Lenze ECSCAxxx User Manual
EDBCSXA064
.Md4
Ä.Md4ä
Operating Instructions
ECS
ECSEAxxx / ECSDAxxx / ECSCAxxx
Axis module ˘ "Application"
Please read these instructions before you start working!
Follow the enclosed safety instructions.
This documentation is valid for ECSxA axis modules, application software (A−SW) "Application", as of
version:
ECS x A xxx x 4 x xxx XX xx xx
Device type
Design
E = Standard panel−mounted unit, IP20
D = Push−through technique (thermally separated)
C = Cold−plate technique
Application
A = "Application"
Peak current
004 = 4 A
008 = 8 A
016 = 16 A
Fieldbus interface
C = system bus (CAN)
032 = 32 A
048 = 48 A
064 = 64 A
ATTENTION
L ´appareil est sous tension
pendant 180s après la coupure
de la tension réseau
WARNING
Device is live up to 180s
after removing
mains voltage
Voltage class
4 = 400 V/500 V
Technical version
B = Standard
V = coated
I = for IT systems, uncoated
K= for IT systems, coated
Variant
042 = Motion CiA402
Hardware version
1A or higher
Operating software version (B−SW)
8.0 or higher
0Fig. 0Tab. 0
© 2013 Lenze Automation GmbH, Hans−Lenze−Str. 1, D−31855 Aerzen
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Automation GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Necessary corrections will be included in subsequent editions.
2
EDBCSXA064 EN 3.2
ECSEA_003A
EDBCSXA064 EN 3.2
3
Scope of supply
Position Description Quantity
A ECSA... axis module 1
Accessory kit with fixing material corresponding to the design ():
l "E" − standard panel−mounted unit
l "D" − push−through technique
l "C" − cold−plate technique
Mounting Instructions 1
Drilling jig 1
Functional earth conductor (only ECSDA...) 1
Note!
The ECSZA000X0B connector set must be ordered separately.
Connections and interfaces
Position Description Detailed
X23 Connections
l DC−bus voltage
l PE
B LEDs: Status and fault display
X1 Automation interface (AIF) for
l Communication module
l Operating module (keypad XT)
x2 PE connection of AIF
X3 Analog input configuration 79
X4 CAN connection
l MotionBus (CAN) / for ECSxA: System bus (CAN)
l Interface to the master control
X14 CAN−AUXconnection
l System bus (CAN)
l PC interface/HMI for parameter setting and diagnostics
X6 Connections
l Low−voltage supply
l Digital inputs and outputs
l Analog input
l "Safe torque off" (formerly "safe standstill")
S1 DIP switch
l CAN node address
l CAN baud rate
X7 Resolver connection 96
X8 Encoder connection
l Incremental encoder (TTL encoder)
l Sin/cos encoder
X25 Brake control connection 71
X24 Motor connection 70
64
89
150
90
74
78
79
80
156
97
1
information
Status displays
LED
Red Green
Off On Controller enabled, no fault
Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183
Blinking Off Fault/error (TRIP) active Code C0168/1
Blinking On Warning/FAIL−QSP active Code C0168/1
4
Operating state Check
EDBCSXA064 EN 3.2
Contents i
1 Preface and general information 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About these Operating Instructions 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Conventions used in this Manual 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Terminology used 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Code descriptions 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Structure of the system block descriptions 17 . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Features of the ECSxA axis module 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Scope of supply 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Legal regulations 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 System block introduction 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 System blocks ˘ principle 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2 Node numbers 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3 Access via system variables 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.4 Access via absolute addresses 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.5 Definition of the inputs/outputs 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.6 Integrate system blocks into DDS 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.7 Signal types and scaling 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety and application notes for Lenze controllers 28 . . . . . . . . . . . . . . . . . .
2.2 Thermal motor monitoring 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Forced ventilated or naturally ventilated motors 33 . . . . . . . . . . . . . . . . . .
2.2.2 Self−ventilated motors 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Residual hazards 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Safety instructions for the installation according to UL 38 . . . . . . . . . . . . . . . . . . . . .
2.5 Notes used 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General data and operating conditions 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Rated data 42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Current characteristics 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Increased continuous current depending on the control factor 44 . . . . . . .
3.3.2 Device protection by current derating 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4 Mechanical installation 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Important notes 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Mounting with fixing rails (standard installation) 49 . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Dimensions 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Mounting steps 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Mounting with thermal separation (push−through technique) 51 . . . . . . . . . . . . . . .
4.3.1 Dimensions 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Mounting steps 54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mounting in cold−plate design 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Dimensions 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Mounting steps 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Electrical installation 58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 58 . . . . . . .
5.2 Power terminals 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection to the DC bus (+UG, −UG) 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Connection plan for mimimum wiring with
internal brake resistor 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Connection plan for mimimum wiring with
external brake resistor 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Motor connection 70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Motor holding brake connection 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Connection of an ECSxK... capacitor module (optional) 73 . . . . . . . . . . . . . .
5.3 Control terminals 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Digital inputs and outputs 78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Analog input 79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Safe torque off 80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Automation interface (AIF) 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Wiring of system bus (CAN) 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Wiring of the feedback system 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Resolver connection 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Encoder connection 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Digital frequency input/output (encoder simulation) 100 . . . . . . . . . . . . . . .
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EDBCSXA064 EN 3.2
Contents i
6 Commissioning 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before you start 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Commissioning steps (overview) 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Carrying out basic settings with GDC 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Loading the Lenze setting 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Setting of mains data 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Selecting the function of the charging current limitation 107 . . . . . . . . . . .
6.5.2 Setting the voltage thresholds 108 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Entry of motor data for Lenze motors 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Holding brake configuration 111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Setting of the feedback system for position and speed control 112 . . . . . . . . . . . . . . .
6.8.1 Resolver as position and speed encoder 113 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.2 TTL/SinCos encoder as position and speed encoder 115 . . . . . . . . . . . . . . . .
6.8.3 TTL/SinCos encoder as position encoder and resolver as
speed encoder 118 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.4 Absolute value encoder as position and speed encoder 122 . . . . . . . . . . . . .
6.8.5 Absolute value encoder as position encoder and resolver as
speed encoder 125 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Setting the polarity of digital inputs and outputs 129 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Entry of machine parameters 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11 Controller enable (CINH = 0) 131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Operation with motors from other manufacturers 132 . . . . . . . . . . . . . . . . . . . . . . . .
6.12.1 Entering motor data manually 132 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.2 Checking the direction of rotation of the motor feedback system 135 . . . .
6.12.3 Adjusting current controller 136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.4 Effecting rotor position adjustment 138 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13 Optimising the drive behaviour after start 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.1 Speed controller adjustment 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.2 Adjustment of field controller and field weakening controller 144 . . . . . . .
6.13.3 Resolver adjustment 147 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 148 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 General information 148 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Parameter setting with "Global Drive Control" (GDC) 149 . . . . . . . . . . . . . . . . . . . . . .
7.3 Parameter setting with the XT EMZ9371BC keypad 150 . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Connecting the keypad 150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the display elements 151 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Description of the function keys 153 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Changing and saving parameters 154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDBCSXA064 EN 3.2
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Contentsi
8 System bus (CAN / CAN−AUX) configuration 155 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Setting the CAN node address and baud rate 155 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Settings via DIP switch 156 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Settings via codes 158 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Individual addressing 160 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Determining the boot−up master for the drive system 162 . . . . . . . . . . . . . . . . . . . . .
8.4 Setting the boot−up time/cycle time 163 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Reset node 165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6 Axis synchronisation (CAN synchronisation) 166 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.1 Monitoring of the synchronisation (sync time slot) 169 . . . . . . . . . . . . . . . . .
8.6.2 Axis synchronisation via CAN 170 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.3 Axis synchronisation via terminal X6/DI1 171 . . . . . . . . . . . . . . . . . . . . . . . . .
8.7 Node guarding 172 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.8 CAN management 174 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.9 Mapping indices to codes 175 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10 Diagnostics codes 177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.1 CAN bus status (C0359/C2459) 177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.2 CAN telegram counter (C0360/2460) 178 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.3 CAN bus load (C0361/2461) 179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.11 Remote parameterisation (gateway function) 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Configuring the AIF interface (X1) 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 CAN baud rate 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 CAN boot up (AIF) 183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Node address (Node ID) 184 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Identifiers of the process data objects 185 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Individual identifier assignment 186 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Display of the identifier set 187 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5 Cycle time (XCAN1_OUT ... XCAN3_OUT) 188 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Synchronisation 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 XCAN sync response 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2 XCAN sync identifier 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.3 XCAN Sync Tx transmission cycle 191 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Reset node 191 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8 Monitoring 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN 192 . . . . . . . . . . . . . . . . . . . . .
9.8.2 Bus off 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9 Operating status of AIF interface 195 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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10 Monitoring functions 196 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Fault responses 197 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Overview of monitoring functions 198 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Configuring monitoring functions 202 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.1 Monitoring times for process data input objects 202 . . . . . . . . . . . . . . . . . . .
10.3.2 Time−out monitoring for activated remote parameterisation 204 . . . . . . . .
10.3.3 Short circuit monitoring (OC1) 205 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.4 Earth fault monitoring (OC2) 205 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.5 Motor temperature monitoring (OH3, OH7) 206 . . . . . . . . . . . . . . . . . . . . . .
10.3.6 Heatsink temperature monitoring (OH, OH4) 208 . . . . . . . . . . . . . . . . . . . . .
10.3.7 Monitoring of internal device temperature (OH1, OH5) 209 . . . . . . . . . . . . .
10.3.8 Function monitoring of thermal sensors (H10, H11) 210 . . . . . . . . . . . . . . . .
10.3.9 Current load of controller (I x t monitoring: OC5, OC7) 211 . . . . . . . . . . . . . .
10.3.10 Current load of motor (I2 x t monitoring: OC6, OC8) 214 . . . . . . . . . . . . . . . .
10.3.11 DC−bus voltage monitoring (OU, LU) 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.12 Voltage supply monitoring − control electronics (U15) 221 . . . . . . . . . . . . . .
10.3.13 Motor phase failure monitoring (LP1) 221 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.14 Monitoring of the resolver cable (Sd2) 222 . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.15 Motor temperature sensor monitoring (Sd6) 223 . . . . . . . . . . . . . . . . . . . . . .
10.3.16 Monitoring of the absolute value encoder initialisation (Sd7) 224 . . . . . . . .
10.3.17 Sin/cos signal monitoring (Sd8) 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.18 Monitoring of the speed system deviation (nErr) 226 . . . . . . . . . . . . . . . . . . .
10.3.19 Monitoring of max. system speed (NMAX) 227 . . . . . . . . . . . . . . . . . . . . . . . .
10.3.20 Monitoring of the rotor position adjustment (PL) 228 . . . . . . . . . . . . . . . . . .
11 Diagnostics 229 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Diagnostics with Global Drive Control (GDC) 229 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Diagnostics with Global Drive Oscilloscope (GDO) 230 . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.1 GDO buttons 231 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Diagnostics with the XT EMZ9371BC keypad 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.4 Diagnostics with PCAN−View 233 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.4.1 Monitoring of telegram traffic on the CAN bus 233 . . . . . . . . . . . . . . . . . . . .
11.4.2 Setting all CAN nodes to the "Operational" status 235 . . . . . . . . . . . . . . . . .
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12 Troubleshooting and fault elimination 236 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 Fault analysis 236 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.1 Fault analysis via the LED display 236 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.2 Fault analysis with keypad XT EMZ9371BC 236 . . . . . . . . . . . . . . . . . . . . . . .
12.1.3 Fault analysis with the history buffer 237 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.4 Fault analysis via LECOM status words (C0150/C0155) 239 . . . . . . . . . . . . .
12.2 Malfunction of the drive 241 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 Fault messages 242 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.1 Overview of fault messages, error sources and responses 242 . . . . . . . . . . .
12.3.2 Causes and remedies 246 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3 Reset fault messages (TRIP−RESET) 254 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 System blocks 255 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 AIF_IO_Management (node number 161) 255 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1.1 Inputs_AIF_Management 255 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1.2 Outputs_AIF_Management 258 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 AIF1_IO_AutomationInterface (node number 41) 259 . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.1 Inputs_AIF1 259 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2 Outputs_AIF1 264 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3 AIF2_IO_AutomationInterface (node number 42) 267 . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.1 Inputs_AIF2 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.2 Outputs_AIF2 269 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4 AIF3_IO_AutomationInterface (node number 43) 271 . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.1 Inputs_AIF3 271 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.2 Outputs_AIF3 273 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5 ANALOG1_IO (node number 11) 275 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.1 Inputs_ANALOG1 (analog input) 275 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6 CAN_Management (node number 101) 277 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.1 Inputs_CAN_Management 278 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.2 Outputs_CAN_Management 278 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.3 Executing a reset node 279 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6.4 Define instant of transmission for CAN2_OUT/CAN3_OUT 279 . . . . . . . . . .
13.6.5 Status messages 280 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.7 CAN_Synchronization (node number 102) 281 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8 CAN1_IO (node number 31) 283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8.1 Inputs_CAN1 287 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8.2 Outputs_CAN1 288 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9 CAN2_IO (node number 32) 289 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.1 Inputs_CAN2 292 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.2 Outputs_CAN2 293 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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13.10 CAN3_IO (node number 33) 294 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.10.1 Inputs_CAN3 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.10.2 Outputs_CAN3 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.11 CANaux_Management (node number 111) 299 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.11.1 Inputs_CANaux_Management 300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.11.2 Outputs_CANaux_Management 300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.11.3 Executing a reset node 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.11.4 Define instant of transmission for CANaux2_OUT/CANaux3_OUT 301 . . .
13.11.5 Status messages 302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.12 CANaux1_IO (node number 34) 303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.12.1 Inputs_CANaux1 306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.12.2 Outputs_CANaux1 307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.13 CANaux2_IO (node number 35) 309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.13.1 Inputs_CANaux2 312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.13.2 Outputs_CANaux2 313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.14 CANaux3_IO (node number 36) 314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.14.1 Inputs_CANaux3 317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.14.2 Outputs_CANaux3 318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15 DCTRL_DriveControl (node number 121) 319 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.1 Inputs_DCTRL 321 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.2 Outputs_DCTRL 323 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.3 Quick stop (QSP) 324 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.4 Operation inhibit (DISABLE) 325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.5 Controller inhibit (CINH) 325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.6 Setting TRIP (TRIP−SET) 326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.7 Resetting TRIP (TRIP−RESET) 326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.8 Display of digital status signals 327 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.9 Device status 328 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.10TRIP status (DCTRL_bExternalFault_b) 329 . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.15.11Transfer of the status/control word via AIF 329 . . . . . . . . . . . . . . . . . . . . . . .
13.16 DFIN_IO_DigitalFrequency (node number 21) 331 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.16.1 Inputs_DFIN 331 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.17 DFOUT_IO_DigitalFrequency (node number 22) 338 . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.17.1 Inputs_DFOUT / Outputs_DFOUT 338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.18 DIGITAL_IO (node number 1) 343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.18.1 Inputs_DIGITAL (digital inputs) 343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.18.2 Outputs_DIGITAL (digital outputs) 345 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.19 FCODE_FreeCode (node number 141) 347 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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13.20 MCTRL_MotorControl (node number 131) 351 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.1 Inputs_MCTRL 352 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.2 Outputs_MCTRL 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.3 Torque setpoint / additional torque setpoint 355 . . . . . . . . . . . . . . . . . . . . . .
13.20.4 Torque limitation 356 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.5 Setting maximum speed 357 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.6 Speed setpoint limitation 358 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.7 Torque control with speed limitation 359 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.8 Parameterising phase controllers 360 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.9 Quick stop (QSP) 361 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.10Manual field weakening 362 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.11Switching frequency changeover 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.12Touch probe (TP) 364 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.13Adjusting the motor data 366 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.20.14Monitoring 369 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.21 OSC_Oscilloscope (node number 60) 371 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.22 SYSTEM_FLAGS (system flags, node number 151) 372 . . . . . . . . . . . . . . . . . . . . . . . . .
13.22.1 Inputs SYSTEM_FLAGS 372 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.22.2 Outputs SYSTEM_FLAGS 373 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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14 Appendix 374 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1 PLC functionality 374 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Extendability / networking 375 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Memories 376 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.1 Retain memory 376 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.2 Persistent memory 377 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.3 Download of various data items 379 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.4 Temporary codes 380 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.5 RAM memory access via codes 381 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4 System program organisation units 383 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5 Code table 384 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6 Table of attributes 431 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7 General information about the system bus (CAN) 440 . . . . . . . . . . . . . . . . . . . . . . . . .
14.7.1 Structure of the CAN data telegram 440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7.2 Communication phases of the CAN network (NMT) 442 . . . . . . . . . . . . . . . .
14.7.3 Process data transfer 445 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7.4 Parameter data transfer 452 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7.5 Addressing of the parameter and process data objects 458 . . . . . . . . . . . . .
14.8 Overview of accessories 460 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.1 Connector sets 460 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.2 Shield mounting kit 460 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.3 Components for operation and communication 461 . . . . . . . . . . . . . . . . . . .
14.8.4 Brake resistor 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.5 Mains fuses 464 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.6 Mains chokes 465 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.8.7 RFI filters 466 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 Index 467 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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1
Preface and general information
About these Operating Instructions
Conventions used in this Manual
1 Preface and general information
1.1 About these Operating Instructions
These Operating Instructions will assist you in connecting and commissioning the ECSxA...
axis modules.
They contain safety instructions which must be observed!
All persons working on and with the ECSxA... axis modules must have the Operating
Instructions available and must observe the information and notes relevant for their work.
The Operating Instructions must always be in a complete and perfectly readable state.
1.1.1 Conventions used in this Manual
This Manual uses the following conventions to distinguish between different types of
information:
Information type Print
(in the descriptive text)
System block name bold The SB DIGITAL_IO...
System block variable identifier italics The input DIGIN_bIn1_b...
Example
Further information ...
about the conventions used for the Lenze variable identifiers, system blocks,
function blocks, and functions can be found in the appendix of the DDS online
documentation "Introduction to IEC 61131−3 programming".
The compliance with these conventions ensures uniform and universal
labelling and makes reading PLC programs easier.
14
EDBCSXA064 EN 3.2
1.1.2 Terminology used
Term In the following text used for
Power supply module
ECSxE...
Capacitor module
ECSxK...
Axis module
Controller
Standard device
ECSxS...
ECSxP...
ECSxM...
ECSxA ...
Drive system ECS drive system consisting of:
24 V supply
Low−voltage supply
AIF Automation InterFace
System bus (CAN) Lenze standard bus system based on CANopen for
MotionBus (CAN) The "MotionBus (CAN)" term expresses the functionality of the CAN interface X4 in
DDS Drive PLC Developer Studio
GDC Global Drive Control
GDO Global Drive Oscilloscope
Cxxxx Code Cxxxx (e.g. C0351)
Cxxxx/y Subcode y of code Cxxxx (e. g. C0470/3 = subcode 3 of code C0470)
Xk/y Terminal y on terminal strip Xk (e.g. X6/B+ = terminal B+ on terminal strip X6)
Preface and general information
About these Operating Instructions
Terminology used
ECSxE... power supply module
ECSxK... capacitor module
Axis module of the ECS series
l ECSxS... − "Speed and Torque"
l ECSxP... − "Posi and Shaft"
l ECSxM... − "Motion"
l ECSxA... − "Application"
l ECSxE... power supply module
l Axis module ECSxS... / ECSxP... / ECSxM... / ECSxA...
l ECSxK series capacitor module (optional)
l further Lenze drive components (accessories)
Voltage supply
l of the control card, voltage range 20 ... 30 V DC (±0 V)
l of the "safe torque off" function (formerly "safe standstill"), voltage range
18 ... 30 V DC (±0 V)
l of the motor holding brake, voltage range 23 ... 30 V DC (±0 V)
l communication with a higher−level host system (PLC) or further controllers.
l parameter setting and diagnostics.
case of ECSxS/P/M... axis modules, where communication takes place using a
higher−level host system (PLC) or further controllers exclusively via the X4 interface.
Interface X14 (CAN−AUX) is exclusively used for parameter setting and diagnostics.
(Lenze software for PLC programming acc. to IEC 61131)
(Lenze software for parameter setting and diagnostics)
(additional diagnostic tool of the GDC)
Parameters which serve to parameterise or monitor the controller.
1
EDBCSXA064 EN 3.2
15
1
Preface and general information
About these Operating Instructions
Code descriptions
1.1.3 Code descriptions
Lenze codes are described in the form of tables with the following structure:
Column Abbreviation Meaning
No.
Name LCD display of the keypad XT EMZ9371BC
Lenze/{Appl.}
Selection 1 {%} 99 minimum value {unit} maximum value
IMPORTANT Short code description
Cxxxx
1 Subcode 1 of Cxxxx
2 Subcode 2 of Cxxxx
Cxxxx Changed input value of the code or subcode is accepted after pressing
[Cxxxx] Changed input value of the code or subcode is accepted after pressing
x Lenze setting:
{xxx...} Different application initialisation value
à The "Important" column contains further information
Code no. Cxxxx
.
when the controller is inhibited.
l Value at the time of delivery or after loading the Lenze setting using
C0002.
l Value at the time of delivery
l After loading the Lenze setting using C0002, the application
initialisation value is overwritten with the Lenze setting.
l The application initialisation values can be restored by loading the
application software with "Global Drive Loader" (GDL).
Example
Code Possible settings IMPORTANT
No. Designation Lenze/
{Appl.}
C0003 Par save 0
C1192 Selection of resistance
1 Char.: OHM 1000
2 Char.: OHM 2225 PTC characteristic:
Selection
Non−volatile saving of parameter
set
0 No response
1 Save parameter set
characteristic for PTC
0 {1 W} 30000 PTC characteristic:
{0}
resistance R1 at T1
resistance R2 at T2
16
EDBCSXA064 EN 3.2
Preface and general information
About these Operating Instructions
Structure of the system block descriptions
1.1.4 Structure of the system block descriptions
All system block descriptions contained in this Manual have the same structure:
1
Headline with SB identifier
SB function and node number
Brief description of the SB and its most important
features
Graph including all corresponding system variables
l Input variables
l Output variables
Table giving information about input and output
variables:
l Identifier
l Data type
l Signal type
l Address
l Display code
l Display format
l Information
l Detailed functional description of the SB
l Code description
EDBCSXA064 EN 3.2
17
1
1.2 Features of the ECSxA axis module
Preface and general information
Features of the ECSxA
ƒ Safety function "safe torque off" (formerly "safe standstill")
ƒ PLC programming according to IEC 61131−3 with the Lenze software "Drive PLC
Developer Studio" (DDS)
ƒ Functions that can be used in your projects are available as system blocks(SB).
– Chapter "1.5 Introduction of system blocks" ( 21)
– Chapter "13 System blocks" ( 255)
ƒ Double CAN ON BORD
– Interface X4 "CAN" (PDO1, sync−based)
– Interface X14 "CAN−AUX"
ƒ Automation interface (AIF)
– Connection to other fieldbus systems with Lenze communication modules
(e.g. EMF2133IB PROFIBUS−DP)
– Connection of the XT EMZ9371BC keypad for parameter setting and diagnostics
ƒ Supported feedback systems:
– Resolver with and without position storage
– Encoder (incremental encoder (TTL encoder), sin/cos encoder)
ƒ Commissioning, parameter setting and diagnostics with the Lenze parameter
setting and operating program "Global Drive Control" (GDC) or the XT EMZ9371BC
keypad
18
EDBCSXA064 EN 3.2
1.3 Scope of supply
The scope of supply of the ECSxA... axis module includes:
ƒ Standard device
ƒ Accessory kit with fixings according to the design:
– "E" − panel−mounted device
– "D" − push−through technique
– "C" − cold−plate technique
ƒ Mounting Instructions
ƒ Drilling jig
ƒ Functional earth conductor (only ECSDA...)
Accessories
The appendix includes information on the following accessories: ( 460).
Preface and general information
Scope of supply
1
ƒ Connector sets for
– power supply modules: ECSZE000X0B
– capacitor modules: ECSZK000X0B
– axis modules: ECSZA000X0B
ƒ ECSZS000X0B001 shield mounting kit (EMC accessories)
ƒ Components for operation and communication
ƒ Brake resistors
ƒ Mains fuses
ƒ Mains chokes
ƒ RFI filters
Tip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com
EDBCSXA064 EN 3.2
19
1
Preface and general information
Legal regulations
1.4 Legal regulations
Identification
Application as
directed
Liability l The information, data and notes in these Instructions met the state of the art at the time of printing. Claims
Warranty l Terms of warranty: See terms of sales and delivery of Lenze Drive Systems GmbH.
Nameplate CE designation Manufacturer
Lenze controllers are
unambiguously designated by the
contents of the nameplate.
ECSxA... axis modules
l must only be operated under the conditions prescribed in these Instructions.
l are components
– for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous
motors.
– for installation into a machine
– for assembly with other components to form a machine.
l are electrical equipment for the installation in control cabinets or similar closed operating areas.
l comply with the protective requirements of the EC Low−Voltage Directive.
l are not machines for the purpose of the EC Machinery Directive.
l are not to be used as domestic appliances, but for industrial purposes only.
Drive systems with ECSxA... axis modules
l comply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines
of CE−typical drive systems.
l can be used
– at public and non−public mains.
– in industrial premises.
l The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
on modifications referring to axis modules and components which have already been supplied cannot be
derived from the information, illustrations and descriptions given in these Instructions.
l The specifications, processes, and circuitry described in these Instructions are for guidance only and must be
adapted to your own specific application. Lenze does not take responsibility for the suitability of the process
and circuit proposals.
l Lenze does not accept any liability for damages and failures caused by:
– Disregarding the Operating Instructions
– Unauthorised modifications to the axis module
– Operating errors
– Improper working on and with the axis module
l Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
l The warranty is void in all cases where liability claims cannot be made.
Conforms to the EC Low−Voltage
Directive
Lenze Automation GmbH
Grünstraße 36
D−40667 Meerbusch
20
EDBCSXA064 EN 3.2
1.5 System block introduction
Lenze pursues the principle to describe functions of the controller by means of function
blocks (FB). This principle is also described in the standard IEC 61131−3.
ƒ Functions that you can use in your project as software functionalities, are contained
in the function libraries as function blocks or functions.
ƒ Moreover, quasi hardware functions are available as system blocks(SB).
1.5.1 System blocks ˘ principle
ƒ System blocks partly respond to real hardware.
ƒ The system blocks are assigned/identified via node numbers. ( 22)
ƒ The inputs/outputs of the system blocks are assigned via:
– System variables ( 23)
– Absolute memory addresses ( 24)
Preface and general information
System block introduction
System blocks ˘ principle
1
ƒ Inputs/outputs are always classified from the program’s point of view.( 24)
ƒ Required system blocks must be explicitly integrated into the project of the DDS via
the control configuration. ( 26)
The system block principle can be perfectly explained by means of a PLC system in a rack:
ƒ Besides the CPU, the rack includes digital I/Os, analog I/Os, counter cards,
positioning cards etc. as extension cards:
CPU
ƒ The CPU can directly access the extension cards and process the resulting
information.
ƒ The single extension cards have a permanent address for being addressed.
xxxxxx
x = extension cards
Tip!
In case of the ECSxA... axis modules, the system blocks correspond to these
attachment cards!
System blocks therefore are specific (hardware) function blocks which are
firmly integrated into the runtime system of the ECSxA... axis module.
EDBCSXA064 EN 3.2
21
1
Preface and general information
System block introduction
Node numbers
1.5.2 Node numbers
The system blocks feature the following node numbers:
Node
number
1 DIGITAL_IO Digital inputs/outputs
11 ANALOG1_IO Analog input 1
21 DFIN_IO_DigitalFrequency Digital frequency input
22 DFOUT_IO_DigitalFrequency Digital frequency output
31 CAN1_IO
32 CAN2_IO
33 CAN3_IO
34 CANaux1_IO
35 CANaux2_IO
36 CANaux3_IO
41 AIF1_IO_AutomationInterface
42 AIF2_IO_AutomationInterface
43 AIF3_IO_AutomationInterface
60 OSC_Oscilloscope Oscilloscope function
101 CAN_Management System bus (CAN) management
102 CAN_Synchronization System bus (CAN) synchronisation
111 CANaux_Management System bus (CAN−AUX) management
121 DCTRL_DriveControl Device control
131 MCTRL_MotorControl Motor control
141 FCODE_FreeCodes Free codes
151 SYSTEM_FLAGS System flags
161 AIF_IO_Management Automation interface management
171 VAR_PERSISTENT Persistent variables
System block Notes
System bus (CAN)
System bus (CAN−AUX)
Automation interface (AIF)
The node number is part of the absolute system bus address ( 24).
22
EDBCSXA064 EN 3.2
1.5.3 Access via system variables
If you have integrated a system block into the system configuration of the DDS, you can use
its system variables within your project.
You can call up the input assistance in the editors of the DDS via <F2>, among other things
listing all the system variables that are provided:
Preface and general information
System block introduction
Access via system variables
1
In this Manual, the system variables can be retrieved in the system variable table of the
corresponding system block.
Example: Table with the inputs of the SB Inputs_Digital of the ECSxA... axis module
Variable Data
DIGIN_bCInh_b
DIGIN_bIn1_b %IX1.0.1
DIGIN_bIn2_b %IX1.0.2
DIGIN_bIn3_b %IX1.0.3
DIGIN_bIn4_b %IX1.0.4
DIGIN_b_safe_standstill_b %IX1.0.5
type
BOOL
Signal
type
binary
Address Display
code
%IX1.0.0 ˘ ˘
C0443 bin
Display
format
Notes
Controller inhibit ˘ takes
direct effect on the
device control DCTRL.
"Safe torque off"
(former "safe standstill")
EDBCSXA064 EN 3.2
23
1
Preface and general information
System block introduction
Access via absolute addresses
1.5.4 Access via absolute addresses
You can also access the inputs and outputs of the system blocks via absolute addresses
according to standard IEC 61131−3:
For inputs: For outputs:
%IXa.b.c %QXa.b.c
In this Manual, the absolute addresses can be retrieved in the system variable table of the
corresponding system block.
Example: Table with the inputs of the SB Inputs_Digital of the ECSxA... axis module
Variable Data
DIGIN_bCInh_b
DIGIN_bIn1_b %IX1.0.1
DIGIN_bIn2_b %IX1.0.2
DIGIN_bIn3_b %IX1.0.3
DIGIN_bIn4_b %IX1.0.4
DIGIN_b_safe_standstill_b %IX1.0.5
type
BOOL binary
Signal
type
a = node number
b = word address
c = bit address
Address Display
code
%IX1.0.0 ˘ ˘
C0443 bin
Display
format
Notes
Controller inhibit ˘ takes
direct effect on the
device control DCTRL.
"Safe torque off"
(former "safe standstill")
1.5.5 Definition of the inputs/outputs
For connecting the application program with the hardware, system blocks are connected
with program organisation units (POU):
POE-Input POE-Output
SB-Output
SB
Fig. 1−1 Plan: Connecting system blocks to a program organisation unit (POU)
Note!
Inputs and outputs are always classified from the program’s point of view.
ƒ Logical SB inputs are always hardware−side outputs of the ECSxA axis...
module
ƒ Logical SB outputs are always hardware−side inputs of the ECSxA axis...
module
SB-Input
SBPOE
24
EDBCSXA064 EN 3.2
Preface and general information
System block introduction
Definition of the inputs/outputs
Example:
Use of the system blocks Inputs_Digital and Outputs_Digital
1
Outputs_DIGITAL
0
1
1
C0118/1
0
1
1
C0118/2
X6
DO1
X6
SO
X25X6
B1
B2
ECSXA207
mP
DIGIN_b_safe_standstill_b
mP + Imp
Inputs_DIGITAL
DIGIN_bIn1_b
DIGIN_bIn2_b
DIGIN_bIn3_b
DIGIN_bIn4_b
DIGIN_bCInh_b
POE
DIGOUT_bOut1_b
DIGOUT_bRelais_b
B+
B-
C0444/1
safe torque off
C0444/2
MONIT-Rel1
C0602
X6
DI1
DI2
DI3
DI4
X6
SI1
SI2
0
1
1
C0114/1...4
safe standstill
C0443
C0443
Fig. 1−2 Plan: connecting the system blocks "Inputs_Digital" and "Outputs_Digital"
If you want to use digital input 1 and digital output 1, carry out the following steps:
1. Explicitly integrate the system blocks Inputs_DIGITAL and Outputs_DIGITAL into the
control configuration of the DDS. ( 26)
2. For access to digital input 1:
– Assign the system variable DIGIN_bIn1_b to a POU variable.
3. For access to digital output 1:
– Assign the system variable DIGOUT_bOut1_b to a POU variable.
Note!
According to the IEC 61131−3 standard the system variables DIGIN_bIn1_b and
DIGOUT_bOut1_b may generally only be used once.
The use of one system variable in several POUs must be carried out via a copy
(as global variable).
EDBCSXA064 EN 3.2
25
1
1.5.6 Integrate system blocks into DDS
Preface and general information
System block introduction
Integrate system blocks into DDS
The required system blocks must be explicitly integrated into the project of the DDS via the
control configuration.
ƒ The control configuration is an object in the Resources tab in the Object Organizer.
ƒ For each system block, the control configuration contains the inputs and outputs
with the identifier of the corresponding system variable, the absolute address and
the data type of the system variable:
012
ECSXA245
Fig. 1−3 Example: Control configuration with system blocks "Inputs_DIGITAL" and "Outputs_DIGITAL"
Identifier of the system variable
Absolute address
Data type of the system variable
Tip!
The control configuration provides a context menu via the right mouse button
which serves to add or remove system blocks.
26
EDBCSXA064 EN 3.2
1.5.7 Signal types and scaling
A signal type can be assigned to most inputs and outputs of the Lenze function
blocks/system blocks. The following signal types are distinguished:
ƒ digital and analog signals
ƒ position and speed signals
The identifier of the corresponding input/output variable has an ending (starting with an
underscore). It indicates the signal type.
Preface and general information
System block introduction
Signal types and scaling
1
Signal
Type Symbol
Analog _a (analog) 16 Bit1 100 % º 16384
Digital _b (binary) 1 bit 0 º FALSE; 1 º TRUE
Angular
difference or
speed (rot.)
Angle or position
Ending Memory
_v (velocity) 16 Bit1 15000 rpm º 16384
l Angular difference/speed ref. to 1 ms
l Normalisation example:
Speed (on motor side) + 15000 [rpm] +
1 motor revolution + 65536 [inc]
Variable value (..._v) +
_p (position) 32 Bit 1 motor revolution º 65536
Direction (0 º clockwise rotation; 1 º counter−clockwise rotation)
No. of motor revolutions (0 ... 32767)
Angle or position (0 ... 65535)
15000
60000 [ms]
High Word Low Word 031
(external size º internal size)
15000
60 [s]
@ 65536 [inc] + 16384
Scaling
inc
ƪ
ƫ
ms
Due to their scaling, analog signals have an asymmetrical resolution range
(−200 % ... +199.99 %):
EDBCSXA064 EN 3.2
External: −200 % −100 % 0 % +100 % +199.99 %
Internal: −32768 −16384 0 +16384 +32767
27
2
Safety instructions
General safety and application notes for Lenze controllers
2 Safety instructions
2.1 General safety and application notes for Lenze controllers
(in accordance with Low−Voltage Directive 2006/95/EC)
For your personal safety
Disregarding the following safety measures can lead to severe injury to persons and
damage to material assets:
ƒ Only use the product as directed.
ƒ Never commission the product in the event of visible damage.
ƒ Never commission the product before assembly has been completed.
ƒ Do not carry out any technical changes on the product.
ƒ Only use the accessories approved for the product.
ƒ Only use original spare parts from Lenze.
ƒ Observe all regulations for the prevention of accidents, directives and laws
applicable on site.
ƒ Transport, installation, commissioning and maintenance work must only be carried
out by qualified personnel.
– Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or
DIN VDE 0110 and all national regulations for the prevention of accidents.
– According to this basic safety information, qualified, skilled personnel are persons
who are familiar with the assembly, installation, commissioning, and operation of
the product and who have the qualifications necessary for their occupation.
ƒ Observe all specifications in this documentation.
– This is the condition for safe and trouble−free operation and the achievement of
the specified product features.
– The procedural notes and circuit details described in this documentation are only
proposals. It is up to the user to check whether they can be transferred to the
particular applications. Lenze Automation GmbH does not accept any liability for
the suitability of the procedures and circuit proposals described.
ƒ Depending on their degree of protection, some parts of the Lenze controllers
(frequency inverters, servo inverters, DC speed controllers) and their accessory
components can be live, moving and rotating during operation. Surfaces can be hot.
– Non−authorised removal of the required cover, inappropriate use, incorrect
installation or operation, creates the risk of severe injury to persons or damage to
material assets.
– For more information, please see the documentation.
28
ƒ High amounts of energy are produced in the controller. Therefore it is required to
wear personal protective equipment (body protection, headgear, eye protection, ear
protection, hand guard).
EDBCSXA064 EN 3.2
Safety instructions
General safety and application notes for Lenze controllers
Application as directed
Controllers are components which are designed for installation in electrical systems or
machines. They are not to be used as domestic appliances, but only for industrial purposes
according to EN 61000−3−2.
When controllers are installed into machines, commissioning (i.e. starting of the operation
as directed) is prohibited until it is proven that the machine complies with the regulations
of the EC Directive 2006/42/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of the operation as directed) is only allowed when there is
compliance with the EMC Directive (2004/108/EC).
The controllers meet the requirements of the Low−Voltage Directive 2006/95/EC. The
harmonised standard EN 61800−5−1 applies to the controllers.
The technical data and supply conditions can be obtained from the nameplate and the
documentation. They must be strictly observed.
Warning: Controllers are products which can be installed in drive systems of category C2
according to EN 61800−3. These products can cause radio interferences in residential areas.
In this case, special measures can be necessary.
2
Transport, storage
Please observe the notes on transport, storage, and appropriate handling.
Observe the climatic conditions according to the technical data.
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.
Ensure proper handling and avoid excessive mechanical stress. Do not bend any
components and do not change any insulation distances during transport or handling. Do
not touch any electronic components and contacts.
Controllers contain electrostatic sensitive devices which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this
might endanger your health!
EDBCSXA064 EN 3.2
29
2
Safety instructions
General safety and application notes for Lenze controllers
Electrical connection
When working on live controllers, observe the applicable national regulations for the
prevention of accidents (e.g. VBG 4).
The electrical installation must be carried out according to the appropriate regulations
(e.g. cable cross−sections, fuses, PE connection). Additional information can be obtained
from the documentation.
This documentation contains information on installation in compliance with EMC
(shielding, earthing, filter, and cables). These notes must also be observed for CE−marked
controllers. The manufacturer of the system is responsible for compliance with the limit
values demanded by EMC legislation. The controllers must be installed in housings (e.g.
control cabinets) to meet the limit values for radio interferences valid at the site of
installation. The housings must enable an EMC−compliant installation. Observe in
particular that e.g. the control cabinet doors have a circumferential metal connection to
the housing. Reduce housing openings and cutouts to a minimum.
Lenze controllers may cause a DC current in the PE conductor. If a residual current device
(RCD) is used for protection against direct or indirect contact for a controller with
three−phase supply, only a residual current device (RCD) of type B is permissible on the
supply side of the controller. If the controller has a single−phase supply, a residual current
device (RCD) of type A is also permissible. Apart from using a residual current device (RCD),
other protective measures can be taken as well, e.g. electrical isolation by double or
reinforced insulation or isolation from the supply system by means of a transformer.
Operation
If necessary, systems including controllers must be equipped with additional monitoring
and protection devices according to the valid safety regulations (e.g. law on technical
equipment, regulations for the prevention of accidents). The controllers can be adapted to
your application. Please observe the corresponding information given in the
documentation.
After the controller has been disconnected from the supply voltage, all live components
and power terminals must not be touched immediately because capacitors can still be
charged. Please observe the corresponding stickers on the controller.
All protection covers and doors must be shut during operation.
Notes for UL−approved systems with integrated controllers: UL warnings are notes that
only apply to UL systems. The documentation contains special UL notes.
30
EDBCSXA064 EN 3.2
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