Lenze E94ARNE User Manual

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EDS94ARNExxxx 13279702

Ä.<ö#ä

L-force Drives

Software Manual

9400

E94AxRNxxxx

9400 regenerative power supply module

Parameter setting

9400 regenerative power supply module | Parameter setting

Overview of technical documentation for 9400 Servo Drives

Project planning, selecting & ordering Legend:

 9400 Hardware Manual  Printed documentation

 Catalogue / electronic catalogue (DSC - Drive Solution Catalogue)  Online documentation

(PDF/Engineer online help)

Mounting & wiring Abbreviations used:

 MA for controller BA Operating Instructions

 MA for regenerative power supply module KHB Communication Manual

 MA for communication module MA Mounting Instructions

 MA for extension module SW Software Manual

 MA for safety module

 MA for accessories

 MA for remote maintenance components

Parameter setting

 BA for keypad

 SW for Lenze »Engineer« software

 SW for controller (9400 HighLine/9400 PLC)

 SW for regenerative power supply module  This documentation

 KHB for communication module

 SW for extension module

 SW for safety module

 SW for Lenze technology application

 SW for 9400 function library

Configuring & programming

 SW for Lenze »L-force Engineer« software

 SW for Lenze »PLC Designer« software

 SW for controller (9400 HighLine/9400 PLC)

 KHB for communication module

 SW for extension module

 SW for safety module

 SW for Lenze technology application

 SW for 9400 function library

Commissioning the drive/device

 SW for controller

 SW for regenerative power supply module  This documentation

 Chapter "Commissioning  Chapter "Oscilloscope  Chapter "Diagnostics & fault analysis

 Remote Maintenance Manual

Establishing the networking

 KHB for communication medium used

" ( 12)

" ( 170)

" ( 187)

2 L EDS94ARNExxxx EN 2.3 - 06/2014

9400 regenerative power supply module | Parameter setting

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1 Conventions used

1.2 Terminology used

1.3 Definition of notes used

2 Commissioning

2.1 Short setup

2.1.1 Example circuit

2.1.2 Commissioning with the keypad

2.1.3 Commissioning with the Engineer

2.1.4 Controlling the regenerative power supply module via terminals

2.2 Device replacement

2.3 Filter replacement

3 Regenerative power supply module application

3.1 Parameterising the brake chopper/brake resistor

3.1.1 Setting the voltage threshold for braking operation

3.1.2 Setting the brake chopper mode

3.1.3 Monitoring

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3.1.3.1 Overcurrent protection

3.1.3.2 Ixt utilisation of brake transistor

3.1.3.3 I2t utilisation of brake resistor

3.1.3.4 DC-bus overvoltage

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3.2 Signal configuration

3.2.1 Device and line interface

3.2.2 Output ports

3.3 Assignment of the I/O terminals

4 Device interface

4.1 Device commands

4.1.1 Load Lenze setting

4.1.2 Load start parameters

4.1.3 Load route data from the ENP

4.1.4 Activate application

4.1.5 Save selected application

4.1.6 Save start parameters

4.1.7 Delete logbook

4.1.8 Archive log file

4.1.9 Start application

4.1.10 Stop application

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9400 regenerative power supply module | Parameter setting

Contents

4.1.11 Reset program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.1.12 Delete program

4.1.13 Restart program

4.1.14 Reset runtime measurement

4.1.15 Inhibit controller

4.1.16 Enable controller

4.1.17 Reset error

4.1.18 Reset max DC power mot.

4.1.19 Reset max DC power reg.

4.1.20 Reset max. line power reg.

4.1.21 Reset transmitted energy

4.1.22 Reset regenerated energy

4.1.23 CAN on-board: Reset node

4.1.24 CAN module: Reset node

4.1.25 CAN on-board: Pred.Connect.Set

4.1.26 CAN module: Pred.Connect.Set

4.1.27 CAN on-board: Identify node

4.1.28 CAN module: Identify node

4.1.29 Unbind/bind Ethernet module MXI1

4.1.30 Unbind/bind Ethernet module MXI2

4.1.31 Activate parameter sets 1 ... 4

4.1.32 Archive parameter sets 1 ... 4

4.1.33 Format file system

4.1.34 Restore file system

4.1.35 Prepare firmware update

4.1.36 Restart controller

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4.2 Device states

4.2.1 State "Initialisation active"

4.2.2 State "Device is ready to switch on"

4.2.3 State "Device is switched on"

4.2.4 State "Operation"

4.2.5 State "Warning active"

4.2.6 State "Warning locked active"

4.2.7 State "Trouble active"

4.2.8 State "Fault active"

4.2.9 State "System fault active"

4.3 Automatic restart after power-on/trouble/fault

4.4 Monitoring the device utilisation

4.5 Display of peak power

4.6 Display of output and regenerated energy

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4 L EDS94ARNExxxx EN 2.3 - 06/2014

9400 regenerative power supply module | Parameter setting

Contents

5 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5.1 Overview

5.2 Analog inputs

5.2.1 Terminal assignment/electrical data

5.2.2 Parameter setting

5.2.3 Reconfiguring analog input 1 into current input

5.3 Analog outputs

5.3.1 Terminal assignment/electrical data

5.3.2 Parameter setting

5.4 Digital inputs

5.4.1 Terminal assignment/electrical data

5.4.2 Parameter setting

5.5 Digital outputs

5.5.1 Terminal assignment/electrical data

5.5.2 Parameter setting

5.6 "State bus" monitoring function

6 "CAN on board" system bus

6.1 General information

6.1.1 General data and operating conditions

6.1.2 Supported protocols

6.1.3 Communication time

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6.2 Possible settings via DIP switches

6.2.1 Setting the node address

6.2.2 Setting the baud rate

6.3 LED status displays for the system bus

6.4 Structure of the CAN data telegram

6.4.1 Identifier

6.4.2 User data

6.5 Communication phases/network management

6.5.1 State transitions

6.5.2 Network management telegram (NMT)

6.5.3 Parameterising a device to act as a CAN master

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9400 regenerative power supply module | Parameter setting

Contents

6.6 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

6.6.1 Process data object identifiers

6.6.2 Transmission type

6.6.3 Masking of TPDOs for event control

6.6.4 Data reception monitoring of RPDOs

6.6.5 Synchronisation of PDOs via sync telegram

6.6.5.1 Parameter setting

6.6.5.2 Effect of C01130 on the sync phase position

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6.7 Parameter data transfer

6.7.1 Parameter data object identifiers

6.7.2 User data

6.7.2.1 Command

6.7.2.2 Addressing by means of index and subindex

6.7.2.3 Data 1 ... data 4

6.7.2.4 Error messages

6.7.3 Parameter data telegram examples

6.7.3.1 Read parameters

6.7.3.2 Write parameters

6.7.3.3 Read block parameters

6.8 Diagnostics

6.9 Monitoring

6.9.1 Node guarding protocol

6.9.2 Heartbeat protocol

6.9.3 Emergency telegram

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

6.9.1.1 Telegram structure

6.9.1.2 Parameter setting

6.9.1.3 Commissioning example

6.9.2.1 Telegram structure

6.9.2.2 Parameter setting

6.9.2.3 Commissioning example

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

. . . . . . . . . . . . . . . . . . . . 124

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

6.10 Implemented CANopen objects

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9400 regenerative power supply module | Parameter setting

Contents

7 Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

7.1 Technical data

7.2 Function description

7.3 User interface

7.3.1 Oscilloscope toolbar

7.3.2 Oscillograph

7.3.3 Vertical settings

7.3.4 Status bar

7.3.5 Trigger/cursor settings

7.3.6 Horizontal settings

7.3.7 Recording settings

7.4 Operation

7.4.1 Selecting the variables to be recorded

7.4.2 Selecting the recording time/sample rate

7.4.3 Selecting the trigger condition

7.4.4 Starting recording

7.4.5 Adjusting the representation

7.4.6 Reading individual measured values

7.5 Data records

7.5.1 Saving/exporting a data record

7.5.2 Loading/importing a data record

7.5.3 Deleting a data record in the project

7.5.4 Overlay function

7.5.5 Copying a data record to the clipboard

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

7.6 Internal variables (oscilloscope signals)

8 Diagnostics & fault analysis

8.1 LED status displays

8.1.1 LED status displays for the device state

8.2 Drive diagnostics with the »Engineer«

8.3 Device diagnostics via keypad/bus system

8.4 Logbook

8.4.1 Functional description

8.4.2 Filtering logbook entries

8.4.3 Reading out logbook entries

8.4.4 Exporting logbook entries to a file

8.5 Monitoring

8.5.1 Setting the error response

8.5.2 Warning thresholds

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

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9400 regenerative power supply module | Parameter setting

Contents

8.6 Error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

8.6.1 Structure of the error number (bit coding)

8.6.1.1 Response

8.6.1.2 Instance ID

8.6.1.3 Module ID

8.6.1.4 Error ID

8.6.1.5 Example for the bit coding of the error number

8.6.2 Resetting an error message

8.6.3 Short overview (A-Z)

8.6.4 Cause & possible remedies

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

. . . . . . . . . . . . . . . . . . 201

9 Internal interfaces

9.1 LS_AnalogInput - analog inputs

9.2 LS_AnalogOutput - analog outputs

9.3 LS_DigitalInput - digital inputs

9.4 LS_DigitalOutput - digital outputs

9.5 LS_DriveInterface - device interface

9.6 LS_LineInterface - line interface

9.7 LS_SyncInput - status information for the sync telegram

10 Parameter reference

10.1 Structure of the parameter descriptions

10.1.1 Data type

10.1.2 Parameters with read-only access

10.1.3 Parameters with write access

10.1.4 Parameter attributes

10.1.5 Abbreviations used in parameter & selection texts

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

. . . . . . . . . . . . . . . . . . . . . . . . . . 264

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

10.1.3.1 Parameters with setting range

10.1.3.2 Parameters with selection list

10.1.3.3 Parameters with bit-coded setting

10.1.3.4 Parameters with subcodes

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

. . . . . . . . . . . . . . . . . . . . . . . . 271

10.2 Parameter list

10.3 Table of attributes

11 Index

8 L EDS94ARNExxxx EN 2.3 - 06/2014

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347

Your opinion is important to us

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

9400 regenerative power supply module | Parameter setting

1 About this documentation

This documentation contains information about the regenerative power supply module.

 Please read the Mounting Instructions supplied with the regenerative power

supply module before you start working!

The Mounting Instructions contain safety information which must be observed!

Target group

This documentation is directed at all persons who parameterise and diagnose the regenerative power supply module by means of the L-force »Engineer« software and the keypad.

Information on the validity

The information provided in this documentation is valid for the following standard devices:

About this documentation

Product series Type designation From software version

Servo Drives 9400 E94AxRNxxxx 1.0

Document history

Version Description

2.3 06/2014 TD05 Error corrections

2.2 03/2010 TD05 Error corrections

2.1 01/2009 TD05 Error corrections

2.0 11/2008 TD05 • Extended by new functions for regenerative power supply module V2

•New main chapter: "CAN on board" system bus

1.1 07/2008 TD05 Error corrections

1.0 04/2008 TD05 First edition

EDS94ARNExxxx EN 2.3 - 06/2014 L 9

9400 regenerative power supply module | Parameter setting

About this documentation 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

Numbers

Decimal separator Point Generally the decimal point is used.

For example: 1234.56

Text

Program name » « The Lenze PC software »Engineer«...

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

Sequence of menu commands

Shortcut <Bold> Use <F1> to open the online Help.

Hyperlink Underlined

Symbols

Page reference ( 10) Optically highlighted reference to another page. Is

Step-by-step instructions



Properties tab...

If the execution of a function requires several commands, the individual commands are separated by an arrow: Select File

If a command requires a combination of keys, a "+" is placed between the key symbols: Use <Shift>+<ESC> to...

A hyperlink is an optically highlighted reference which is activated with a mouse click.

activated via mouse-click in this online documentation.

Step-by-step instructions are indicated by a pictograph.

Open to...

1.2 Terminology used

Term Meaning

»Engineer« Lenze software which supports you throughout the whole machine life cycle -

Code "Container" for one or several parameters used for parameter setting or

Subcode If a code contains several parameters, the individual parameters are stored

from planning to maintenance.

monitoring of the regenerative power supply module.

under "subcodes". This documentation uses a slash "/" as a separator between code and subcode

(e.g. "C00118/3").

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9400 regenerative power supply module | Parameter setting

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)

About this documentation

Definition of notes used

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 another documentation



EDS94ARNExxxx EN 2.3 - 06/2014 L 11

9400 regenerative power supply module | Parameter setting

Commissioning

2 Commissioning

This chapter describes three different commissioning scenarios:

A. Short setup

– Target: Adapting the regenerative power supply module to the electromechanics

and the control system.

B. Device replacement

– Target: Replacing a regenerative power supply module which has failed in a running

system by a replacement device using the "old" memory module.

C. Filter replacement

– Target: Replacing a filter which has failed in a running system.

( 13)

( 20)

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9400 regenerative power supply module | Parameter setting

L1 L2

F1...F3

L1 L2

E94ARNE0xx4

X111

-UG

RFR

+UG

Rb2

Rb1

L1 L2

X112

RFR

. . .



E94AZPP0364

GE24E



24E

X323

X324

E94AZMR0xx4xDB

L1 L2

X109

X110

L1.2

L2.2

L3.2

L1.1

L2.1

L3.1

X321

X322

X320

GODO2



2.1 Short setup

The short setup described in this chapter serves to adapt the regenerative power supply module to the electromechanics and the control system. The short setup can be carried out with the keypad or the Lenze PC software »Engineer«.

2.1.1 Example circuit

Commissioning

Short setup

94PSPVR01

Name Component

E94ARNE0xx4 Regenerative power supply module

E94AZPP0364 Installation backplane of regenerative power supply module

E94AZMR0... Mains filter

F1 ... F4 Fuses

RFR Controller enable (only for regenerative feedback)

K1 Mains contactor

RB Brake resistor

 24-V voltage source for the control electronics

 24-V voltage source for the digital inputs in accordance with IEC 61131-2

 From version 02.00: Overtemperature disconnection (DO2 load: max. 50 mA)

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(safely separated power supply unit (SELV/PELV), in accordance with IEC 61131-2)

9400 regenerative power supply module | Parameter setting

Commissioning Short setup

2.1.2 Commissioning with the keypad

1. Switch on 24-V supply of the regenerative power supply module. – With the first switch-on of the regenerative power supply module, the filter data are

automatically read out of the electronic filter nameplate (ENP) and temporarily saved in the regenerative power supply module.

2. If the mains voltage is not 400/415 V, adapt the Lenze setting in C00173 – Note: A change of the setting in C00173

utilisation! In the chapter "Rated data" of the Hardware Manual, the device types and their permissible device utilisation at different mains voltages and switching frequencies are specified.

3. Carry out optional parameter setting: – Parameterising the brake chopper/brake resistor – Signal configuration

4. Save the parameter set (C00002 – By saving the parameter set, certain data such as the filter data are permanently

available in the regenerative power supply module and do not need to be read again from the electronic filter nameplate at the next switch-on. This shortens the initialisation time correspondingly.

5. Switch on mains voltage  the DC bus is charged.

6. Deactivate controller inhibit via controller enable terminal (RFR)  regenerative feedback is enabled.

7. Controlling the regenerative power supply module via terminals

( 30)

= "11: Save start parameters").

also has an impact on the permissible device

( 22)

. ( 19)

accordingly.

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9400 regenerative power supply module | Parameter setting

2.1.3 Commissioning with the Engineer

For commissioning with the Lenze PC software »Engineer« you need:

 A PC with the following system requirements:

– Processor with at least 1.4 GHz – At least 512 MB RAM and 650 MB of free hard disk space – Operating system Microsoft® Windows® 2000 (service pack 2 or higher) or

Windows® XP

 A connection to the regenerative power supply module, e. g. via the diagnostic adapter

offered by Lenze.

Commissioning

Short setup

 Note!

Please observe the documentation for the diagnostic adapter!

For communication with the regenerative power supply module, at least the control electronics of the regenerative power supply module must be supplied with 24-V low voltage via the connector X2; detailed information on this can be found in the Mounting Instructions for the regenerative power supply module.

 Stop!

If you alter parameters in the »Engineer« while an online connection to the regenerative power supply module is established, the changes are directly accepted in the regenerative power supply module!

 Tip!

An online connection can also be established via optional interfaces which are provided by corresponding communication modules in the module receptacles MXI1/MXI2 of the regenerative power supply module.

Detailed information about the different interfaces can be found in the corresponding Communication Manuals.

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9400 regenerative power supply module | Parameter setting

Commissioning Short setup

 How to carry out the commissioning with the »Engineer«:

1. Start the »Engineer«.

2. Select the procedure in the Start-up wizard.

• For instance, select the option "Select component from catalog".

3. Add the corresponding components from the catalog to the project:

• Regenerative power supply module

• Available device modules

• Regenerative power supply module application

Project view example in the »Engineer«:

4. Select the regenerative power supply module in the Project view.

5. Change to the Application parameters tab in the Workspace.

6. If the mains voltage is not 400/415 V, adapt the Lenze setting accordingly in the

Mains voltage list field.

Note: A change of the setting in C00173

device utilisation! In the chapter "Rated data" of the Hardware Manual, the device types and their permissible device utilisation at different mains voltages and switching frequencies are specified.

16 L EDS94ARNExxxx EN 2.3 - 06/2014

also has an impact on the permissible

9400 regenerative power supply module | Parameter setting

Commissioning

Short setup

7. Carry out optional parameter setting:

• Parameterising the brake chopper/brake resistor

• Signal configuration

• Establish network/communication.

8. Switch on 24-V supply of the regenerative power supply module.

• With the first switch-on of the regenerative power supply module, the filter data are automatically read out of the electronic filter nameplate (ENP) and temporarily saved in the regenerative power supply module.

9. Click the icon.

10. Confirm the following note with Yes to accept the changes on the project:

( 30)

( 22)

The Build project dialog box is displayed:

11. Click Build to build the project.

• After the project has been built successfully, a corresponding note is displayed.

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9400 regenerative power supply module | Parameter setting

Commissioning Short setup

12. Confirm the note that the project has been built successfully with OK.

If no communication path has been configured for the regenerative power supply module yet, the Communication path dialog box is displayed:

13. Set the bus connection (e. g. "Diagnostic adapter") to the regenerative power supply module in the Communication path dialog box.

14. Click Connect to establish the online connection to the regenerative power supply module.

• After the connection has been established successfully, the Transfer to device

dialog box is displayed.

Note: The following parameters are set automatically in the regenerative power supply module via the electronic filter nameplate (ENP): C00070

C00076

• »Engineer« versions ≥ V2.9 do not

• If an older »Engineer« version is used, these parameters have to be saved prior

15. Click Start in the Transfer to device dialog box.

16. Confirm the query on whether the device is to be inhibited and the application is to be stopped with Yes.

• Then the transmission is started.

17. After the transmission has been carried out successfully, confirm the query on whether the application is to be started with Yes.

, C00084 and C00085.

overwrite these parameters during a

parameter download.

to a parameter download and then reset manually to the saved values.

, C00071, C00075,

18. Also confirm the query on whether the device is to be enabled with Yes.

19. Switch on mains voltage  the DC bus is charged.

20. Deactivate controller inhibit via controller enable terminal (RFR)  regenerative feedback is enabled.

21. Controlling the regenerative power supply module via terminals

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9400 regenerative power supply module | Parameter setting

 Note!

The regenerative power supply module still remains inhibited via the controller enable terminal (RFR) if this terminal is set to LOW level.

Commissioning

Short setup

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

• The sources or trip elements that are active for controller inhibit are displayed

in a bit-coded manner in C00158

2.1.4 Controlling the regenerative power supply module via terminals

If the regenerative power supply module is enabled, the application can be controlled via the digital inputs and/or MotionBus (if it is integrated in a network).

Terminal assignment of digital inputs

Terminal Assignment (Lenze setting)

X5 RFR Controller enable

DI1 Inhibit regenerative feedback

• Function also possible via bit 01 of control word 1.

DI2 Activate brake chopper

• Function also possible via bit 02 of control word 1.

DI3 Reset (acknowledge) error

• A pending error message can be reset (acknowledged) by a LOW-HIGH edge if the cause of the error message has been eliminated.

• Function also possible via bit 07 of control word 1.

 Tip!

Detailed information on device applications can be found in the chapter "Regenerative power supply module application

". ( 21)

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9400 regenerative power supply module | Parameter setting

Commissioning Device replacement

2.2 Device replacement

Scenario: The regenerative power supply module in a running system has failed.

 Note!

For the procedure described below we assume that the memory module and possibly available extension modules in the regenerative power supply module and the filter are not affected by the failure and all parameters have been stored with mains failure protection.

Worksteps

Replacement of the regenerative power supply module:

1. Replace regenerative power supply module.

See Mounting Instructions for the regenerative power supply module!

2. Insert memory module of the regenerative power supply module that has failed into the replacement device.

3. If further extension modules are plugged into the failed regenerative power supply module, they must also be inserted into the replacement device.

Further steps are not required since all required data are stored on the memory module.

2.3 Filter replacement

Scenario: The filter in a running system has failed.

 Note!

In the procedure described below we assume that the regenerative power supply module is not affected by the failure.

Worksteps

Replacement of the filter:

1. Replace filter.

For a filter with an electronic nameplate (ENP):

2. Restart regenerative power supply module with connected filter to read out the filter data from the

3. Execute device command C00002

For a filter without an electronic nameplate (ENP):



See Mounting Instructions for the regenerative power supply module!

electronic nameplate.

• Restart the device either by switching the voltage supply off and on again, or via the device command C00002

Note:

The filter is operated with the filter data from the memory module.

= "11000: Restart regenerative power supply module".

= "11: Save start parameters".

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application

3 Regenerative power supply module application

This chapter provides you with information on the "Regenerative power supply module" application by which the regenerative power supply module can be controlled via digital inputs and input ports. Status information is provided to other applications via digital outputs and output ports.

 How to get to the parameterisation dialog of the application:

1. Select the regenerative power supply module in the Project view of the »Engineer«.

2. Change to the Application parameters tab in the Workspace.

Parameterisation dialog in the »Engineer«

 The white buttons show the assignment of the control inputs and status outputs of the

application. – The assignment is defined by the "Regenerative power supply module" application

and can, if required, be reconfigured by clicking the corresponding button.

 If you click the button marked with the icon, you get to the parameterisation dialog

for the brake chopper/brake resistor, which is one level beneath.

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Parameterising the brake chopper/brake resistor

3.1 Parameterising the brake chopper/brake resistor

The regenerative power supply module is equipped with an integrated brake transistor.

 The required brake resistor has to be connected externally (see mounting instructions/

hardware manual).

 The rated values for the brake transistor are listed in the Hardware Manual, chapter

"Rated data".

 Stop!

If the connected brake resistor has a lower resistance than the parameterised brake resistor, the brake transistor may be damaged!

The brake resistor can be thermally overloaded. Carry out protective measures suitable for the system, e.g.:

• Parameterisation of an error response in C00574 parameterised error message in the application or machine control. I2t

utilisation of brake resistor ( 27)

• External wiring using the temperature contact on the brake resistor (e.g. interruption of the supply via mains contactor and activation of the mechanical brakes).

and evaluation of the

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application

Parameterising the brake chopper/brake resistor

The brake chopper/brake resistor can be parameterised in the »Engineer» on the

Application parameters tab, dialog level Overview  Brake chopper/resistor:

Short overview: Parameters for braking operation

Parameter Information Lenze setting

Value Unit

C00129 Brake resistor value 180.0 Ohm

C00130

C00131

C00132

C00133

C00134 Minimum brake resistance - Ohm

C00137 Brake transistor utilisation - %

C00138 Brake resistor utilisation - %

C00173

C00181

C00569

C00570

C00571

C00572

C00573

C00574

C00600

Highlighted in grey = display parameter

Rated power of brake resistor 5600 W

Therm. capacity brake resistor 485 kWs

Activation brake chopper At overvoltage and overcurrent

Ref: Brake chopper utilisation Minimum resistance (C00134)

Mains voltage 400/415 V

Red. brake chopper threshold 0 V

Resp. brake trans. ixt > C00570 Warning

Warning thres. brake transistor 90 %

Resp. brake resist. i2t > C00572 Warning

Warning thres. brake resistor 90 %

Resp. to overload brake trans. No response

Resp. to overtemp. brake resist. No response

Resp. to DC bus overvoltage Trouble

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Parameterising the brake chopper/brake resistor

3.1.1 Setting the voltage threshold for braking operation

The voltage threshold for braking operation is set via C00173 (reduced brake chopper threshold). When the brake chopper threshold is exceeded in the DC bus, the brake chopper is switched on.

Mains voltage selected in C00173 Effective brake chopper threshold

230 V 390 V - value in C00181

400/415 V 725 V - value in C00181

460/480 V 765 V - value in C00181

500 V 790 V - value in C00181

3.1.2 Setting the brake chopper mode

For software versions below V2.0, the following applies:

The regenerative power supply module only feeds back to the mains and activates the brake chopper if the inverter-side current reaches the maximum device current. If the current is below the maximum device current and the DC-bus voltage is below the brake chopper threshold, the brake chopper is not activated.

From software version V2.0 onwards, the following applies:

C00132

can be used to set the conditions for brake chopper activation:

(mains voltage) and C00181

(0 ... 100 V)

 Only at overvoltage:

The brake chopper is only activated if the DC-bus voltage has reached the brake chopper threshold. This setting corresponds to the behaviour of the 9400 controller.

 At overvoltage and overcurrent (Lenze setting):

This setting corresponds to the behaviour of regenerative power supply modules with software versions below V2.0.

 At overvoltage and overcurrent and overload:

With this setting, the brake chopper is used for energy consumption if a device utilisation of 90 % is reached during feedback operation.

– The "normal" voltage thresholds for braking operation still apply. Setting the

voltage threshold for braking operation ( 24)

– To protect the brake chopper against damage, monitoring of the Ixt utilisation is still

active. Ixt utilisation of brake transistor

( 26)

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9400 regenerative power supply module | Parameter setting

3.1.3 Monitoring

3.1.3.1 Overcurrent protection

The brake chopper hardware is monitored for overcurrent (short circuit or earth fault).

 Note!

Monitoring for overcurrent can only be activated if a real brake current flows. A test in idle state (without a brake resistor connected) is not possible.

 If the monitoring function responds:

– The brake chopper is switched off immediately. – The "Fault" response that is set fixedly is activated. – The "Brake transistor: overcurrent" error message is entered in the logbook of the

regenerative power supply module.

Regenerative power supply module application

Parameterising the brake chopper/brake resistor

 Note!

The error can only be acknowledged after 2 seconds at the earliest to resume the braking operation.

 Tip!

In addition to the overcurrent protection, the regenerative power supply module is provided with two more monitoring modes for braking operation, which are active even if no brake resistor is connected (testing mode for checking the parameter setting):

Ixt utilisation of brake transistor

I2t utilisation of brake resistor

( 26)

( 27)

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9400 regenerative power supply module | Parameter setting

Ixt

C00137

C00134

C00129

C00133

T=0

Off

T=1

100 %

C00570

C00569

C00573

Logbook entry "Brake chopper: Ixt > C00570"

Logbook entry " "Brake chopper: Ixt overload

DC_act

= f(duty cycle, R )

Regenerative power supply module application Parameterising the brake chopper/brake resistor

3.1.3.2 Ixt utilisation of brake transistor

The regenerative power supply module monitors the Ixt utilisation of the internal brake transistor.

 Note!

The braking operation will never be switched off by this monitoring function.

[3-1] Signal flow of Ixt utilisation - brake chopper

 The monitoring function is based on a mathematical model which calculates the

braking current from the current DC-bus voltage and the brake resistance parameterised.

– Hence, the monitoring function can respond even if no brake resistor is connected

and can therefore also be used for a testing mode to check the parameterisation.

 The calculation considers the thermal utilisation of the brake transistor by a

correspondingly adapted time constant.

 Use C00133

setting in C00173

C00129

 C00137

to select whether the minimum brake resistance depending on the mains

(display in C00134), or the brake resistance value parameterised in

is to be used as a reference for calculating the utilisation.

displays the calculated utilisation of the brake transistor in [%].

– A 100 % utilisation corresponds to the continuous braking power which is provided

by the brake chopper at a DC-bus voltage of 790 V (or 390 V at a mains voltage of 230 V).

– The maximum braking power (assuming that the utilisation starts at 0 %) can be

provided for a period depending on the device.

– The calculated utilisation is also provided as the oscilloscope signal

Common.dnIxtBrakeChopper to check the braking operation while the system is running

(scaling: 2

≡ 100 %).

 If the utilisation exceeds the advance warning threshold set in C00570

, the message "Brake chopper: Ixt > C00570" is entered into the logbook and the response set in

C00569

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(default setting: "Warning") is activated.

9400 regenerative power supply module | Parameter setting

I2t

C00138

C00129

T=0

Off

T=1

100 %

C00572

C00571

C00574

C00129 C00130 C00131

Logbook entry " "Brake resistor: I2t > C00572

Logbook entry " "Brake resistor: I2t overload

DC_act

Temperature model

 When the utilisation reaches the limit value (100 %):

– The activation of the brake chopper is reset to the permanently permissible pulse-

no-pulse ratio (taking into account the parameterised brake resistance). (The brake chopper is activated with 4 kHz, which means that it can be switched on/off at minimum intervals of 250 μs.)

– The response set in C00573

corresponding effects on the state machine and the inverter.

 Note!

If the DC-bus voltage exceeds the overvoltage threshold due to a too high braking energy, the monitoring function for overvoltage in the DC bus responds.

DC-bus overvoltage

3.1.3.3 I2t utilisation of brake resistor

Regenerative power supply module application

Parameterising the brake chopper/brake resistor

(default setting: "No response") is activated with the

( 29)

The regenerative power supply module is provided with a monitoring function for the I utilisation of the brake resistor which is proportional to the converted braking power.

 Note!

The braking operation will never be switched off by this monitoring function.

[3-2] Signal flow - I2t utilisation - brake resistor

 The monitoring function is based on a mathematical model which calculates the

braking current from the current DC-bus voltage and the brake resistance parameterised in C00129

– Hence, the monitoring function can respond even if no brake resistor is connected

and can therefore also be used for a testing mode to check the parameterisation.

 The calculation considers the thermal utilisation of the brake resistor based on the

following parameters: – Resistance value (C00129 – Continuous power (C00130 – Thermal capacity (C00131

EDS94ARNExxxx EN 2.3 - 06/2014 L 27

)

9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Parameterising the brake chopper/brake resistor

 C00138 displays the calculated utilisation of the brake resistor in [%].

– A 100 % utilisation corresponds to the continuous power of the brake resistor

resulting at the maximum permissible temperature limit of the brake resistor.

– The calculated utilisation is also provided as the oscilloscope signal

Common.dnI2tBrakeResistor to check the braking operation while the system is running

(scaling: 2

≡ 100 %).

 If the utilisation exceeds the advance warning threshold set in C00572

"Brake resistor: I2t > C00572" is entered into the logbook and the response set in

C00571

 When the utilisation reaches the limit value (100 %):

– The response set in C00574

– The activation of the brake chopper is reset to the permanently permissible pulse-

(default setting: "Warning") is activated.

(default setting: "No response") is activated with the

corresponding effects on the state machine and the inverter.

no-pulse ratio (taking into account the parameterised brake resistance). (The brake chopper is activated with 4 kHz, which means that it can be switched on/off at minimum intervals of 250 μs.)

, the message

 Stop!

The brake resistor can be thermally overloaded. Carry out protective measures suitable for the system, e.g.:

• Parameterisation of an error response in C00574 parameterised error message in the application or machine control.

• External wiring using the temperature contact on the brake resistor (e.g. interruption of the supply via mains contactor and activation of the mechanical brakes).

and evaluation of the

 Note!

If the system is dimensioned correctly, this monitoring function should not respond. If individual rated data of the connected brake resistor are not known, they must be determined "empirically".

From software version V2.0 onwards, C00571

the error response "Brake chopper is inhibited".

• If this error response occurs, the brake chopper is inhibited without providing feedback to the device control. Instead, feedback is provided via the LI_bChopperOffByTrouble output of the LS_LineInterface

• If the corresponding trigger threshold is fallen below by 5 %, the pulse inhibit of the brake chopper is deactivated again and the status signal LI_bChopperOffByTrouble is reset to FALSE.

and C00574 additionally provide

system block.

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9400 regenerative power supply module | Parameter setting

3.1.3.4 DC-bus overvoltage

If the braking energy is too high and the DC-bus voltage therefore exceeds the overvoltage threshold which results from the mains setting in C00173 error message is output and the response set in C00600 "Trouble").

 Note!

For hoist applications the "Fault" response should be selected in C00600 (in combination with an emergency stop via mechanical brakes).

Regenerative power supply module application

Parameterising the brake chopper/brake resistor

, the "Overvoltage in the DC bus"

is activated (default setting:

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Signal configuration

3.2 Signal configuration

3.2.1 Device and line interface

If required, the default signal configuration of the control and setpoint inputs of the device and line interface can be easily reconfigured by parameterising the multiplexer parameters assigned.

Device interface

Signal (Lenze setting) Control input Signal configuration

DIGIN 1  Set controller inhibit

(inhibit regenerative feedback)

Control word 1 bit 01  Set controller inhibit

(inhibit regenerative feedback)

DIGIN 3  Reset error 1 C03130/3

Control word 1 bit 07  Reset error 2 C03130/4

C03130/1

C03130/2

Line interface

Signal (Lenze setting) Control input Signal configuration

DIGIN 2  Activate brake chopper C03190/1

Control word 1 bit 02  Activate brake chopper C03190/2

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3.2.2 Output ports

If required, the default signal configuration of the output ports can be easily reconfigured by parameterising the multiplexer parameters assigned.

Output port "LPortAxisOut1"

The output port LPortAxisOut1 is intended for the connection to a following axis.

Signal (Lenze setting) Output port Signal configuration

Axis status word

• Application-specific signals can be added.

Setpoints for horizontal communication

9400 regenerative power supply module | Parameter setting

Regenerative power supply module application

Signal configuration

FALSE  Axis status word bit 00 C03120/1 FALSE  Axis status word bit 01 C03120/2 FALSE  Axis status word bit 02 C03120/3 FALSE  Axis status word bit 03 C03120/4 FALSE  Axis status word bit 04 C03120/5 FALSE  Axis status word bit 05 C03120/6 FALSE  Axis status word bit 06 C03120/7 FALSE  Axis status word bit 07 C03120/8 FALSE  Axis status word bit 08 C03120/9 FALSE  Axis status word bit 09 C03120/10 FALSE  Axis status word bit 10 C03120/11 FALSE  Axis status word bit 11 C03120/12 FALSE  Axis status word bit 12 C03120/13 FALSE  Axis status word bit 13 C03120/14 FALSE  Axis status word bit 14 C03120/15 FALSE  Axis status word bit 15 C03120/16

0 %  Axis port out 1 (16 bits) C03124/1 0 %  Axis port out 2 (32 bits) C03124/2

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Signal configuration

Output port "LPortStatus1"

The output port LPortStatus1 is intended for the connection to a higher-level control system.

Signal (Lenze setting) Output port Signal configuration

Status word 1

FALSE  Status word 1 bit 00 C03121/1 FALSE  Status word 1 bit 01 C03121/2 FALSE  Status word 1 bit 02 C03121/3 FALSE  Status word 1 bit 03 C03121/4 FALSE  Status word 1 bit 04 C03121/5 FALSE  Status word 1 bit 05 C03121/6 FALSE  Status word 1 bit 06 C03121/7 FALSE  Status word 1 bit 07 C03121/8 FALSE  Status word 1 bit 08 C03121/9 FALSE  Status word 1 bit 09 C03121/10 FALSE  Status word 1 bit 10 C03121/11 FALSE  Status word 1 bit 11 C03121/12 FALSE  Status word 1 bit 12 C03121/13 FALSE  Status word 1 bit 13 C03121/14 FALSE  Status word 1 bit 14 C03121/15 FALSE  Status word 1 bit 15 C03121/16

Output port "LPortStatus2"

The output port LPortStatus2 is intended for the connection to a higher-level control system.

Signal (Lenze setting) Output port Signal configuration

Status word 2

FALSE  Status word 2 bit 00 C03122/1 FALSE  Status word 2 bit 01 C03122/2 FALSE  Status word 2 bit 02 C03122/3 FALSE  Status word 2 bit 03 C03122/4 FALSE  Status word 2 bit 04 C03122/5 FALSE  Status word 2 bit 05 C03122/6 FALSE  Status word 2 bit 06 C03122/7 FALSE  Status word 2 bit 07 C03122/8 FALSE  Status word 2 bit 08 C03122/9 FALSE  Status word 2 bit 09 C03122/10 FALSE  Status word 2 bit 10 C03122/11 FALSE  Status word 2 bit 11 C03122/12 FALSE  Status word 2 bit 12 C03122/13 FALSE  Status word 2 bit 13 C03122/14 FALSE  Status word 2 bit 14 C03122/15 FALSE  Status word 2 bit 15 C03122/16

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application

Signal configuration

Output port "LPortStatus2"

The output port LPortStatus2 is intended for the connection to a higher-level control system.

Signal (Lenze setting) Output port Signal configuration

Status word 2

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9400 regenerative power supply module | Parameter setting

Regenerative power supply module application Assignment of the I/O terminals

3.3 Assignment of the I/O terminals

In the following tables the Lenze assignment of the I/O terminals for the "Regenerative power supply module" application is listed.

 If required, the default signal configuration can be easily reconfigured via the

parameterisation dialog on the Application parameters tab, or via parameterisation of the multiplexer parameters assigned.

Digital inputs

Terminal Assignment (Lenze setting)

X5 RFR Controller enable

DI1 Inhibit regenerative feedback

• Function also possible via bit 01 of control word 1.

DI2 Activate brake chopper

• Function also possible via bit 02 of control word 1.

DI3 Reset (acknowledge) error

• A pending error message can be reset (acknowledged) by a LOW-HIGH edge if the cause of the error message has been eliminated.

• Function also possible via bit 07 of control word 1.

DI4 -

DI5 -

DI6 -

DI7 -

DI8 -

Digital outputs

Terminal Signal (Lenze setting) Signal configuration

X4 DO1 "Ready for regenerative feedback" state

• Mains voltage is applied.

• Charging of DC bus is completed.

• There is no short circuit or earth fault.

• There is no device overload, i.e. the device utilisation (C00064 below the warning threshold set in C00123

DO2 "Filter overtemperature" state C03100/2

DO3 "Fault active - acknowledgement required" state

• A monitoring function with the "Fault" response has been triggered and the regenerative power supply module is in the "Fault active" device state.

DO4 "Warning active" state

• A filter overload or device overload warning has occurred or another monitoring function with the "Warning" error response has been triggered and the regenerative power supply module is in the "Warning active" device state.

) is

C03100/1

C03100/3

C03100/4

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9400 regenerative power supply module | Parameter setting

 Note!

"Ready for regenerative feedback" status message via digital output DO1:

• If one of the conditions listed in the table for digital output DO1 is not met anymore, the digital output DO1 is reset to LOW level.

Conditions for returning to the "ready for regenerative feedback" state:

• If a mains failure has been detected, the mains voltage has to be applied for at least two complete periods after mains recovery, before the digital output DO1 is reset to HIGH level.

• If a short circuit or earth fault has occurred, the device is ready for operation again after approx. 2 s, i.e. after this time the digital output DO1 is automatically reset to HIGH level.

• The device utilisation evaluation has a hysteresis of 5 %. This means that the device utilisation (C00064 output DO1 is reset to HIGH level.

Regenerative power supply module application

Assignment of the I/O terminals

) must drop to < (C00123 - 5 %) before the digital

Display elements

User LED Signal (Lenze setting) Signal configuration

"Ready for regenerative feedback" state

• See description for digital output DO1.

C03100/5

State bus

Terminal Signal (Lenze setting) Signal configuration

X2 SB FALSE C03100/6

Analog outputs

Terminal Signal (Lenze setting) Signal configuration

X3 AO1 0 % C03110/1

AO2 0 % C03110/2

4 Device interface

This chapter will provide you with information on the device interface via which you can query the states of the regenerative power supply module and set it to specific states.

 How to get to the parameterisation dialog of the device interface:

1. Select the regenerative power supply module in the Project view of the »Engineer«.

2. Change to the Application parameters tab in the Workspace.

3. Click the Device interface button in the Overview dialog box.

Parameterisation dialog in the »Engineer«

 The white buttons display the configuration of the device interface inputs.

LS_DriveInterface - device interface

– The assignment is defined by the technology application selected and can, if

required, be reconfigured by clicking the corresponding button.

 If you click a button marked with the icon, you get one level deeper in the

corresponding parameterisation dialog.

( 259)

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9400 regenerative power supply module | Parameter setting

4.1 Device commands

The following subchapters describe the device commands of the regenerative power supply module, which are available in C00002 or via the »Engineer« when an online connection has been established.

 Note!

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

Device interface

Device commands

and which can be executed using the keypad

that the device command has

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

Activating frequently required device commands via the toolbar

Frequently required device commands can be executed very easily directly via the Toolbar of the »Engineer« when an online connection has been established.

Icon Function

Enable controller

Inhibit controller

Start application

Stop application and Inhibit controller

can be obtained from the

 Note!

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

• If, for example, a system module is selected in the Project view instead of the regenerative power supply module, the corresponding device command will be activated in all lower-level regenerative power supply modules & controllers that are currently connected online with the »Engineer«.

Before the corresponding action is executed, a confirmation prompt is displayed to ask you if this action should really be carried out.

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Device interface Device commands

Activating device commands via the "Device commands" dialog box

All device commands of the regenerative power supply module are available in the »Engineer« in the Device Commands dialog box:

 The Device Commands dialog box can be opened by clicking on the setting of C00002

on the All Parameters tab.

 Note!

If you click on 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:

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Application 3

Application 2

Memory module MM

9400

RAM

Firmware Application 1Application

4.1.1 Load Lenze setting

Device interface

Device commands

The C00002

= "0: Load Lenze setting" device command can be used to reset the parameters of the active application to the Lenze setting which is stored in the firmware of the regenerative power supply module:

[4-1] "Load Lenze setting" function

 Only possible when the controller is inhibited and the application has been stopped.  All parameter changes made since the last saving of the parameter set will get lost!

 This device command only has an impact on the settings of the operating system,

application, and module parameters, the active application 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

( 40)

( 44)

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9400

RAM

Firmware Application 1*

Application 3

Application 2

Memory module MM

Application 1*

Device interface Device commands

4.1.2 Load start parameters

The C00002

= "1: Load start parameters" device command can be used to reload the start parameters of the active application from the memory module into the regenerative power supply module:

* In this example application 1 is the active application

[4-2] "Load start parameters" function

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

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

 This device command only has an impact on the settings of the operating system,

application, and module parameters, the active application remains unchanged.

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

( 44)

( 39)

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4.1.3 Load route data from the ENP

If the Lenze filter connected to the regenerative power supply module is provided with an electronic nameplate (ENP), at the first switch-on of the regenerative power supply module all filter data are automatically read out from the electronic nameplate of the filter and temporarily saved in the regenerative power supply module.

Device interface

Device commands

The C00002

= "2: ENP: Load route data" device command can be used to reload the filter data from the electronic nameplate (ENP) of the filter.

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

 For a permanent availability of the filter data, the parameter set must then be

saved.Save start parameters

( 44)

Possible status displays for this device command

Status (C00003) Meaning

165122 Device command in process

131072 Device command executed successfully

131073 General fault

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9400

RAM

Firmware Application

Application 3

Memory module MM

Application 1

Application 2*

Device interface Device commands

4.1.4 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 with the number set in C00005

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

[4-3] "Activate application" function

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

 The auto-start setting selected in C02104

determines whether the application is

started at the same time.

 After mains switching, the default application is reloaded into the regenerative power

supply module.

 If after mains switching another application than the one preset by Lenze is to be

loaded, this application 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

" ( 43)

 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 has been 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

Related device commands

Save selected application

Start application

( 48) / Stop application ( 49)

( 43)

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9400

RAM

Firmware Application 2*

Application 3

Memory module MM

Application 1

Application 2*

4.1.5 Save selected application

After mains switching, the regenerative power supply module always loads the default start application from the memory module, even if a different application has been active before.

Device interface

Device commands

The device command C00002

= "7: Save selected application" can be used to define the

active application as start application.

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

[4-4] "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

( 42)

( 48)

( 49)

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Firmware Application 1*

Application 3

Application 2

Memory module MM

Application 1*

Device interface Device commands

4.1.6 Save start parameters

Parameter changes in the regenerative power supply module carried out via the »Engineer« or keypad will get lost after mains switching of the regenerative power supply module, or after loading another application, unless the settings have been explicitly saved.

The C00002 parameter settings of the active application with mains failure protection in the memory module of the regenerative power supply module.

* In this example application 1 is the active application

[4-5] "Save start parameters" function

= "11: Save start parameters" device command can be used to save the current

 Tip!

The left function key of the keypad can be used to execute this device command if the  function is currently assigned to this key.

 Note!

The storing process can take a few seconds. Before switching off the supply voltage after this device command has been executed, check via the status display in C00003

that the device command has been executed successfully!

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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 to 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 during accessing the file system

761868 RAM memory is full

761869 Access authorisation denied

761884 No free memory on the memory module

Device interface

Device commands

Related device commands

Load start parameters

( 40)

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Device interface Device commands

4.1.7 Delete logbook

The C00002 logbook.

= "20: Delete logbook" device command serves to delete all entries in the

 Tip!

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

You can also delete all entries in the logbook by clicking the Delete button in the

Logbook dialog box.

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

fault analysis". ( 187)

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 log file

( 47)

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4.1.8 Archive log file

Device interface

Device commands

The C00002

= "21: Archive log file" device command serves to archive the logbook entries.

 Tip!

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

You can also export the logbook entries to 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". ( 187)

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

( 46)

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Memory module MM

9400

RAM

Firmware Application 1Application

Application 2

Application 3

Device interface Device commands

4.1.9 Start application

The C00002

= "31: Start application" device command serves to start the active application

in the regenerative power supply module.

[4-6] "Start application" function

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

 The current program state is displayed in C02108

 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

( 49)

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Memory module MM

9400

RAM

Firmware Application 1Application

Application 2

Application 3

4.1.10 Stop application

Device interface

Device commands

The C00002

= "32: Stop application" device command serves to stop the application

started in the regenerative power supply module.

[4-7] "Stop application" function

 Only possible when controller is inhibited.

 Tip!

The icon in the Toolbar inhibits the regenerative power supply module and stops the application in the regenerative power supply module at the same time.

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

( 48)

( 55)

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Device interface Device commands

4.1.11 Reset program

The C00002

= "33: Reset program" device command serves to reset the application

program in the regenerative power supply module.

 All variables are reset to their initialisation values.

 The situation corresponds to the start of a new program loaded into the control system

(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

( 51)

( 52)

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4.1.12 Delete program

Device interface

Device commands

The device command C00002

= "34: Delete program" serves to delete the application program in the regenerative power supply module and reset the regenerative power supply module to its original state.

 All variables are reset to their initialisation values.

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

( 50)

( 52)

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Device interface Device commands

4.1.13 Restart program

The C00002

= "35: Restart program" device command serves to restart the application

program in the regenerative power supply module.

 All variables except for the RETAIN variables are reset to their initialisation values.

 The situation corresponds to a power failure or a switching off and on again of the

regenerative power supply module (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

( 50)

( 51)

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0 1 ms 4 ms

T2 T2

T1 T1 T1 T1T1

2 3

4.1.14 Reset runtime measurement

When the application is started, the regenerative power supply module continuously measures the runtime of the interval-controlled ApplicationTask, the interval-controlled UserTask and the free-running IdleTask, and displays the current and maximum task runtimes via parameters.

Device interface

Device commands

The C00002

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

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

Possible status displays for this device command

Status (C00003) Meaning

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  ApplicationTask (here: task interval = 1 ms)  UserTask (here: task interval = 4 ms)  Free-running IdleTask

[4-8] Example: runtimes of the different tasks

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9400 regenerative power supply module | Parameter setting

Device interface Device commands

Display parameters

Parameter Information Lenze setting

C02121/1 Current runtime ApplicationTask - μs

C02121/2 Maximum runtime ApplicationTask - μs

C02122/1 Current runtime UserTask - μs

C02122/2 Maximum runtime UserTask - μs

C02123/1 Current runtime IdleTask - μs

C02123/2 Maximum runtime IdleTask - μs

Highlighted in grey = display parameter

Value Unit

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4.1.15 Inhibit controller

Device interface

Device commands

With the device command C00002 the regenerative power supply module can be inhibited for power recovery. The supply to the DC bus is not affected by this "controller inhibit".

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

the application.

 The sources or trip elements that are active for controller inhibit are displayed in a bit-

coded manner in C00158

= "41: Inhibit controller", the power output stages in

 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

( 56)

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Device interface Device commands

4.1.16 Enable controller

The device command C00002 regenerative power supply module.

= "42: Enable controller" serves to re-enable an inhibited

 Note!

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

• The sources or trip elements that are active for controller inhibit are displayed in a bit-coded manner in C00158

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

( 55)

, i.e. the display remains

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4.1.17 Reset error

9400 regenerative power supply module | Parameter setting

Device interface

Device commands

The C00002 message, provided that the error cause is eliminated and thus no error is pending.

= "43: Reset error" device command is used to acknowledge an existing error

 Tip!

An error message can also be acknowledged by clicking the Reset error button on the Diagnostics tab.

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

fault analysis". ( 187)

 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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Device interface Device commands

4.1.18 Reset max DC power mot.

This function is available from software version V2.0 onwards!

The C00002 displayed in C00143/1 display value (C00144/1 reset). Display of peak power

= "60: Reset max DC power mot." device command serves to reset the value

to zero. At the same time, the time stamp corresponding to this

) is set to the current state of the elapsed-hour meter (= time of

( 87)

Possible status displays for this device command

Status (C00003) Meaning

3966210 Device command in process

3932160 Device command executed successfully

3932161 General fault

Related device commands

Reset max DC power reg.

Reset max. line power reg.

( 59)

( 60)

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4.1.19 Reset max DC power reg.

This function is available from software version V2.0 onwards!

Device interface

Device commands

The C00002 displayed in C00143/2 display value (C00144/2 reset). Display of peak power

= "61: Reset max DC power reg." device command serves to reset the value

to zero. At the same time, the time stamp corresponding to this

) is set to the current state of the elapsed-hour meter (= time of

( 87)

Possible status displays for this device command

Status (C00003) Meaning

4031746 Device command in process

3997696 Device command executed successfully

3997697 General fault

Related device commands

Reset max DC power mot.

Reset max. line power reg.

( 58)

( 60)

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Device interface Device commands

4.1.20 Reset max. line power reg.

This function is available from software version V2.0 onwards!

The C00002 displayed in C00143/3 display value (C00144/3 reset). Display of peak power

= "62: Reset max. line power reg." device command serves to reset the value

to zero. At the same time, the time stamp corresponding to this

) is set to the current state of the elapsed-hour meter (= time of

( 87)

Possible status displays for this device command

Status (C00003) Meaning

4097282 Device command in process

4063232 Device command executed successfully

4063233 General fault

Related device commands

Reset max DC power mot.

Reset max DC power reg.

( 58)

( 59)

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4.1.21 Reset transmitted energy

This function is available from software version V2.0 onwards!

Device interface

Device commands

The C00002 displayed in C00145/1

Display of output and regenerated energy

= "65: Reset transmitted energy" device command serves to reset the value

to zero.

( 88)

Possible status displays for this device command

Status (C00003) Meaning

4293890 Device command in process

4259840 Device command executed successfully

4259841 General fault

Related device commands

Reset regenerated energy

( 62)

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Device interface Device commands

4.1.22 Reset regenerated energy

This function is available from software version V2.0 onwards!

The C00002 displayed in C00145/2

Display of output and regenerated energy

= "66: Reset regenerated energy" device command serves to reset the value

to zero.

( 88)

Possible status displays for this device command

Status (C00003) Meaning

4359426 Device command in process

4325376 Device command executed successfully

4325377 General fault

Related device commands

Reset transmitted energy

( 61)

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4.1.23 CAN on-board: Reset node

Device interface

Device commands

The C00002

= "91: CAN on-board: Reset node" device command serves to reinitialise the CANopen system bus interface of the regenerative power supply module ("CAN on board"), which for instance is required, for instance, after changing the data transfer rate, the node address, or identifiers.

 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

( 67)

( 65)

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Device interface Device commands

4.1.24 CAN module: Reset node

The C00002 CANopen interface of a CANopen communication module inserted in module slot MXI1 or MXI2. This is required, for instance, after changing the data transfer rate, the node address, or identifiers.

= "92: CAN module: Reset node" device command serves to reinitialise the

 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

( 66)

( 68)

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4.1.25 CAN on-board: Pred.Connect.Set

Device interface

Device commands

The C00002 basic identifiers for the CANopen system bus interface of the regenerative power supply module ("CAN on board") according to the "Predefined Connection Set" (DS301V402).

= "93: CAN on-board: Pred.Connect.Set" device command serves to set the

 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

( 63)

( 67)

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Device interface Device commands

4.1.26 CAN module: Pred.Connect.Set

The C00002 identifiers for the CANopen system bus interface of a CANopen communication module inserted in module slot MXI1 or MXI2 according to the "Predefined Connection Set" (DS301V402).

= "94: CAN module: Pred.Connect.Set" device command serves to set the basic

 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

( 64)

( 68)

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4.1.27 CAN on-board: Identify node

Device interface

Device commands

The C00002 nodes connected to the CANopen system bus interface of the regenerative power supply module ("CAN on board").

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

= "95: CAN on-board: Identify node" device command serves to identify the

 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

( 63)

( 65)

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4.1.28 CAN module: Identify node

The C00002 nodes connected to the CANopen system bus interface of a CANopen communication module inserted in module slot MXI1 or MXI2.

 The result of the CAN bus scan is displayed in C13393

MXI2).

= "96: CAN module: Identify node" device command serves to identify the

(for MXI1) or in C14393 (for

 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

( 64)

( 66)

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4.1.29 Unbind/bind Ethernet module MXI1

Device interface

Device commands

The C00002 reinitialise the Ethernet interface of an Ethernet communication module inserted in module slot MXI1, for instance in order to accept a newly set IP or gateway address without switching the mains.

= "101: Unbind/bind Ethernet module MXI1" device command serves to

 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

( 70)

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4.1.30 Unbind/bind Ethernet module MXI2

The C00002 reinitialise the Ethernet interface of an Ethernet communication module inserted in module slot MXI2, for instance in order to accept a newly set IP or gateway address without switching the mains.

= "102: Unbind/bind Ethernet module MXI2" device command serves to

 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

( 69)

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9400 regenerative power supply module | Parameter setting

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

4.1.31 Activate parameter sets 1 ... 4

In addition to the start parameters, up to four more parameter sets can be stored in the memory module for each application. This, for instance, serves to define different controller settings for an application, which can then be simply activated via device command.

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

Device interface

Device commands

C00002

* In this example application 1 is the active application

[4-9] Example: "Activate parameter set 1" function

= "201: Activate parameter set 1"

= "202: Activate parameter set 2"

= "203: Activate parameter set 3"

= "204: Activate parameter set 4"

 Only possible when the controller is inhibited and the application has been stopped.  All parameter changes made since the last saving of the previously active parameter

set will get lost!

 These device commands only have an impact on the settings of the operating system,

application, and module parameters, the active application remains unchanged.

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Device interface 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 to a file.

13206559 13272095 13337631 13403167 Invalid file type.

13206560 13272096 13337632 13403168 Unexpected file end.

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 during accessing the file system

13213708 13279244 13344780 13410316 RAM memory 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

Archive parameter sets 1 ... 4

( 73)

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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

4.1.32 Archive parameter sets 1 ... 4

The following device commands can be used to archive the current parameter settings of the regenerative power supply module as parameter sets 1 ... 4 for the active application in the memory module:

Device interface

Device commands

C00002

* In this example application 1 is the active application

[4-10] Example: "Archive parameter set 1" function

= "301: Archive parameter set 1"

= "302: Archive parameter set 2"

= "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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Device interface 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 to a file.

19760160 19825696 19891232 19956768 Unexpected file end.

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

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

19767308 19832844 19898380 19963916 RAM memory 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 sets 1 ... 4

( 71)

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4.1.33 Format file system

Device interface

Device commands

The C00002 in the memory module.

= "1030: Format file system" device command serves to format the file system

 Note!

This device command irrevocably deletes all folders and files available in the file system of the memory module!

The application has to be redownloaded with the »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

( 76)

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Device interface Device commands

4.1.34 Restore file system

The C00002 formatting of the file system in the memory module.

= "1040: Restore file system" device command serves to carry out a low level

 Note!

This device command irrevocably deletes all folders and files available in the file system of the memory module and all internal information on the file system management!

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

 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

due to damaged internal management information.

Related device commands

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

, i.e. the display remains

Format file system

( 75)

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4.1.35 Prepare firmware update

 Note!

For Lenze service only!

Device interface

Device commands

The C00002 the regenerative power supply module to the firmware update mode to carry out a possibly required update of the firmware using the corresponding software.

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

Possible status displays for this device command

Status (C00003) Meaning

655394050 Device command in process

655360000 Device command executed successfully

655360001 General fault

= "10000: Prepare firmware update" device command serves to set

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Device interface Device commands

4.1.36 Restart controller

The device command C00002 regenerative power supply module by parameter setting.

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

Possible status displays for this device command

Status (C00003) Meaning

720930050 Device command in process

720896001 General fault

= "11000: Restart controller" serves to restart the

 Note!

Because of the restart in the case of a successful execution of the device command, this status will not be displayed in

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

C00003.

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4.2 Device states

Controller inhibit

Ready to

switch on

Initialisation

active

Switched

Operation

Trouble

active

Power on

System fault

active

Fault

active

Warning/

Warning locked

active

The state control of the regenerative power supply module is operated internally via a state machine which can adopt the following "device states":

9400 regenerative power supply module | Parameter setting

Device interface

Device states

,  From all states

[4-11] Device states of the state machine for the device control

 Note!

 The "Warning active"/"Warning locked active" status can occur simultaneously to other states.

The device state "Quick stop by trouble", which a controller can adopt as a response to a fault, is not

supported by the regenerative power supply module!

Requests for this device state made by a parameterisable device module in slot MXI1/MXI2 or via the control word of the device interface are ignored by the regenerative power supply module without feedback.

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Device interface Device states

Display parameters for diagnostic purposes

 The current device state is displayed in C00183

 C00150

(status word 1) displays the current device state in a bit-coded manner via

bits 8 ... 11:

Bit 11 Bit 10 Bit 9 Bit 8 Meaning

0000State "Initialisation active"

0001State "Device is ready to switch on"

0010-

0011State "Device is switched on"

0100-

0101-

0110State "Operation"

0111State "Warning active" or State "Warning locked active"

The regenerative power supply module is ready to switch on, switched on, or operation is enabled and a warning is indicated.

1000State "Trouble active"

1001-

1010-

1011-

1100State "Fault active"

1101-

1110-

1111-

4.2.1 State "Initialisation active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF OFF 10: Initialisation active

This is the device state of the regenerative power supply module directly after switching on the supply voltage.

 In this device state the operating system is initialised.  The application is not processed yet.

 The monitoring mode is not active yet.

 Communication is not possible yet.  The regenerative power supply module cannot be parameterised yet and no device

commands can be executed.

 When the device initialisation is completed, the device state is automatically changed

to "Device is ready to switch on".

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4.2.2 State "Device is ready to switch on"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 141: Device ready to start

This is the device state of the regenerative power supply module directly after the initialisation has been completed and a DC-bus voltage is not applied yet.

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

 The monitoring functions are active.  The regenerative power supply module can be parameterised and device commands

can be executed to a limited extent.

 The application is basically executable.

 Note!

Device interface

Device states

The "Device is ready to switch on" state is not only entered after power-on, but also when a "Trouble" or "Fault" is reset.

•For C00142 ready to switch on" state to the "Device is switched on" state (Lenze setting).

•For C00142 to get from the "Device is ready to switch on" state to the "Device is switched on" state.

Automatic restart after power-on/trouble/fault

4.2.3 State "Device is switched on"

LED DRIVE READY LED DRIVE ERROR Display in C00183

This is device state of the regenerative power supply module when the DC-bus voltage is applied and the regenerative power supply module is still inhibited by the user (controller inhibit).

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

 The monitoring functions are active.

= "1: Enabled", the device changes directly from the "Device is

= "0: Inhibited", at least one source for controller must be active

OFF 90: Drive switched on

( 84)

 The regenerative power supply module can be parameterised and device commands

can be executed to a limited extent.

 The application is basically executable.

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Device interface Device states

4.2.4 State "Operation"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 0: Operation

This is the device state of the regenerative power supply module during operation.

4.2.5 State "Warning active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

1: Operation/Warning active

This state can occur simultaneously to the device states "Device is ready to switch on", "Device is switched on" and "Operation" if a monitoring function responds for which the error response "Warning" has been parameterised.

4.2.6 State "Warning locked active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

4.2.7 State "Trouble active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 104: Trouble active

This device state becomes active as soon as a monitoring function responds for which the error response "Trouble" has been parameterised.

 The device state is automatically exited when the error cause has been eliminated:

– "Trouble active" state < 500 ms: return to the original device state. – "Trouble active" state > 500 ms: return via the device state "Device is ready to switch

on".

2: Operation/Warning locked act.

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4.2.8 State "Fault active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 102: Fault active

This device state becomes active as soon as a monitoring function responds for which the error response "Fault" has been parameterised.

4.2.9 State "System fault active"

LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF 20: System fault active

This device state becomes active if a system fault occurs.

 The device state can only be exited by mains switching.

Device interface

Device states

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9400 regenerative power supply module | Parameter setting

RFR

RFR



Initialisation Switched on OperationReady to switch on

OperationInitialisation Switched onReady to switch on

Device interface Automatic restart after power-on/trouble/fault

4.3 Automatic restart after power-on/trouble/fault

C00142

serves to parameterise the starting performance of the regenerative power supply

module after power-on or after resetting a "Trouble" or "Fault".

Auto-start option 1: auto-restart enabled after power-on

The following illustration shows the state change for the auto-start option 1 (Lenze setting) as a function of controller inhibit:

Pulses of the regenerative power supply module are inhibited

Pulses of the regenerative power supply module are enabled

[4-12] State change when auto-restart is enabled (C00142 = "1: Enabled")

With controller inhibit at power-on

Without controller inhibit at power-on

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RFR

RFR



Initialisation Switched on OperationReady to switch on

Device interface

Automatic restart after power-on/trouble/fault

Auto-start option 0: auto-restart inhibited after power-on

If auto-start option 0 has been selected, the controller inhibit must be explicitly set after power-on or after resetting a "Trouble" or "Fault" in order that the state of the regenerative power supply module changes from "Device is ready to switch on" to "Device is switched on". The subsequent change to the "Operation" state takes place when the controller is enabled:

Pulses of the regenerative power supply module are inhibited

Pulses of the regenerative power supply module are enabled

With controller inhibit at power-on

Without controller inhibit at power-on

[4-13] State change when auto-restart is inhibited (C00142 = "0: Inhibited")

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Device interface Monitoring the device utilisation

4.4 Monitoring the device utilisation

C00064

 If the value displayed in C00064

displays the device utilisation (I x t) over the last 180 seconds in [%].

exceeds the warning threshold set in C00123, the error message "Device utilisation Ixt > C00123" is output and the error response set in

C00604

Ixt > 100 %" is output and the error response "Fault" occurs. – The error can only be reset if the value displayed in C00064

occurs (default setting: "Warning").

exceeds 100 %, the error message "Device utilisation

drops to < 95 % again.

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4.5 Display of peak power

This function is available from software version V2.0 onwards!

The following parameters display the peak power of the regenerative power supply module and the corresponding state of the elapsed-hour meter, at which the respective peak power has been reached:

Parameter Information Lenze setting

C00143/1 Max. DC-power mot. - kW

C00144/1 Time stamp max. DC-power mot. - s

C00143/2 Max. DC-power reg. (+ br. chop.) - kW

C00144/2 Time stamp max. DC-power reg. - s

C00143/3 Max. line power reg. - kW

C00144/3 Time stamp max. line power reg. - s

Highlighted in grey = display parameter

Device interface

Display of peak power

Value Unit

 The display values are stored in the memory module with power failure protection and

are therefore even available after device replacements. After a device replacement, however, the time reference is updated only after a new peak value has been recorded.

 The display values can be reset to zero via the following device commands (C00002

–60: Reset max DC power mot. –61: Reset max DC power reg. –62: Reset max. line power reg.

( 58)

( 59)

( 60)

 Resetting of the display values also sets the corresponding time stamp to the current

state of the elapsed-hour meter (= time of reset).

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Device interface Display of output and regenerated energy

4.6 Display of output and regenerated energy

This function is available from software version V2.0 onwards!

The following parameters display the energy of the regenerative power supply module output at the DC side and the energy fed back to the mains:

Parameter Information Lenze setting

C00145/1 Output energy, DC side - kWh

C00145/2 Regenerated energy - kWh

Highlighted in grey = display parameter

 The display values are stored in the memory module with power failure protection and

are therefore even available after device replacements.

Value Unit

 The display values can be reset to zero via the following device commands (C00002

–65: Reset transmitted energy –66: Reset regenerated energy

( 61)

( 62)

 Note!

The kWh display does not completely replace a three-phase meter!

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9400 regenerative power supply module | Parameter setting

24E

AO1

AO2

A1+

A1-

A1R

A2+

A2-

24O

DO1

DO2

DO3

DO4

RFR

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI8

5I/O terminals

This chapter provides you with information on possible parameter settings for the input and output terminals of the regenerative power supply module.

 Tip!

Information on terminal wiring can be found in the Mounting Instructions of the regenerative power supply module!

5.1 Overview

Front view Terminal assignment Information

"State bus" monitoring function

I/O terminals

Overview

( 96)

Analog inputs Analog outputs

Digital outputs

Digital inputs

( 90)

( 92)

( 95)

( 94)

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A1+

A1-

A1R

A2+

A2-

I/O terminals Analog inputs

5.2 Analog inputs

The regenerative power supply module has two analog inputs which can be used to detect differential voltage signals in the range of ±10 V, for instance an analog speed setpoint selection or the voltage signal of an external sensor (temperature, pressure, etc.).

 Optionally, analog input 1 can also be used to detect current setpoints.

5.2.1 Terminal assignment/electrical data

Terminal Use Electrical data

X3/A1X3/A1+

X3/A2X3/A2+

Differential voltage input 1 (no jumper between A1R and A1)

Conversion rate: 1 kHz

Current input (jumper between A1R and A1)

Conversion rate: 1 kHz

Differential voltage input 2 Level: -10 V ... +10 V

Conversion rate: 1 kHz

Level: -10 V ... +10 V

Resolution: 11 bits + sign

Scaling: When C00034

±10 V ≡ ±2

Level: -20 mA ... +20 mA

Resolution: 10 bits + sign

Scaling: When C00034

-20 mA ... -4 mA = -2 +4 mA ... +20 mA = 0 ... 2

When C00034 ="2": ±20 mA ≡ ±2

Resolution: 11 bits + sign

Scaling: ±10 V ≡ ±2

="0":

="1":

... 0

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5.2.2 Parameter setting

Short overview of the parameters for the analog inputs:

Parameter Information

C00034

C00598

C02730/1

C02730/2

C02731/1

C02731/2

C02732/1

C02732/2

C02800/1 Analog input 1: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)

C02800/2 Analog input 2: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)

Highlighted in grey = display parameter

I/O terminals

Analog inputs

Config. analog input 1

Resp. to open circuit AIN1

Analog input 1: Gain

Analog input 2: Gain

Analog input 1: Offset

Analog input 2: Offset

Analog input 1: Dead band

Analog input 2: Dead band

5.2.3 Reconfiguring analog input 1 into current input

Proceed as follows to reconfigure analog input 1 into a current input:

1. Jumper terminals A1R and A1 on terminal strip X3 by means of wiring.

2. Select the corresponding current loop under C00034

Open-circuit monitoring

Under C00598

you can select an error response to an open circuit for the 4 ...20 mA current

loop.

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AO1

AO2

I/O terminals Analog outputs

5.3 Analog outputs

The regenerative power supply module is provided with 2 analog outputs which can be used to output internal analog signals as voltage signals, e.g. for display via analog indicating instruments.

 Note!

Initialisation behaviour:

• After mains switching until the start of the application, the analog outputs remain set to 0 V.

Exception handling:

• In the case of a critical exception within the application (e.g. reset), the analog outputs are set to 0 V.

5.3.1 Terminal assignment/electrical data

Terminal Use Electrical data

X3/AO1 Voltage output 1 Level: -10 V ... +10 V

X3/AO2 Voltage output 2 Level: -10 V ... +10 V

X3/GA Reference potential (analog ground)

(max. 2 mA)

Resolution: 11 bits + sign

Scaling: ±2

Conversion rate: 1 kHz

Resolution: 11 bits + sign

Scaling: ±2

Conversion rate: 1 kHz

(max. 2 mA)

≡ ±10 V

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5.3.2 Parameter setting

Short overview of the parameters for the analog outputs:

Parameter Information

C02733/1

C02733/2

C02734/1

C02734/2

C02801/1 Analog output 1: Output signal

C02801/2 Analog output 2: Output signal

Highlighted in grey = display parameter

I/O terminals

Analog outputs

Analog output 1: Gain

Analog output 2: Gain

Analog output 1: Offset

Analog output 2: Offset

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RFR

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI8

I/O terminals Digital inputs

5.4 Digital inputs

The regenerative power supply module is equipped with 8 freely configurable digital inputs.

 Control input RFR of terminal strip X5 for controller enable is permanently connected

to the device control.

5.4.1 Terminal assignment/electrical data

Terminal Use Electrical data

X5/DI1

X5/DI8

X5/RFR Controller enable See digital inputs

X5/GI Reference potential (digital ground)

5.4.2 Parameter setting

Short overview of parameters for the digital inputs:

Parameter Information

C00114

C00443 Status: Digital inputs

C02803 Status word: Digital inputs

C02830

Highlighted in grey = display parameter

Digital input 1 ... 8 LOW level: 0 ... +5 V

HIGH level: +15 ... +30 V

Input current: 8 mA per input

(at 24 V)

Interference-voltage-

Conversion rate: 1 kHz

Dig. input x: Terminal polarity

Digital inputs: Delay time

max. ±30 V

proof:

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24O

DO1

DO2

DO3

DO4

5.5 Digital outputs

The regenerative power supply module is equipped with 4 freely configurable digital outputs.

 Note!

Initialisation behaviour:

• After mains switching until the start of the application, the digital outputs remain set to FALSE.

Exception handling:

• In the case of a critical exception within the application (e.g. reset), the digital outputs are set to FALSE, taking the terminal polarity parameterised in

C00118

I/O terminals

Digital outputs

into consideration.

5.5.1 Terminal assignment/electrical data

Terminal Use Electrical data

X4/DO1 ... X4/DO4

X4/24O External 24 V voltage supply for the digital outputs

X4/GO Reference potential (digital ground)

Digital output 1 ... 4 LOW level: 0 ... +5 V

5.5.2 Parameter setting

HIGH level: +15 ... +30 V

Output current: max. 50 mA per output (external

resistance > 480 Ω at 24 V)

Conversion rate: 1 kHz

Short overview of parameters for the digital outputs:

Parameter Information

C00118

C00444 Status: Digital outputs

C02802 Status word: Digital outputs

Highlighted in grey = display parameter

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Dig. output x: Terminal polarity

9400 regenerative power supply module | Parameter setting

X2 X2 X2

24E

I/O terminals "State bus" monitoring function

5.6 "State bus" monitoring function

The state bus has been designed exclusively for Lenze controllers. The bus system can interconnect up to 20 controllers and can be used to simulate the function of a "rip cord":

X2/SB = State bus In/Out (reference potential GE)

[5-1] Schematic diagram: Networking via state bus

 The state bus only knows the states "OK" and "Error".

 The state bus is a multi-master bus system, i.e. each node connected to the state bus

can set the state bus to the "Error" state by setting it to LOW level.

 In the "Error" state, all nodes initiate their adjustable response, e.g. synchronised

braking of the drive system to standstill.

 The "Error" state is also set if a node connected to the state bus is not supplied with

voltage.

 Note!

Exception handling:

• In the case of a critical exception within the application (e.g. reset), the "rip cord" is not "pulled", the state bus remains in the "OK" state.

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6 "CAN on board" system bus

The regenerative power supply module is provided with an integrated CANopen system bus interface ("CAN on board"), which can, for instance, be used to exchange process data and parameter values between the connected devices. This interface also enables the connection of additional components such as distributed terminals, operator and input devices ("HMIs") as well as external control and host systems.

The interface transmits CAN objects following the CANopen communication profile (CiA DS301, version 4.02) developed by the umbrella association of CiA (CAN in Automation) in conformity with the CAL (CAN Application Layer).

 Tip!

• In the »Engineer« parameter list and in the keypad, the parameters relevant for the CANopen system bus interface are grouped in different subcategories of the category CAN.

• The "CAN" communication manual of the Lenze library provides information about CAN communication modules and CANopen system bus interfaces of other Lenze devices.

"CAN on board" system bus

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"CAN on board" system bus General information

6.1 General information

For many years the system bus (CAN) based on the CANopen communication profile has been integrated in Lenze controllers. Due to the lower number of data objects available, the functionality and compatibility of the old system bus are lower as compared with CANopen. For parameter setting, two parameter data channels are always available to the user while CANopen provides only one active parameter data channel (along with the possibility to establish further channels).

The system bus (CANopen) integrated in the Servo Drives 9400 has been developed from the system bus (CAN) used in the controllers of the ”9300” series, and it has the following features:

 Full compatibility to CANopen DS301 V4.02.  Support of the NMT master/slave function "Node Guarding" (DS301 V4.02).

 Support of the NMT slave function "Heartbeat" (DS301 V4.02).

 No restrictions regarding the selection of node addresses.  Number of parameterisable server and client SDO channels:

– Max. 10 channels with 1 ... 8 bytes

 Number of parameterisable PDO channels:

– Max. 4 transmit PDOs (TPDOs) with 1 ... 8 bytes – Max. 4 receive PDOs (RPDOs) with 1 ... 8 bytes

 All PDO channels are equivalent in terms of functionality.  Data reception monitoring of RPDOs

 Telegram counters for SDOs and PDOs

 Bus state diagnostics  Boot-up telegram generation

 Emergency telegram generation

 Reset-node telegram generation (for master configuration).

 Sync telegram generation and response to sync telegrams:

– Sending/reception of data – Synchronisation of the device's internal time base

 Abort codes  Ability to parameterise all "CAN on board" functions via codes.

 Object directory (all mandatory functions, optional functions, indexes)

98 L EDS94ARNExxxx EN 2.3 - 06/2014

9400 regenerative power supply module | Parameter setting

6.1.1 General data and operating conditions

Area Values

Communication profile CANopen (DS301 V4.02)

Communication medium DIN ISO 11898

Network topology Line terminated at both ends (e.g. by means of Sub-D plug, type EWZ0046)

Adjustable node addresses 1 ... 127

• Adjustable via DIP switch on the memory module or via code C00350

Max. number of nodes 127

Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbps or automatic detection

• Adjustable via DIP switch on the memory module (exception: MM1xx memory module) or via code C00351

Process data • Max. 4 TPDOs with 1 ... 8 bytes

• Max. 4 RPDOs with 1 ... 8 bytes

Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes

TPDO transmission mode • At change of data

• Time-controlled 1 ... x ms

• After 1 ... 240 received sync telegrams

"CAN on board" system bus

General information

6.1.2 Supported protocols

Category Protocol

Standard PDO protocols PDO write

SDO protocols SDO download

NMT protocols Start remote node (master and slave)

Monitoring protocols Node guarding (master and slave)

PDO read

SDO download initiate SDO download segment

SDO upload SDO upload initiate SDO upload segment

SDO abort transfer

SDO block download SDO block download initiate SDO block download end

SDO block upload SDO block upload initiate SDO block upload end

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication (slave)

Heartbeat (heartbeat producer and heartbeat consumer)

EDS94ARNExxxx EN 2.3 - 06/2014 L 99

9400 regenerative power supply module | Parameter setting

"CAN on board" system bus General information

6.1.3 Communication time

The communication time is the time between the start of a request and the reception of the corresponding response.

 Tip!

The CAN bus communication times depend on:

• Processing time in the device

• Telegram runtime (baud rate/telegram length)

• Bus load (especially when the bus is loaded with PDOs and SDOs at a low baud rate.)

Processing time of Servo Drives 9400

There are no dependencies between parameter data and process data.

 Parameter data:

– For internal controller parameters: approx. 30 ms ± 20 ms tolerance (typical) – The processing time can be longer for some codes.

 Process data are transferred in real time.

100 L EDS94ARNExxxx EN 2.3 - 06/2014

Lenze E94ARNE User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Overview of technical documentation for 9400 Servo Drives

Contents

1 About this documentation

1.1 Conventions used

1.2 Terminology used

1.3 Definition of notes used

2 Commissioning

2.1 Short setup

2.1.1 Example circuit

2.1.2 Commissioning with the keypad

2.1.3 Commissioning with the Engineer

2.1.4 Controlling the regenerative power supply module via terminals

2.2 Device replacement

2.3 Filter replacement

3 Regenerative power supply module application

3.1 Parameterising the brake chopper/brake resistor

3.1.1 Setting the voltage threshold for braking operation

3.1.2 Setting the brake chopper mode

3.1.3 Monitoring

3.1.3.1 Overcurrent protection

3.1.3.2 Ixt utilisation of brake transistor

3.1.3.3 I2t utilisation of brake resistor

3.1.3.4 DC-bus overvoltage

3.2 Signal configuration

3.2.1 Device and line interface

3.2.2 Output ports

3.3 Assignment of the I/O terminals

4 Device interface

4.1 Device commands

4.1.1 Load Lenze setting

4.1.2 Load start parameters

4.1.3 Load route data from the ENP

4.1.4 Activate application

4.1.5 Save selected application

4.1.6 Save start parameters

4.1.7 Delete logbook

4.1.8 Archive log file

4.1.9 Start application

4.1.10 Stop application

4.1.11 Reset program

4.1.12 Delete program

4.1.13 Restart program

4.1.14 Reset runtime measurement

4.1.15 Inhibit controller

4.1.16 Enable controller

4.1.17 Reset error

4.1.18 Reset max DC power mot.

4.1.19 Reset max DC power reg.

4.1.20 Reset max. line power reg.

4.1.21 Reset transmitted energy

4.1.22 Reset regenerated energy

4.1.23 CAN on-board: Reset node

4.1.24 CAN module: Reset node

4.1.25 CAN on-board: Pred.Connect.Set

4.1.26 CAN module: Pred.Connect.Set

4.1.27 CAN on-board: Identify node

4.1.28 CAN module: Identify node

4.1.29 Unbind/bind Ethernet module MXI1

4.1.30 Unbind/bind Ethernet module MXI2

4.1.31 Activate parameter sets 1 ... 4

4.1.32 Archive parameter sets 1 ... 4

4.1.33 Format file system

4.1.34 Restore file system

4.1.35 Prepare firmware update

4.1.36 Restart controller

4.2 Device states

4.2.1 State "Initialisation active"

4.2.2 State "Device is ready to switch on"

4.2.3 State "Device is switched on"

4.2.4 State "Operation"

4.2.5 State "Warning active"

4.2.6 State "Warning locked active"

4.2.7 State "Trouble active"

4.2.8 State "Fault active"

4.2.9 State "System fault active"

4.3 Automatic restart after power-on/trouble/fault