. Then the execution of the function starts automatically as soon as the controller inhibit is deactivated again.

• During the pole position identification, the rotor aligns itself. This is compensated by a position control.

= "52: Identify pole position (min. motion)" device command is

• The determined pole position is indicated under code C00058

 Note!

From software version V4.0 the response parameterised in C00640 (Lenze setting:

"Fault") is triggered and the error message "Pole position identification cancelled" is entered in the logbook of the controller if the pole position identification process is aborted.

 Tip!

Detailed information on the pole position identification can be found in the chapter "Motor interface", subchapter "Pole position identification

Possible status displays for this device command

Status (C00003) Meaning

3441922 Device command in process

3407872 Device command executed successfully

". ( 128)

3407873 General fault

3447559 Pole position identification cannot be executed because of wrong motor type (asynchronous

motor).

3447560 Pole position identification has been aborted

3447561 Pole position identification cannot be executed because another identification is already

active.

3447562 Identification of pole position cannot be executed because U-rotation or I-rotation test

mode is active.

3447563 Identification of pole position cannot be executed because current controller optimisation

mode is active.

3447569 Pole position identification cannot be executed because the motor is blocked (e.g. by a

mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.

• This error message is only available from software version V4.0 onwards.

3447583 Pole position identification cannot be executed because an error or trouble is active.

3447597 Identification of pole position cannot be executed because the rotor has moved too strongly.

3447601 Pole position identification cannot be executed because either the entire motor or a motor

phase is not connected.

• This error message is only available from software version V3.0 onwards.

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Related device commands

Identify pole position (360°)

( 65)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.22 Resolver error identification

This function extension is available from software version V7.0!

The C00002 which are caused when sine and cosine tracks do not magnetise orthogonally. The identified resolver errors serve to compensate the resolver errors.

• Only possible with servo control.

= "59: Resolver error identification" device command serves to detect resolver errors

 Tip!

Detailed information on the resolver error compensation can be found in the chapter "Encoder evaluation" in the subchapter "Resolver error compensation

Possible status displays for this device command

Status (C00003) Meaning

3900674 Device command in process

3866624 Device command executed successfully

3866625 General fault

3906358 Resolver error identification cannot be executed since the wrong control type is active (no

3906359 Resolver error identification cannot be executed since an error or trouble is active.

3906360 Resolver error identification cannot be executed because another identification is already

3906361 Resolver error identification cannot be executed because of too small speed (< 500 rpm).

servo control).

active.

". ( 263)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.23 Load Lenze INV characteristic

This function extension is available from software version V4.0!

If determination of the so-called "inverter error characteristic" is not possible with the device command "Calculate inv. characteristic

C00002

the device in question.

= "70: Load Lenze INV characteristic" can be used to load a characteristic which is typical of

• Only possible when the controller is inhibited.

" or leads to incorrect results, the device command

 Tip!

Detailed information about the determination of the inverter error characteristic can be found in the chapter "Motor interface" in the subchapter "Optimising the switching

performance of the inverter". ( 135)

Possible status displays for this device command

Status (C00003) Meaning

4621570 Device command in process

4587520 Device command executed successfully

4587521 General fault

Related device commands

Calculate inv. characteristic

( 70)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 69

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.24 Calculate inv. characteristic

If a motor of a third-party manufacturer with unknown motor parameters is driven by the controller, the C00002 determine the so-called "Inverter error characteristic" for optimising the inverter switching performance.

= "71: Determine inverter characteristic" device command can be used to

 Tip!

Detailed information about the determination of the inverter error characteristic can be found in the chapter "Motor interface" in the subchapter "Optimising the switching

performance of the inverter". ( 135)

From software version V4.0: If the inverter error characteristic cannot be determined by

means of this device command, or if the results of the determination are incorrect, the device command "Load Lenze INV characteristic of the device.

( 69)

" can be used to load a characteristic typical

Possible status displays for this device command

Status (C00003) Meaning

4687106 Device command in process

4653056 Device command executed successfully

Related device commands

4653057 General fault

4692754 The calculation of the inverter characteristic cannot be started since the current controller

test mode is active.

4692755 The calculation of the inverter characteristic cannot be started since the V/f test mode is

active.

4692756 The calculation of the inverter characteristic cannot be started since the pole position

identification is active.

4692757 Calculation of the inverter characteristic has been aborted.

4692758 Calculation of the inverter characteristic has been interrupted by error.

4692789 Determined inverter error characteristic exceeds internal limits.

• This situation can for instance occur if the motor power is very much lower than the device power.

• This error message is only available from software version V5.0 onwards.

Load Lenze INV characteristic

( 69)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.25 Determine motor parameters

The C00002 = "72: Determine motor parameters" device command is used to automatically determine the motor parameters for a third-party motor that are listed in the following table – if they are not known:

Parameter Info ASM SM

C00079

C00082

C00084

C00085

C00091

C00092

Mutual motor inductance 

Motor rotor resistance 

Motor stator resistance 

Motor stator leakage inductance 

Motor cosine phi 

Motor magnetising current 

 Tip!

Detailed information about the automatic determination of the motor parameters can be found in the chapter "Motor interface" in the subchapter "Determining the motor

parameters". ( 138)

Possible status displays for this device command

Status (C00003) Meaning

4752642 Device command in process

4718592 Device command executed successfully

4718593 General fault

4758290 Motor identification cannot be started since the current controller test mode is active.

4758291 Motor identification cannot be started since the V/f test mode is active.

4758292 Motor identification cannot be started because pole position identification is active.

4758293 Motor identification has been aborted.

4758294 Motor identification has been aborted by fault.

4758332 Motor identification aborted due to inconsistent motor parameters.

• This error message is only available from software version V7.0 onwards.

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 71

4 Drive interface

Gain

Stator leakage inductance

340 μs

-------------------------------------------------------------------=

Reset time

Stator leakage inductance

Stator resistance

-------------------------------------------------------------------=

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.26 Calculate current controller parameters

This function extension is available from software version V5.0 onwards!

The device command C00002 the gain and the reset time of the current controller for a third-party motor.

Precondition: inductance" (C00085 information before, or have been determined automatically via the device command "Determine

motor parameters".

The two motor parameters "stator resistance" (C00084) and "stator leakage

) either have been parameterised manually on the basis of the manufacturer

= "77: Calculate current controller parameters" is used to calculate

 Note!

For a Lenze motor the calculation and the subsequent optimisation of the current controller parameters is not accepted from »Engineer« motor catalogue.

The device command is no controller parameters!

• The calculation is carried out according to the following formulas:

required, as the correct current controller parameters are

identification procedure for determining the current

• After the device command has been executed successfully (see status in C00003 calculated values are set in C00075 optimisation of the current controller in the test mode.

• In the event of an error, codes C00075

and C00076. They serve as starting values for a subsequent

and C00076 are not altered.

 Tip!

Detailed information on the optimisation of the current controller in the test mode can be found in the chapter "Motor interface" in the subchapter for the respective motor control:

•Servo control (SC)Optimising the current controller

• Sensorless vector control (SLVC)Optimising the current controller

• V/f control (VFCplus) Optimising the current controller

( 144)

( 178)

( 193)

), the two

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Possible status displays for this device command

Status (C00003) Meaning

5080322 Device command in process

5046272 Device command executed successfully

5046273 General fault

5086002 At least one calculated value is outside the valid setting range.

5086003 Stator resistance (C00084

Related device commands

) too small (zero).

Determine motor parameters

Calculate speed controller parameters

( 71)

( 74)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 73

4 Drive interface

Gain

Moment of inertia of motor+load

4 Actual speed value filter time constant 500 μ s+()⋅

-----------------------------------------------------------------------------------------------------------------------------------------

2π 60

------

⋅=

Reset time 4

Actual speed value filter time constant 500 μ s+()⋅=

Rate time 0 ms=

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.27 Calculate speed controller parameters

This function extension is available from software version V5.0 onwards!

The device command C00002 gain, reset time, and rate time of the speed controller.

Precondition: parameterised correctly before.

The moments of inertia for the motor (C00273/1) and load (C00273/2) have been

= "78: Calculate speed controller parameters" is used to calculate the

 Note!

The device command is no identification procedure for determining the speed controller parameters!

• The calculation is carried out according to the following formulas, taking the actual speed value filter time constant into consideration (C00497

• After the device command has been executed successfully (see status in C00003 values are set in the corresponding codes:

• C00070

• C00071

• C00072

• In the event of an error, these codes are not altered.

: Speed controller gain : Speed controller reset time : Speed controller rate time

), the calculated

Possible status displays for this device command

Status (C00003) Meaning

5145858 Device command in process

5111808 Device command executed successfully

5111809 General fault

5151540 At least one calculated value is outside the valid setting range.

Related device commands

Calculate current controller parameters

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

( 72)

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.28 CAN on board: Reset Node

The C00002 = "91: CAN on board: reset node" device command is used to reinitialise the CANopen system bus interface of the controller ("CAN on board"), which is required, for instance, after the data transfer rate, node address, or identifiers have been changed.

 Tip!

For detailed information about the "CAN on board" CANopen system bus interface, please see the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

5997826 Device command in process

5963776 Device command executed successfully

5963777 General fault

6003200 CAN fault

... ...

6003455 CAN fault

Related device commands

CAN on board: Pred.Connect.Set

CAN on board: Identify node

( 79)

( 77)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.29 CAN module: Reset node

The C00002 = "92: CAN module: reset node" device command is used to reinitialise the CANopen interface of a CANopen communication module in module slot MXI1 or MXI2, which is required, for instance, after the data transfer rate, node address, or identifiers have been changed.

 Tip!

Detailed information on the CANopen communication module (E94AYCCA) can be found in the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6063362 Device command in process

6029312 Device command executed successfully

6029313 General fault

6068736 CAN fault

...

6068991 CAN fault

Related device commands

CAN module: Pred.Connect.Set

CAN module: Identify node

( 80)

( 78)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.30 CAN on board: Pred.Connect.Set

The C00002 = "93: CAN on board: Pred.Connect.Set" device command is used to set the basic identifiers for the CANopen system bus interface of the controller ("CAN on board") according to the "Predefined Connection Set" (DS301V402).

 Tip!

For detailed information about the "CAN on board" CANopen system bus interface, please see the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6128898 Device command in process

6094848 Device command executed successfully

6094849 General fault

Related device commands

CAN on board: Reset Node

CAN on board: Identify node

( 75)

( 79)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.31 CAN module: Pred.Connect.Set

The C00002 = "94: CAN module: pred.connect.set" device command is used to set the basic identifiers for the CANopen system bus interface of a CANopen communication module in module slot MXI1 or MXI2 according to the "Predefined Connection Set" (DS301V402).

 Tip!

Detailed information on the CANopen communication module (E94AYCCA) can be found in the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6194434 Device command in process

6160384 Device command executed successfully

6160385 General fault

Related device commands

CAN module: Reset node

CAN module: Identify node

( 76)

( 80)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.32 CAN on board: Identify node

The C00002 = "95: CAN on board: identify node" device command is used to determine the nodes connected to the CANopen system bus interface of the controller ("CAN on board").

• The result of the CAN bus scan is displayed in C00393

 Tip!

For detailed information about the "CAN on board" CANopen system bus interface, please see the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6259970 Device command in process

6225920 Device command executed successfully

6225921 General fault

Related device commands

CAN on board: Reset Node

CAN on board: Pred.Connect.Set

( 75)

( 77)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.33 CAN module: Identify node

The C00002 = "96: CAN module: identify node" device command is used to determine the nodes connected to the CANopen system bus interface of a CANopen communication module in module slot MXI1 or MXI2.

• The result of the CAN bus scan is displayed in C13393 (for MXI1) or in C14393 (for MXI2).

 Tip!

Detailed information on the CANopen communication module (E94AYCCA) can be found in the "CAN" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6325506 Device command in process

6291456 Device command executed successfully

6291457 General fault

Related device commands

CAN module: Reset node

CAN module: Pred.Connect.Set

( 76)

( 78)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.34 Unbind/bind Ethernet module MXI1

The C00002 = "101: Unbind/bind Ethernet module: MXI1" device command is used to reinitialise the Ethernet interface of an Ethernet communication module in module slot MXI1, e. g. to accept a newly set IP or gateway address without mains switching.

 Tip!

Detailed information on the Ethernet communication module (E94AYCEN) can be found in the "Ethernet" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6653186 Device command in process

6619136 Device command executed successfully

6619137 General fault

Related device commands

Unbind/bind Ethernet module MXI2

( 82)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.35 Unbind/bind Ethernet module MXI2

The C00002 = "102: Unbind/bind Ethernet module: MXI2" device command is used to reinitialise the Ethernet interface of an Ethernet communication module in module slot MXI2, e. g. to accept a newly set IP or gateway address without mains switching.

 Tip!

Detailed information on the Ethernet communication module (E94AYCEN) can be found in the "Ethernet" Communication Manual.

Possible status displays for this device command

Status (C00003) Meaning

6718722 Device command in process

6684672 Device command executed successfully

6684673 General fault

Related device commands

Unbind/bind Ethernet module MXI1

( 81)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

PS 4

PS 3

PS 2

Application 2

PS 1

PS 4

PS 3

PS 2

Memory module MM

9400

RAM

Firmware Application 1*Application 1*

PS 1

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.36 Activate parameter set 1 ... 4

In addition to the start parameters, up to four further parameter sets can be stored in the memory module for each application. Like this you can for instance define different controller settings for an application, which are then simply activated via device command, if required.

The following device commands can be used to activate the parameter set 1 ... 4 for the active application (if available on the memory module):

C00002

= "201: Activate parameter set 1"

= "202: Activate parameter set 2"

C00002

* In this example, application 1 is the active application

[4-20] Example: "Activate parameter set 1" function

= "203: Activate parameter set 3"

= "204: Activate parameter set 4"

• Only possible when the application has stopped and the controller is inhibited.

• All parameter changes of the previously active parameter set carried out since the last saving will get lost!

• These device commands only affect the settings of the operating system, application, and module parameters; the active application, or a configuration selected with the function block editor remain unchanged.

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Possible status displays for these device commands

Status (C00003) Meaning

for command

201

13206786 13272322 13337858 13403394 Device command in process

13172736 13238272 13303808 13369344 Device command executed successfully

13172731 13238273 13303809 13369345 General fault

13206532 13272068 13337604 13403140 File could not be opened.

13206557 13272093 13337629 13403165 Fault while reading out of a file.

13206558 13272094 13337630 13403166 Fault while writing into a file.

13206559 13272095 13337631 13403167 Invalid file type.

13206560 13272096 13337632 13403168 Unexpected end of file.

13206562 13272098 13337634 13403170 Checksum error

13212160 13277696 13343232 13408768 CAN fault

13212415 13277951 13343487 13409023 CAN fault

13213697 13279233 13344769 13410305 Access to file has been denied since the file is

13213701 13279237 13344773 13410309 I/O fault when accessing the file system

13213708 13279244 13344780 13410316 RAM is full

13213709 13279245 13344781 13410317 Access authorisation denied

13213724 13279260 13344796 13410332 No free memory on the memory module

for command

202

... ... ... ... ...

for command

203

for command

204

already accessed from another position

Related device commands

Activate parameter set 1 ... 4

( 85)

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4 Drive interface

PS 4

PS 3

PS 2

Application 2

PS 1

PS 4

PS 3

PS 2

Memory module MM

9400

RAM

Firmware Application 1*Application 1*

PS 1

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.37 Activate parameter set 1 ... 4

The following device commands are used to archive the current parameter settings of the controller for the active application in the memory module as parameter set 1 ... 4:

C00002

= "301: Archive parameter set 1"

= "302: Archive parameter set 2"

C00002

* In this example, application 1 is the active application

[4-21] Example: "Archive parameter set 1" function

= "303: Archive parameter set 3"

= "304: Archive parameter set 4"

• Previously archived parameter settings will be overwritten with the current parameter settings!

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Possible status displays for these device commands

Status (C00003) Meaning

for command

301

19760386 19825922 19891458 19956994 Device command in process

19726336 19791872 19857408 19922944 Device command executed successfully

19726337 19791873 19857409 19922945 General fault

19760132 19825668 19891204 19956740 File could not be opened.

19760157 19825693 19891229 19956765 Fault while reading out of a file.

19760158 19825694 19891230 19956766 Fault while writing into a file.

19760160 19825696 19891232 19956768 Unexpected end of file.

19767297 19832833 19898369 19963905 Access to file has been denied since the file is

19767301 19832837 19898373 19963909 I/O fault when accessing the file system

19767308 19832844 19898380 19963916 RAM is full

19767309 19832845 19898381 19963917 Access authorisation denied

19767324 19832860 19898396 19963932 No free memory on the memory module

for command

302

for command

303

for command

304

already accessed from another position

Related device commands

Activate parameter set 1 ... 4

( 83)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

9400

RAM Memory module MM

Cam dataCam data

Cam application

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.38 Load cam data

This function extension is available from software version V3.0!

The C00002 module into the controller.

= "501: Load cam data" device command serves to reload cam data from the memory

 Note!

If you transfer the parameter set or the application from »Engineer« to the controller, the cam data are also transferred automatically to the controller.

• The new/altered cam data are accepted in the controller according to the online change mode set.

• Thus, normally this device command does not need to be executed manually.

[4-22] "Load cam data" function

• Only possible when the application has stopped and the controller is inhibited.

• If the cam data are provided with an access protection, the user password has to be entered in

C02900

first.

 Tip!

Detailed information on the online change mode and the access protection can be found in the chapter "Basic drive functions", subchapter "Cam data management

Sequence

1. The cam data are completely loaded from the memory module into the main memory of the controller.

2. The present cam data in the application unit are converted to the internal unit [increments] and are reorganised.

3. The processed cam data are stored in a separate main memory that can be accessed by the cam application.

". ( 552)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Possible status displays for this device command

Status (C00003) Meaning

32867586 Device command in process

32833536 Device command executed successfully

32833537 General fault

32875521 No cam data available on the memory module

32875523 Loading of the cam data failed

32875525 Checksum error

32875542 Wrong password entered

32875545 The cam functionality is deactivated

Related device commands

Save cam data

Calculate cam data

Calculate cam data checksum

( 89)

( 91)

( 92)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

9400

RAM Memory module MM

Cam dataCam data

Cam application

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.39 Save cam data

This function extension is available from software version V3.0!

The C00002 main memory of the controller with mains failure protection in the memory module.

[4-23] "Save cam data" function

• This function is executed in the background and is also possible when the controller is enabled and the application is running.

• However, this function is only executed if valid cam data are available.

• Th e cam dat a can also be sav ed if previousl y no cam data have be en available on the mem ory

• While the function is executed, no online change and no change of the cam data via parameters can be carried out.

For software versions lower than V4.0 the following applies:

• If the cam data are provided with an access protection, the user password has to be entered in

C02900

The following applies from software version V4.0:

= "502: Save cam data" device command serves to save the cam data available in the

module.

first.

• For saving the cam data, you do not need to enter a possibly existing user password (C02900

 Tip!

Detailed information on the access protection can be found in the chapter "Basic drive functions", subchapter "Cam data management

". ( 552)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Possible status displays for this device command

Status (C00003) Meaning

32933122 Device command in process

32899072 Device command executed successfully

32899073 General fault

32941057 No cam data to be saved are available in the RAM of the controller

32941060 Saving of the cam data failed

32941078 Wrong password entered

32941081 The cam functionality is deactivated

Related device commands

Load cam data

Calculate cam data

( 87)

( 91)

Calculate cam data checksum

( 92)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.40 Calculate cam data

This function extension is available from software version V3.0!

The C00002 memory of the controller to the internal format and makes them available to the application. This, for instance, is necessary if one or more machine parameters affecting the internal scaling of cam data have been changed.

• The status signal bNewDataAvailable of the basic drive function "Cam data management (LS_CamInterface system block) is set to TRUE and the cam data are accepted automatically or manually depending on the online change mode set. After successful data acceptance, the status signal bNewDataAvailable is automatically reset to FALSE.

• The user password does not have to be entered in C02900

• While the function is executed, no online change and no change of the cam data via parameters can be carried out.

• This function is executed in the background and can also be activated when the controller is enabled and the application is running.

= "503: Calculate cam data" device command converts the cam data stored in the main

 Tip!

Detailed information on the cam functionality can be found in the chapter "Basic drive functions", subchapter "Cam data management

Possible status displays for this device command

Status (C00003) Meaning

32998658 Device command in process

". ( 552)

32964608 Device command executed successfully

32964609 General fault

33006617 The cam functionality is deactivated

Related device commands

Load cam data

Save cam data

Calculate cam data checksum

( 87)

( 89)

( 92)

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4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.41 Calculate cam data checksum

This function extension is available from software version V3.0!

The C00002 checksum of the cam data available in the main memory of the controller. This is required if the cam data in the main memory of the controller have been changed via parameters. Afterwards the cam data can be converted to the internal format using the "503: Calculate cam data" device command, or they can be saved with mains failure protection in the memory module using the "502: Save cam data" device command.

• The user password does not have to be entered in C02900

• This function is executed in the background and can also be activated when the controller is enabled and the application is running.

= "504: Calculate cam data checksum" device command is used to recalculate the

 Tip!

Detailed information on the cam functionality can be found in the chapter "Basic drive functions", subchapter "Cam data management

Possible status displays for this device command

Status (C00003) Meaning

33064194 Device command in process

33030144 Device command executed successfully

". ( 552)

33030145 General fault

33072153 The cam functionality is deactivated

Related device commands

Load cam data

Save cam data

Calculate cam data

( 87)

( 89)

( 91)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.42 Format file system

The C00002 = "1030: Format file system" device command is used to format the file system in the memory module.

 Note!

By means of this device command all folders and files in the file system of the memory module are irrevocably deleted!

The application has to be downloaded again with »Engineer«.

Possible status displays for this device command

Status (C00003) Meaning

67536130 Device command in process

67502080 Device command executed successfully

67502081 General fault

Related device commands

Restore file system

( 94)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.43 Restore file system

The C00002 = "1040: Restore file system" device command is used to execute a low level formatting of the file system in the memory module.

 Note!

By means of this device command all folders and files in the file system of the memory module and all pieces of internal information for the management of the file system are irrevocably deleted!

This device command has no status display in C00003 unchanged showing the previous device command status.

, i.e. the display remains

 Stop!

The low level formatting of the file system by the user is only intended for the exceptional case when the standard formatting of the file system via the

C00002

damaged internal management information.

= "1030: Format file system" device command is no longer possible, e.g. due to

Related device commands

Format file system

( 93)

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.44 Prepare firmware update

 Note!

For Lenze service only!

The C00002 controller to the firmware update mode to update the firmware, if required, using the corresponding software.

• Only possible when the application has stopped and the controller is inhibited.

Possible status displays for this device command

Status (C00003) Meaning

655394050 Device command in process

= "10000: Prepare firmware update" device command is used to set the

655360000 Device command executed successfully

655360001 General fault

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4 Drive interface

4.2 Device commands

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.2.45 Restart controller

The C00002 = "11000: Restart controller" device command is used to restart the controller via parameter setting.

• Only possible when the application has stopped and the controller is inhibited.

Possible status displays for this device command

Status (C00003) Meaning

720930050 Device command in process

720896001 General fault

 Note!

Due to the restart at the successful execution of the device command, this status is no longer displayed in

If this device command is used, the message "Undervoltage in the DC bus (0x007b000f)" may appear in the logbook.

C00003.

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

Controller inhibit

Ready to

switch on

Initialisation

active

Switched

Operation

Trouble

active

Quick stop

by trouble

active

Power on

System fault

active

Fault

active

Safe

torque off

active

Warning/

Warning locked

active

4.3 Device states

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.3 Device states

The state control of the drive is controlled internally via a state machine which can adopt the following "device states":

,  From all states

[4-24] Device state machine

 "Warning active" or "Warning locked active" contradicts the definition of a device status. It is a message

which is intended to draw attention to a device status for which there is a reason for a warning. "Warning active"/"Warning locked active" can occur simultaneously with other states.

 Note!

The device states of the controller must not be confused with the function states of the

Basic drive functions

• In the device state "Operation" the Basic drive functions the drive.

. ( 372)

define the motion control of

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4 Drive interface

4.3 Device states

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Display parameters for diagnostic purposes

•In C00183

•In C00150

the current device state is shown.

(status word 1) the current device state is shown in a bit coded manner via

bits 8 ... 11:

Bit 11 Bit 10 Bit 9 Bit 8 Meaning

0000"Initialisation active" state

0001"Device is ready to switch on" state

0010-

0011"Device is switched on" state

0100-

0101-

0110"Operation" state

0111"Trouble active" state

1000-

1001-

1010"Quick stop by trouble active" state

1011"Safe torque off active" state

Observe LED on the safety module!

1100"Fault active" state

1101-

1110-

1111-

xxxxDisplayed message "Warning active"

The displayed message can occur at the same time as the device states "Device is ready to switch on", "Device is switched on" and "Operation", if a monitoring component responds for which the error response "Warning" has been parameterised.

or "Warning locked active"

• C02530

displays the active function state.

LED status displays

The control of the two LEDs "DRIVE READY" and "DRIVE ERROR" in the middle of the controller's front panel depends on the device state. LED status displays for the device state

( 599)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

4 Drive interface

4.3 Device states

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Influence of the status signals of the SB LS_DriveInterface by the device state

Status signals

Device status

Initialisation active

Safe torque off active

Device is ready to switch on

Device is switched on

Operation

Warning active

Warning locked active

Quick stop by trouble active

Trouble active

Fault active

System fault active

(Outputs of the SB LS_DriveInterface

DI_bReady DI_bFail

FALSE FALSE TRUE TRUE FALSE FALSE FALSE

FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE

FALSE FALSE TRUE TRUE TRUE/FALSE TRUE FALSE

TRUE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE

TRUE FALSE FALSE FALSE TRUE/FALSE FALSE TRUE

TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE TRUE/FALSE TRUE/FALSE

FALSE TRUE FALSE FALSE TRUE/FALSE FALSE FALSE

FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE

FALSE TRUE TRUE TRUE TRUE/FALSE FALSE FALSE

Active

DI_bImp

Active

DI_bCInh

Active

DI_bWarning

Active

)

DI_bReady

ToSwitchOn

DI_bOperation

Enabled

Internal interfaces | "LS_DriveInterface" system block

4.3.1 "Initialisation active" state

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF OFF 10: Initialisation active

This is the controller's state directly after switching on the supply voltage.

• In this device state the operating system is initialised.

• The monitoring functions are not active yet.

• Communication is not possible yet.

• The controller cannot be parameterised yet and no device commands can be executed.

• When the device initialisation is completed, the device state is automatically changed to "Safe torque off active".

( 110)

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4 Drive interface

4.3 Device states

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4.3.2 "Safe torque off active" state

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 101: Safe torque off active

This device state becomes active if the controller receives the "Safe torque off" request by the safety module.

• "Drive is torqueless" (0x00750003) is entered in the logbook.

• If no corresponding request by the safety module is available, a change to the subsequent state "Device is ready to switch on" is effected.

 Note!

The "Safe torque off active" status is also passed through after an error has been acknowledged (see illustration [4-24]

4.3.3 "Device is ready to switch on" state

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF "Device is ready to switch on"

This is the device state of the controller directly after the initialisation has been completed and where no DC-bus voltage is applied yet.

• The bus systems are running and the terminals and encoders are evaluated.

• The monitoring functions are active.

• The controller can be parameterised and device commands can be executed to a limited extent.

• The functions of the user task can be used.

• Precondition: The application has started (status display in C02108

• The basic drive functions cannot be used yet.

 Note!

The "Device is ready to switch on" status is not only activated after mains connection but also after reset of "Trouble", "Fault", or "Safe torque off active".

• In order to change from the "Device is ready to switch on" to the "Device is switched on" status when C00142 must be active.

• When C00142 changes to the "Device is switched on" status.

= "1: Enabled", the "Device is ready to switch on" status directly

= "0: inhibited", at least one of the controller inhibit sources

100

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

Lenze 9400 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 About this documentation

1.1 Conventions used

1.2 Terminology used

1.3 Definition of notes used

2.1 Parameter setting, configuring, or programming?

2 Introduction

2.1.1 Basic functionalities

2.1.2 Technology applications

2.2 Communicating with the controller

2.2.1 Going online via diagnostic adapter

2.2.2 Going online via system bus (CAN on board)

2.2.3 Use of other communication interfaces

2.3 Signal types & scaling

3 Commissioning

3.1 General information

3.2 Notes on commissioning using the keypad

3.3 Initial commissioning

3.4 Standard set-up

3.5 Controller replacement

3.6 Motor replacement

4 Drive interface

4.1 Machine parameters

4.1.1 Mains voltage

4.1.2 Gearbox ratio

4.1.3 Motor mounting direction

4.1.4 Feedback configuration

4.1.5 Unit/user-defined unit

4.1.6 Traversing range

4.1.7 Feed constant

4.1.8 Resolution of an encoder revolution

4.1.8.1 Determining the optimum resolution

4.1.9 Max. position, speed, and acceleration that can be displayed internally

4.2 Device commands

4.2.1 Load Lenze setting

4.2.2 Load start parameters

4.2.3 ENP:Load plant data

4.2.4 Activate application

4.2.5 Save selected application

4.2.6 Save start parameters

4.2.7 Delete logbook

4.2.8 Archive logbook

4.2.9 Start application

4.2.10 Stop application

4.2.11 Reset program

4.2.12 Delete program

4.2.13 Restart program

4.2.14 Reset runtime measurement

4.2.15 Inhibit controller

4.2.16 Enable controller

4.2.17 Reset error

4.2.18 Activate quick stop

4.2.19 Reset quick stop

4.2.21 Identify pole position (min. motion)

4.2.22 Resolver error identification

4.2.23 Load Lenze INV characteristic

4.2.24 Calculate inv. characteristic

4.2.25 Determine motor parameters

4.2.26 Calculate current controller parameters

4.2.27 Calculate speed controller parameters

4.2.28 CAN on board: Reset Node

4.2.29 CAN module: Reset node

4.2.30 CAN on board: Pred.Connect.Set

4.2.31 CAN module: Pred.Connect.Set

4.2.32 CAN on board: Identify node

4.2.33 CAN module: Identify node

4.2.34 Unbind/bind Ethernet module MXI1

4.2.35 Unbind/bind Ethernet module MXI2

4.2.36 Activate parameter set 1 ... 4

4.2.37 Activate parameter set 1 ... 4

4.2.38 Load cam data

4.2.39 Save cam data

4.2.40 Calculate cam data

4.2.41 Calculate cam data checksum

4.2.42 Format file system

4.2.43 Restore file system