Lenze ECSCSxxx User Manual
EDBCSXS064
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Operating Instructions
ECS
ECSESxxx / ECSDSxxx / ECSCSxxx
Axis module ˘ "Speed & Torque"
Please read these instructions before you start working!
Follow the enclosed safety instructions.
This documentation is valid for ECSxS axis modules, application software (A−SW) "Speed & Torque", as
of version:
ECS x S xxx C 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
S = "Speed and Torque"
Peak current
004 = 4 A
008 = 8 A
016 = 16 A
Fieldbus interface
C = MotionBus/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
EDBCSXS064 EN 4.0
ECSEA_003A
EDBCSXS064 EN 4.0
3
Scope of supply
Position Description Quantity
A ECSS... 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 ECSDS...) 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 70
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 87
X8 Encoder connection
l Incremental encoder (TTL encoder)
l Sin/cos encoder
X25 Brake control connection 62
X24 Motor connection 61
55
80
163
81
65
69
70
71
169
88
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
EDBCSXS064 EN 4.0
Contents i
1 Preface and general information 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About these Operating Instructions 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Terminology used 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Code descriptions 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Signal types and scaling 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Features of the ECSxS axis module 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Scope of supply 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Legal regulations 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety and application notes for Lenze controllers 19 . . . . . . . . . . . . . . . . . .
2.2 Thermal motor monitoring 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Forced ventilated or naturally ventilated motors 24 . . . . . . . . . . . . . . . . . . .
2.2.2 Self−ventilated motors 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Residual hazards 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Safety instructions for the installation according to UL 29 . . . . . . . . . . . . . . . . . . . . .
2.5 Notes used 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General data and operating conditions 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Rated data 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Current characteristics 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Increased continuous current depending on the control factor 35 . . . . . . .
3.3.2 Device protection by current derating 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Mechanical installation 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Important notes 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Mounting with fixing rails (standard installation) 40 . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Dimensions 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Mounting steps 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Mounting with thermal separation (push−through technique) 42 . . . . . . . . . . . . . . .
4.3.1 Dimensions 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Mounting steps 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mounting in cold−plate design 46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Dimensions 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Mounting steps 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5 Electrical installation 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 49 . . . . . . .
5.2 Power terminals 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection to the DC bus (+UG, −UG) 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Connection plan for mimimum wiring with
internal brake resistor 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Connection plan for mimimum wiring with
external brake resistor 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Motor connection 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Motor holding brake connection 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Connection of an ECSxK... capacitor module (optional) 64 . . . . . . . . . . . . . .
5.3 Control terminals 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Digital inputs and outputs 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Analog input 70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Safe torque off 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Automation interface (AIF) 80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Wiring of system bus (CAN) 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Wiring of the feedback system 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Resolver connection 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Encoder connection 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Digital frequency input/output (encoder simulation) 91 . . . . . . . . . . . . . . .
6 Commissioning 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before you start 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Commissioning steps (overview) 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Carrying out basic settings with GDC 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Loading the Lenze setting 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Setting of mains data 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Selecting the function of the charging current limitation 98 . . . . . . . . . . . .
6.5.2 Setting the voltage thresholds 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Entry of motor data for Lenze motors 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Holding brake configuration 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Setting of the feedback system for position and speed control 103 . . . . . . . . . . . . . . .
6.8.1 Resolver as position and speed encoder 104 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.2 TTL/SinCos encoder as position and speed encoder 106 . . . . . . . . . . . . . . . . .
6.8.3 TTL/SinCos encoder as position encoder and resolver
as speed encoder 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.4 Absolute value encoder as position and speed encoder 113 . . . . . . . . . . . . .
6.8.5 Absolute value encoder as position encoder and resolver
as speed encoder 117 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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EDBCSXS064 EN 4.0
Contents i
6.9 Configuring the digital inputs and outputs 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.1 Setting the polarity 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.2 Setting the direction of rotation 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.3 Change of the terminal assignment 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Selecting the operating mode/control structure 126 . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.1 Speed control with setpoint via analog input 127 . . . . . . . . . . . . . . . . . . . . . .
6.10.2 Speed control with setpoint via AIF 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.3 Speed control with setpoint via MotionBus (CAN) 132 . . . . . . . . . . . . . . . . . .
6.10.4 Torque control with setpoint via analog input 134 . . . . . . . . . . . . . . . . . . . . .
6.10.5 Torque control with setpoint via AIF 137 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.6 Torque control with setpoint via MotionBus (CAN) 139 . . . . . . . . . . . . . . . . .
6.11 Entry of machine parameters 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Setpoint selection 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13 Controller enable (CINH = 0) 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14 Quick stop (QSP) 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Operation with motors from other manufacturers 145 . . . . . . . . . . . . . . . . . . . . . . . . .
6.15.1 Entering motor data manually 145 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15.2 Checking the direction of rotation of the motor feedback system 148 . . . . .
6.15.3 Adjusting current controller 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15.4 Effecting rotor position adjustment 151 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Optimising the drive behaviour after start 154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.1 Speed controller adjustment 154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.2 Adjustment of field controller and field weakening controller 157 . . . . . . . .
6.16.3 Resolver adjustment 160 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDBCSXS064 EN 4.0
7
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7 Parameter setting 161 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 General information 161 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Parameter setting with "Global Drive Control" (GDC) 162 . . . . . . . . . . . . . . . . . . . . . . .
7.3 Parameter setting with the XT EMZ9371BC keypad 163 . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Connecting the keypad 163 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the display elements 164 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Description of the function keys 166 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Changing and saving parameters 167 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Configuration 168 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Configuring MotionBus/system bus (CAN) 169 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Setting CAN node address and baud rate 169 . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Individual addressing 173 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Defining boot−up master in the drive system 175 . . . . . . . . . . . . . . . . . . . . . .
8.1.4 Setting of boot−up time/cycle time 176 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5 Executing a reset node 178 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.6 Axis synchronisation (CAN synchronisation) 179 . . . . . . . . . . . . . . . . . . . . . .
8.1.7 Monitoring of the synchronisation (sync time slot) 181 . . . . . . . . . . . . . . . . .
8.1.8 Axis synchronisation via CAN 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.9 Axis synchronisation via terminal X6/DI1 183 . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Node guarding 184 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 CAN management 186 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Diagnostics codes 187 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1 CAN bus status (C0359) 187 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2 CAN telegram counter (C0360) 188 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.3 CAN bus load (C0361) 189 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Remote parameterisation (gateway function) 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
EDBCSXS064 EN 4.0
Contents i
9 Monitoring functions 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Fault responses 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Overview of monitoring functions 194 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Configuring monitoring functions 198 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Monitoring times for process data input objects 198 . . . . . . . . . . . . . . . . . . .
9.3.2 Time−out monitoring for activated remote parameterisation 200 . . . . . . . .
9.3.3 Short circuit monitoring (OC1) 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Earth fault monitoring (OC2) 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5 Motor temperature monitoring (OH3, OH7) 202 . . . . . . . . . . . . . . . . . . . . . . .
9.3.6 Heatsink temperature monitoring (OH, OH4) 204 . . . . . . . . . . . . . . . . . . . . . .
9.3.7 Monitoring of internal device temperature (OH1, OH5) 205 . . . . . . . . . . . . .
9.3.8 Function monitoring of thermal sensors (H10, H11) 206 . . . . . . . . . . . . . . . .
9.3.9 Current load of controller (I x t monitoring: OC5, OC7) 207 . . . . . . . . . . . . . .
9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8) 210 . . . . . . . . . . . . . . . .
9.3.11 DC−bus voltage monitoring (OU, LU) 214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.12 Voltage supply monitoring − control electronics (U15) 217 . . . . . . . . . . . . . .
9.3.13 Motor phase failure monitoring (LP1) 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.14 Monitoring of the resolver cable (Sd2) 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.15 Motor temperature sensor monitoring (Sd6) 219 . . . . . . . . . . . . . . . . . . . . . .
9.3.16 Monitoring of the absolute value encoder initialisation (Sd7) 220 . . . . . . . .
9.3.17 Sin/cos signal monitoring (Sd8) 221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.18 Monitoring of the speed system deviation (nErr) 222 . . . . . . . . . . . . . . . . . . .
9.3.19 Monitoring of max. system speed (NMAX) 223 . . . . . . . . . . . . . . . . . . . . . . . .
9.3.20 Monitoring of the rotor position adjustment (PL) 224 . . . . . . . . . . . . . . . . . .
10 Diagnostics 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Diagnostics with Global Drive Control (GDC) 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Diagnostics with Global Drive Oscilloscope (GDO) 226 . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 GDO buttons 227 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Diagnostics with the XT EMZ9371BC keypad 228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Diagnostics with PCAN−View 229 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1 Monitoring of telegram traffic on the CAN bus 229 . . . . . . . . . . . . . . . . . . . .
10.4.2 Setting all CAN nodes to the "Operational" status 231 . . . . . . . . . . . . . . . . . .
EDBCSXS064 EN 4.0
9
Contentsi
11 Troubleshooting and fault elimination 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Fault analysis 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 Fault analysis via the LED display 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2 Fault analysis with keypad XT EMZ9371BC 232 . . . . . . . . . . . . . . . . . . . . . . . .
11.1.3 Fault analysis with the history buffer 233 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.4 Fault analysis via LECOM status words (C0150/C0155) 235 . . . . . . . . . . . . .
11.2 Malfunction of the drive 237 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Fault messages 238 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 Causes and remedies 238 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Reset fault messages (TRIP−RESET) 246 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Function library 247 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 AIF (Automation interface management) 247 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 AIF1In 248 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 AIF1Out 251 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4 AIF2In 256 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5 AIF2Out 258 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6 AIF3In 261 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7 AIF3Out 263 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8 AIn1 266 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.9 CAN (CAN management) 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.10 CANSync (CAN bus synchronisation) 270 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.11 CAN1In 273 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.12 CAN1Out 276 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.13 CAN2In 282 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.14 CAN2Out 285 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.15 CAN3In 288 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.16 CAN3Out 291 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17 DCTRL 294 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.1 Quick stop (QSP) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.2 Operation inhibit (DISABLE) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.3 Controller inhibit (CINH) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.4 Setting TRIP (TRIP−SET) 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.5 Resetting TRIP (TRIP−RESET) 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.6 Axis module status 299 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18 DFIN (master frequency input) 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.19 DFOUT (master frequency output) 304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.20 DigIn (freely assignable digital inputs) 307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.21 DigOut (freely assignable digital outputs) 308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
EDBCSXS064 EN 4.0
Contents i
12.22 FCODE (free codes) 309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.23 FIXED (output of constant signals) 312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.24 InNeg 313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.25 OutNeg 315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.26 SYS 317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27 Speed (speed control) 318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.1 Changing the direction of rotation 325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.2 Setpoint processing 326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.3 Setting of motor control 332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.4 Holding brake control 340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28 Torque (torque control) 343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.1 Torque control with speed limitation 349 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.2 Changing the direction of rotation 350 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.3 Setpoint processing 351 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.4 Setting of motor control 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.5 Holding brake control 360 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Appendix 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 Code table 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 Selection lists for signal linking 428 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.1 List of the digital signal sources 428 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2 List of the analog signal sources 437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3 List of the phase signal sources 440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3 General information about the system bus (CAN) 441 . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4 Communication with MotionBus/system bus (CAN) 442 . . . . . . . . . . . . . . . . . . . . . . .
13.4.1 Structure of the CAN data telegram 442 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.2 Communication phases of the CAN network (NMT) 444 . . . . . . . . . . . . . . . .
13.4.3 Process data transfer 447 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.4 Parameter data transfer 454 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.5 Addressing of the parameter and process data objects 460 . . . . . . . . . . . . . .
13.5 Overview of accessories 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.1 Connector sets 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.2 Shield mounting kit 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.3 Components for operation and communication 463 . . . . . . . . . . . . . . . . . . .
13.5.4 Brake resistor 464 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.5 Mains fuses 466 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.6 Mains chokes 467 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.7 RFI filters 468 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14 Index 469 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDBCSXS064 EN 4.0
11
1
Preface and general information
About these Operating Instructions
1 Preface and general information
1.1 About these Operating Instructions
These Operating Instructions will assist you in connecting and commissioning the ECSxS...
axis modules.
They contain safety instructions which must be observed!
All persons working on and with the ECSxS... 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.
12
EDBCSXS064 EN 4.0
1.1.1 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
EDBCSXS064 EN 4.0
13
1
Preface and general information
About these Operating Instructions
Code descriptions
1.1.2 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
14
EDBCSXS064 EN 4.0
1.1.3 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
About these Operating Instructions
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 %):
EDBCSXS064 EN 4.0
External: −200 % −100 % 0 % +100 % +199.99 %
Internal: −32768 −16384 0 +16384 +32767
15
1
1.2 Features of the ECSxS axis module
Preface and general information
Features of the ECSxS
ƒ Safety function "safe torque off" (formerly "safe standstill")
ƒ Speed control/torque control with the subfunctions:
– Selectable direction of rotation
– Setpoint conditioning
– Motor control
– Brake control
– Monitoring functions
ƒ The functions are described as function blocks (FB) according to IEC 61131−3 (see
chapter "12 Function library" ( 247)).
ƒ Selectable control interfaces (via code C3005):
– Automation interface (AIF)
– CAN (PDO1 (sync−based), PDO2, PDO3)
ƒ Double CAN ON BORD
– MotionBus (CAN):
Interface X4 "CAN" (PDO1, Sync−based) for communicating with a higher−level
host system (PLC) or further controllers.
– System bus (CAN):
Interface X14 "CAN−AUX" for parameter setting and diagnostics
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
16
EDBCSXS064 EN 4.0
1.3 Scope of supply
The scope of supply of the ECSxS... 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 ECSDS...)
Accessories
The appendix includes information on the following accessories: ( 462).
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
EDBCSXS064 EN 4.0
17
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.
ECSxS... 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 ECSxS... 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
18
EDBCSXS064 EN 4.0
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.
2
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.
EDBCSXS064 EN 4.0
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).
19
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.
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!
20
EDBCSXS064 EN 4.0
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.
2
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.
EDBCSXS064 EN 4.0
21
2
Safety instructions
General safety and application notes for Lenze controllers
Safety functions
Certain controller versions support safety functions (e.g. "Safe torque off", formerly "Safe
standstill") according to the requirements of the EC Directive 2006/42/EC (Machinery
Directive). The notes on the integrated safety system provided in this documentation must
be observed.
Maintenance and servicing
The controllers do not require any maintenance if the prescribed operating conditions are
observed.
Disposal
Recycle metal and plastic materials. Ensure professional disposal of assembled PCBs.
The product−specific safety and application notes given in these instructions must be
observed!
22
EDBCSXS064 EN 4.0
2.2 Thermal motor monitoring
Note!
2
ƒ I
x t monitoring is based on a mathematical model which calculates a
thermal motor load from the detected motor currents.
ƒ The calculated motor load is saved when the mains is switched.
ƒ The function is UL−certified, i.e. no additional protective measures are
required for the motor in UL−approved systems.
ƒ However, I
the motor load could not be detected as for instance changed cooling
conditions (e.g. interrupted or too warm cooling air flow).
2
x t load of the motor is displayed in C0066.
Die I
The thermal loading capacity of the motor is expressed by the thermal motor time
constant (t, C0128). Find the value in the rated motor data or contact the manufacturer of
the motor.
2
The I
x t monitoring has been designed such that it will be activated after 179 s in the
event of a motor with a thermal motor time constant of 5 minutes (Lenze setting C0128),
a motor current of 1.5 x I
Two adjustable trigger thresholds provide for different responses.
2
x t monitoring is no full motor protection as other influences on
N
Safety instructions
Thermal motor monitoring
and a trigger threshold of 100 %.
2
ƒ Adjustable response OC8 (TRIP, warning, off).
– The trigger threshold is set in C0127.
– The response is set in C0606.
– The response OC8, for instance, can be used for an advance warning.
ƒ Fixed response OC6−TRIP.
– The trigger threshold is set in C0120.
Behaviour of the I2 x t monitoring Condition
The I2 x t monitoring is deactivated.
C0066 is set = 0 % and
MCTRL−LOAD−I2XT is set = 0.00 %.
I2 x t monitoring is stopped.
The current value in C0066 and at the
MCTRL−LOAD−I2XT output is frozen.
I2 x t monitoring is deactivated.
The motor load is displayed in C0066.
When C0120 = 0 % and C0127 = 0 %, set controller
inhibit.
When C0120 = 0 % and C0127 = 0 %, set controller
enable.
Set C0606 = 3 (off) and C0127 > 0 %.
Note!
An error message OC6 or OC8 can only be reset if the I2 x t load falls below the
set trigger threshold by 5 %.
EDBCSXS064 EN 4.0
23
2
Safety instructions
Thermal motor monitoring
Forced ventilated or naturally ventilated motors
2.2.1 Forced ventilated or naturally ventilated motors
Parameter setting
2
The following codes can be set for I
Code Meaning Value range Lenze setting
C0066 Display of the I2 x t load of the motor 0 ... 250 % −
C0120 Threshold: Triggering of error "OC6" 0 ... 120 % 0 %
C0127 Threshold: Triggering of error "OC8" 0 ... 120 % 0 %
C0128 Thermal motor time constant 0.1 ... 50.0 min 5.0 min
C0606 Response to error "OC8" TRIP, warning, off Warning
x t monitoring:
Calculate release time and I2 x t load
Formula for release time Information
t +*(t) ln
ȡ
ȧ
ȧ
Ȣ
1 *
I
ȣ
z ) 1
I
Mot
ǒ
Ǔ
I
N
2
100
ȧ
ȧ
Ȥ
Mot
I
r
t Thermal motor time constant (C0128)
z Threshold value in C0120 (OC6) or C0127 (OC8)
Actual motor current (C0054)
Rated motor current (C0088)
Formulae for I2 x t load Information
L(t) Chronological sequence of the I2 x t load of the motor
2
I
Mot
ǒ
L(t) +
If the controller is inhibited, the I2 x t load is reduced:
Ǔ
100% ǒ1 * e
I
N
L(t) + L
Start
Ǹ
e
*t
t
t
*
t
I
Ǔ
Mot
Ir Rated motor current (C0088)
t Thermal motor time constant (C0128)
L
Start
(Display: C0066)
Actual motor current (C0054)
I2 x t load before controller inhibit
If an error is triggered, the value corresponds to the
threshold value set in C0120 (OC6) or
C0127 (OC8).
Read release time in the diagram
Diagram for detecting the release times for a motor with a thermal motor time constant
of 5 minutes (Lenze setting C0128):
L [%]
120
100
50
0
Fig. 2−1 I2 × t−monitoring: Release times for different motor currents and trigger thresholds
I = 3 × I
Mot N
0 100 200 300 400 500 600 700 800 900
I
Mot
I
r
LI
T Time
I = 2 × I
Mot N
Actual motor current (C0054)
Rated motor current (C0088)
2
x t load of the motor (display: C0066)
I = 1.5 × I
Mot N
I = 1 × I
Mot N
t [s]
1000
9300STD105
24
EDBCSXS064 EN 4.0
2.2.2 Self−ventilated motors
Due to the construction, self−ventilated standard motors are exposed to an increased heat
generation in the lower speed range compared to forced ventilated motors.
Warnings!
For complying with the UL 508C standard, you have to set the
speed−dependent evaluation of the permissible torque via code C0129/x.
Parameter setting
The following codes can be set for I
Code Meaning Value range Lenze setting
C0066 Display of the I2 x t load of the motor 0 ... 250 % −
C0120 Threshold: Triggering of error "OC6" 0 ... 120 % 0 %
C0127 Threshold: Triggering of error "OC8" 0 ... 120 % 0 %
C0128 Thermal motor time constant 0.1 ... 50.0 min 5.0 min
C0606 Response to error "OC8" TRIP, warning, off Warning
C0129/1 S1 torque characteristic I1/I
C0129/2 S1 torque characteristics n2/n
2
x t monitoring:
rated
rated
Safety instructions
Thermal motor monitoring
Self−ventilated motors
10 ... 200 % 100 %
10 ... 200 % 40 %
2
Effect of code C0129/x
I / I
N
1.1
1.0
3
0.9
0.8
0.7
0.6
Fig. 2−2 Working point in the range of characteristic lowering
0
0
0 0.1
C0129/1
0.132
C0129/2
1
2
0.2 0.3 0.4
n / n
N
9300STD350
The lowered speed / torque characteristic (Fig. 2−2) reduces the permissible thermal load
of self−ventilated standard motors. The characteristic is a line the definition of which
requires two points:
ƒ Point : Definition with C0129/1
This value also enables an increase of the maximally permissible load.
ƒ Point : Definition with C0129/2
With increasing speeds, the maximally permissible load remains unchanged
(I
Mot
= I
rated
).
In Fig. 2−2, the motor speed and the corresponding permissible motor torque () can be
read for each working point (on the characteristic () ... ). can also be calculated
using the values in C0129/1and C0129/2 (evaluation coefficient "y", 26)
EDBCSXS064 EN 4.0
25
2
Safety instructions
Thermal motor monitoring
Self−ventilated motors
Calculate release time and I2 x t load
Calculate the release time and the I
2
x t load of the motor considering the values in
C0129/1 and C0129/2(evaluation coefficient "y").
Formulae for release time Information
T Release time of the I2 x t monitoring
ȡ
I
Mot
ǒ
y I
n
Ǹ
e
z ) 1
Ǔ
N
n
) C0129ń1
N
*
T +*(t) ln
ȧ
ȧ
1 *
Ȣ
100% * C0129ń1
y +
Formulae for I2 x t load Information
If the controller is inhibited, the I2 x t load is reduced:
L(t) +
C0129ń2
I
Mot
ǒ
y I
L(t) + L
2
Ǔ
100% ǒ1 * e
N
Start
2
100
t
t
ȣ
t Thermal motor time constant (C0128)
In Function: Natural logarithm
ȧ
ȧ
I
Mot
Ȥ
I
r
z Threshold value in C0120 (OC6) or C0127 (OC8)
y Evaluation coefficient
n
rated
L(t) Chronological sequence of the I2 x t load of the motor
y Evaluation coefficient
*t
Ǔ
t
I
Mot
Ir Rated motor current (C0088)
t Thermal motor time constant (C0128)
L
Start
Actual motor current (C0054)
Rated motor current (C0088)
Rated speed (C0087)
(Display: C0066)
Actual motor current (C0054)
I2 x t load before controller inhibit
If an error is triggered, the value corresponds to the
threshold value set in C0120 (OC6) or
C0127 (OC8).
26
EDBCSXS064 EN 4.0
2.3 Residual hazards
Protection of persons
ƒ Before working on the axis module, check that no voltage is applied to the power
terminals, because
– the power terminals +UG, −UG, U, V and W remain live for at least 3 minutes after
mains switch−off.
– the power terminals +UG, −UG, U, V and W remain live when the motor is stopped.
ƒ The heatsink has an operating temperature of > 70 °C:
– Direct skin contact with the heatsink results in burns.
ƒ The discharge current to PE is > 3.5 mA AC or. > 10 mA DC.
– EN 61800−5−1 requires a fixed installation.
– The PE connection must comply with EN 61800−5−1.
– Comply with the further requirements of EN 61800−5−1 for high discharge
currents!
Safety instructions
Residual hazards
2
Device protection
ƒ All pluggable connection terminals must only be connected or disconnected when
no voltage is applied!
ƒ The power terminals +UG, −UG, U, V, W and PE are not protected against polarity
reversal.
– When wiring, observe the polarity of the power terminals!
ƒ Power must not be converted until all devices of the power system are ready for
operation. Otherwise, the input current limitation may be destroyed.
Frequent mains switching (e.g. inching mode via mains contactor) can overload and
destroy the input current limitation of the axis module, if
ƒ the axis module is supplied via the ECSxE supply module and the input current
limitation is activated depending on the DC−bus voltage (C0175 = 1 or 2).
ƒ the axis module is not supplied via a supply module delivered by Lenze.
ƒ the low−voltage supply (24 V) is switched off.
For this reason allow a break of at least three minutes between two starting operations!
Use the safety function ˜Safe torque off˜ (STO) for frequent disconnections for safety
reasons.
EDBCSXS064 EN 4.0
27
2
Safety instructions
Residual hazards
Motor protection
ƒ Only use motors with a minimum insulation resistance of û = 1.5 kV,
min. du/dt = 5 kV/ms.
– Lenze motors meet these requirements.
ƒ When using motors with an unknown insulation resistance, please contact your
motor supplier.
ƒ Some settings of the axis module lead to an overheating of the connected motor,
e.g. longer operation of self−ventilated motors with low speeds.
ƒ Use PTC thermistors or thermostats with PTC characteristic for motor temperature
monitoring.
28
EDBCSXS064 EN 4.0
Safety instructions
Safety instructions for the installation according to UL
2.4 Safety instructions for the installation according to UL
Warnings!
General markings:
ƒ Use 60/75 °C or 75 °C copper wire only.
ƒ Maximum ambient temperature 55 °C, with reduced output current.
Markings provided for the supply units:
ƒ Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes, 480 V max, when protected by K5 or H Fuses
(400/480 V devices).
ƒ Alternate − Circuit breakers (either inverse−time, instantaneous trip types or
combination motor controller type E) may be used in lieu of above fuses
when it is shown that the let−through energy (i
current (I
than that of the non−semiconductor type K5 fuses with which the drive has
been tested.
ƒ Alternate − An inverse−time circuit breaker may be used, sized upon the
input rating of the drive, multiplied by 300 %.
Markings provided for the inverter units:
ƒ The inverter units shall be used with supply units which are provided with
overvoltage devices or systems in accordance with UL840 2nd ed., Table 5.1.
ƒ The devices are provided with integral overload and integral thermal
protection for the motor.
ƒ The devices are not provided with overspeed protection.
) of the inverse−time current−limiting circuit breaker will be less
p
2
t) and peak let−through
2
Terminal tightening torque of lb−in (Nm)
Terminal lb−in Nm
X 21, X 22, X 23, X 24 10.6 ... 13.3 1.2 ... 1.5
X4, X6, X14 1.95 ... 2.2 0.22 ... 0.25
X 25 4.4 ... 7.1 0.5 ... 0.8
Wiring diagram AWG
Terminal AWG
X 21, X 22, X 23, X 24 12 ... 8
X4, X6, X14 28 ... 16
X 25 24 ... 12
EDBCSXS064 EN 4.0
29
2
2.5 Notes used
Safety instructions
Notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
Pictograph and signal word Meaning
Danger!
Danger!
Stop!
Application notes
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Danger of personal injury through dangerous electrical voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Pictograph and signal word Meaning
Note!
Tip!
Special safety instructions and application notes for UL and UR
Pictograph and signal word Meaning
Warnings!
Warnings!
Important note to ensure troublefree operation
Useful tip for simple handling
Reference to another documentation
Safety or application note for the operation of a UL−approved
device in UL−approved systems.
Possibly the drive system is not operated in compliance with UL
if the corresponding measures are not taken.
Safety or application note for the operation of a UR−approved
device in UL−approved systems.
Possibly the drive system is not operated in compliance with UL
if the corresponding measures are not taken.
30
EDBCSXS064 EN 4.0
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