Lenze i700 User Manual

Inverter

i700

i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

E70ACM...

Reference manual EN

Ä.J(yä

13410788

Contents

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

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12

1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13

1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

1.3 Definition of notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

1.4 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16

2 Parameter handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18

2.1 Parameter transfer during initialisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18

2.2 Storage parameter set (par001.*) and total parameter set (par000.*) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19

2.2.1 Saving a parameter set from the i700 to a file (export) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

2.2.2 Loading the stored parameter set to the i700 (import) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

2.2.3 Monitoring of the parameter import (error report) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum _ _ _ _ _ 21

0x2030 - Parameter set: Validity check (CRC)

3 Communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

3.1 Acceleration of the system (initialisation) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22

3.2 Process data (cyclic PDO transfer) and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24

3.2.1 Synchronisation with "Distributed clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25

3.3 Parameter data transfer (SDO communication) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26

3.3.1 Object directory _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26

3.3.2 SDO abort codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27

3.3.3 ESI: EtherCAT Slave Information file (device description) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27

3.4 Activating the control via PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28

0x2824 | 0x3024 - Device control via PDO: Activation

3.5 Lenze control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28

0x2830 | 0x3030 - Lenze control word 0x2831 | 0x3031 - Lenze status word 0x2833 | 0x3033 - Lenze statusword 2

3.6 Ethernet over EtherCAT (EoE) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

3.6.1 System architecture _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31

3.6.2 Supported protocols and services _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

3.6.3 Display of EoE-specific information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32

0x2020 - EoE information

3.6.4 GCI-SDO communication (TCP port 9410) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33

3.6.4.1 Structure of the EtherCAT data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34

3.6.4.2 Assignment of user data areas P0 ... P4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36

3.6.4.3 Error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37

3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request) _ _ _ _ _ _ _ _ _ _ _ _ _ 38

3.6.4.5 Telegram example 2: Querying the software version of the i700 (read request) _ _ _ _ _ _ _ _ _ _ 40

3.6.4.6 Telegram example 3: Setting the LV warning threshold in the i700 (write request) _ _ _ _ _ _ _ _ 42

4 Device settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44

4.1 Behaviour in case of error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44

0x10F1 - ECAT: Behaviour in case of error

4.2 Device identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46

0x2000 - Device: Data 0x2001 - Device: Name

4.3 Function "Optical device recognition" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46

0x2021 - Device: Optical recognition

4.4 Device commands _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47

0x2022 - Device command

2 Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

Contents

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

4.5 Monitoring of the DC-bus voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48

0x2540 - Device: Voltage values

4.6 Real-time information (distributed clock) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50

0x2580 - ECAT DC: Real-time information

5 Motor control & motor settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52

5.1 Required commissioning steps (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54

5.1.1 Servo control for synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54

5.1.2 Servo control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55

5.1.3 V/f characteristic control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56

5.2 Commissioning functions (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57

0x2822 | 0x3022 - Axis command 0x2823 | 0x3023 - Axis command: Progress 0x2825 | 0x3025 - Axis: Operating mode 0x2832 | 0x3032 - Identification: Status word

5.2.1 Enable/inhibit operation via control word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59

5.2.2 Saving changed parameters safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60

5.3 Wiring check by means of manual test modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61

0x2835 | 0x3035 - Manual test mode: Settings

5.3.1 Manual test mode "voltage/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 62

5.3.2 Manual test mode "current/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63

5.4 Manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65

0x2836 | 0x3036 - Manual jog: Settings

5.5 Setting the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69

0x2C00 | 0x3400 - Motor control

5.6 Accepting/adapting plant parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70

5.7 Compensating for inverter influence on output voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 71

0x2DE0 | 0x35E0 - Advanced settings 0x2947 | 0x3147 - Inverter characteristic: Voltage grid points (y)

5.8 Setting the motor parameters for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75

5.8.1 Lenze motor: Easy loading of motor data from the catalogue via the »PLC-Designer« _ _ 75

5.8.2 Motors of other manufacturers or no catalogue data available: Three possibilities to create the setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75

0x2C08 | 0x3408 - motor: Setting method - motor parameters

5.8.2.1 Enter motor nameplate data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76

5.8.2.2 Set motor parameters manually _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76

5.8.2.3 Determine motor parameters automatically via "motor parameter identification"

5.8.3 Motor parameters (object descriptions) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81

5.9 Setting the feedback system for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85

5.9.1 General settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 86

0x2C45 | 0x3445 - open circuit in the feedback system: Response 0x2C46 | 0x3446 - feedback system: Specifiable number of revolutions 0x2C5F | 0x345F - Feedback system: Parameter CRC

5.9.2 Settings for "resolver" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87

0x2C43 | 0x3443 - Resolver: Number of pole pairs 0x2C44 | 0x3444 - Resolver error compensation: Parameter

5.9.3 Settings for "encoder" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89

0x2C40 | 0x3440 - Encoder: Type 0x2C42 | 0x3442 - Encoder: Parameter

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05 3

Contents

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

5.9.4 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol _ _ _ 91

0x2C41 | 0x3441 - Hiperface: Parameter

5.9.5 Detection of changed settings of the feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94

5.10 Synchronous motor (SM): Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95

5.10.1 Monitoring of the pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96

0x2C60 | 0x3460 - Monitoring of pole position identification: Response

5.10.2 Pole position identification PPI (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96

0x2C61 | 0x3461 - Pole position identification PPI (360°)

5.10.3 Pole position identification PPI (min. movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99

0x2C62 | 0x3462 - Pole position identification PPI (min. movement)

5.10.4 Pole position identification PPI (without movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102

0x2C63 | 0x3463 - pole position identification PLI (without movement)

5.11 Setting control loops _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105

5.11.1 Setting and optimising the current controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105

0x2941 | 0x3141 - Current controller: Feedforward control 0x2942 | 0x3142 - Current controller: Parameter 0x2943 | 0x3143 - Motor: Current setpoint - filter time

5.11.1.1 Manual test mode "Current pulse" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108

5.11.2 Determining the total moment of inertia _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111

0x2910 | 0x3110 - Moments of inertia

5.11.3 Setting the speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 113

0x2900 | 0x3100 - Speed controller: Parameter 0x2901 | 0x3101 - Speed controller: Gain - adaptation 0x2902 | 0x3102 - Speed controller: Load starting value 0x2903 | 0x3103 - Speed: Speed setpoint - filter time 0x2904 | 0x3104 - Speed: Actual speed - filter time

5.11.4 Setting the position controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 116

5.11.5 Setting the field controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118

5.11.6 Setting the field weakening controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 119

5.11.7 Field weakening operation - synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121

5.12 Fine adjustment des motor model _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 122

5.12.1 Correction of the stator leakage inductance (Lss)... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 122

5.12.2 Synchronous motor (SM): Compensating for temperature and current influences _ _ _ 128

5.12.3 Asynchronous motor (ASM): Identifying the Lh saturation characteristic _ _ _ _ _ _ _ _ _ 129

5.12.4 Estimating the optimal magnetising current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131

0x2980 | 0x3180 - Position controller: Gain 0x2981 | 0x3181 - Position controller: Gain - adaptation 0x2982 | 0x3182 - Position controller: Output signal limitation 0x2983 | 0x3183 - Position: Select a new actual position 0x2984 | 0x3184 - Determine target position: Mode

0x29C0 | 0x31C0 - Field controller: Parameter

0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y) 0x2C05 | 0x3405 - Motor: Lss saturation charcteristic - reference for current grid points (x)

5.12.1.1 Example for determining the saturation characteristic _ _ _ _ _ _ _ _ _ _ _ 125

0x2C06 | 0x3406 - Motor (SM): Magnet characteristic (current) - grid points

0x2C07 | 0x3407 - Motor (ASM): Lh saturation characteristic - inductance grid points (y)

4 Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

Contents

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

5.13 Parameterising filter elements in the setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132

5.13.1 Jerk limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132

0x2945 | 0x3145 - Torque: Setpoint jerk limitation

5.13.2 Notch filters (band-stop filters) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132

0x2944 | 0x3144 - Torque: Notch filter setpoint torque

5.14 Parameterising the V/f characteristic control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136

5.14.1 Defining the V/f characteristic shape _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137

0x2B00 | 0x3300 - VFC: V/f characteristic - shape 0x2B01 | 0x3301 - VFC: V/f characteristic - define reference point 0x2B02 | 0x3302 - VFC: User-definable V/f characteristic - frequency grid points (x) 0x2B03 | 0x3303 - VFC: User-definable V/f characteristic - voltage grid points (y)

5.14.2 Activating the voltage vector control (lmin controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 140

0x2B04 | 0x3304 - VFC: Voltage vector control - setpoint current 0x2B05 | 0x3305 - VFC: Voltage vector control parameter

5.14.3 Setting the voltage boost _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141

0x2B06 | 0x3306 - VFC: Voltage boost

5.14.4 Setting the load adjustment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142

0x2B07 | 0x3307 - VFC: Load adjustment parameter

5.14.5 Defining the behaviour at the current limit (Imax controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143

0x2B08 | 0x3308 - VFC: Imax controller - Parameter

5.14.6 Setting the slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 145

0x2B09 | 0x3309 - VFC: Slip compensation - Parameter

5.14.7 Setting the oscillation damping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146

0x2B0A | 0x330A - VFC: Oscillation damping - Parameter

5.14.8 Optimising pull-out slip limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 148

0x2B0C | 0x330C - VFC: Override point of field weakening

5.14.9 Display parameter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 148

0x2B0B | 0x330B - VFC: Setpoint frequency

5.14.10 "Flying restart" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149

5.15 "DC-injection braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153

0x2B80 | 0x3380 - DC-injection braking: Current

5.16 "Short-circuit braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 154

5.17 Setting the switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155

0x2939 | 0x3139 - Switching frequency

5.18 Frequency and speed limitations _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156

6 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157

6.1 Operating modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157

6.1.1 Triggering via control word via external control (Lenze setting) _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158

6.1.2 Triggering via state machine of device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158

6.1.3 No brake connected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159

6.2 Display of the holding brake status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159

6.3 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159

6.4 Settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 161

0x2820 | 0x3020 - brake control: settings

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Contents

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

7 CiA402 device profile _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163

7.1 Supported drive modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165

7.2 Applied units and scaling for position and velocity _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165

7.3 General CiA402 parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166

0x60FD | 0x68FD - Digital inputs 0x6404 | 0x6C04 - Motor manufacturer 0x6502 | 0x6D02 - Supported drive modes 0x67FF | 0x6FFF - Device profile number

7.4 Device control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168

7.4.1 Commands for the device status control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 171

7.4.1.1 Shutdown _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172

7.4.1.2 Switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 173

7.4.1.3 Enable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174

7.4.1.4 Activate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 175

7.4.1.5 Disable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176

7.4.1.6 Disable voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 177

7.4.1.7 Fault reset _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 178

7.4.2 Device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 179

7.4.2.1 Not ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181

7.4.2.2 Switch on disabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182

7.4.2.3 Ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183

7.4.3 Selection of the operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189

7.5 Parameters for the scaling of physical values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190

0x607E | 0x687E - Polarity 0x6080 | 0x6880 - Max. motor speed 0x608F | 0x688F - Position encoder resolution 0x6090 | 0x6890 - Velocity encoder resolution

7.6 Parameters for actuation of the position control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 192

7.4.2.4 Switched on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184

7.4.2.5 Operation enabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185

7.4.2.6 Quick stop is active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186

7.4.2.7 Fault reaction active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 187

7.4.2.8 Fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 188

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Contents

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

7.7 Velocity mode (vl) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195

7.7.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195

7.7.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 196

7.7.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 198

7.7.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 200

7.8 Cyclic sync position mode (csp) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202

7.8.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 203

7.8.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 204

7.8.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 206

7.8.4 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208

7.9 Cyclic sync velocity mode (csv) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 209

7.9.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 210

7.9.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 211

0x606C | 0x686C - Velocity actual value 0x60B1 | 0x68B1 - Velocity offset 0x60FF | 0x68FF - Target velocity

7.9.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 212

7.9.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214

7.9.5 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216

7.10 Cyclic sync torque mode (cst) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217

7.10.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218

7.10.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 219

7.10.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 223

7.10.4 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 225

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7.11 Touch probe (TP) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 226

7.11.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 227

7.11.2 General functional principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 228

7.11.3 Filtering the touch probe signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229

0x2500 - Touch probe (TP): Debounce time

7.11.4 Compensation of runtime delays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229

0x2D00 | 0x3500 - Touch probe (TP): Dead time compensation

7.11.5 Touch probe function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 231

0x60B8 | 0x68B8 - Touch probe function

7.11.6 Touch probe status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 232

0x60B9 | 0x68B9 - Touch probe status

7.11.7 Time stamps and positions detected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 233

8 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 235

8.1 24-V supply voltage monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 235

8.2 Monitoring of the power section and device utilisation (Ixt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 236

0x2D40 | 0x3540 - Ixt utilisation

8.3 Monitoring of the heatsink temperature _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239

0x2D84 | 0x3584 - Heatsink temperature

8.4 Monitoring of the motor utilisation (I²xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 241

0x2D4E | 0x354E - Motor utilisation (I²xt): Motor overload warning threshold 0x2D4F | 0x354F - Motor utilisation (I²xt): Actual utilisation 0x2D50 | 0x3550 - motor utilisation (I²xt): Motor overload error 0x2D4C | 0x354C - Motor utilisation (I²xt): Parameter for the thermal model 0x2D4D | 0x354D - Motor utilisation (I²xt): User-definable characteristic

8.4.1 Example of how to enter the characteristic for standard and servo motors _ _ _ _ _ _ _ 246

8.4.2 UL 508-compliant I²xt motor overload monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248

8.5 Motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 250

0x2D49 | 0x3549 - Motor temperature monitoring: Parameters

8.5.1 Spec. charact. curve for motor temperature sensor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 252

8.6 Motor speed monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 253

0x2D44 | 0x3544 - Motor speed monitoring

8.7 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 254

0x2D45 | 0x3545 - Motor phase failure detection

8.7.1 Limits of the motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 255

8.7.2 Monitoring 2: In the "enable operation" state transition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 256

8.7.3 Monitoring 1: In "operation enabled" status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 256

8.7.4 Monitoring with regard to short circuit and earth fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 257

8.8 Monitoring of the ultimate motor current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 258

0x2D46 | 0x3546 - Monitoring: Ultimate motor current

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9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 259

9.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 260

9.2 Indication of fault and warning (error code) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 261

0x603F | 0x683F - Error code 0x284F | 0x304F - Current fault

9.2.1 Response of the device in the event of an error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 262

0x605E | 0x685E - Response to error 0x2826 | 0x3026 - Quick stop: Duration in the event of a fault

9.2.2 Resetting the error/fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 264

0x2840 | 0x3040 - Delay time: Reset error 0x2841 | 0x3041 - Reset error

9.3 History buffer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 265

0x10F3 - Diagnostics: History buffer

9.4 CiA402 error codes / error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 267

Error code 0x0000: No error Error code 0x2320: Short circuit or earth leakage on motor side Error code 0x2340: Short circuit on motor side Error code 0x2351: Motor utilisation (I²xt) > [value] % Error code 0x2380: Fault - utilisation of the power section (Ixt) too high Error code 0x2381: Warning - Utilisation of the power section (Ixt) too high Error code 0x2382: Fault - device utilisation (Ixt) too high Error code 0x2383: Warning - device utilisation (Ixt) too high Error code 0x2384: Ultimate motor current reached Error code 0x2385: Output current > [value] A (maximum device current) Error code 0x2386: Clamp is active Error code 0x2387: Clamp responded too often Error code 0x3210: DC link circuit - overvoltage [value] V Error code 0x3220: DC link circuit - undervoltage [value] V Error code 0x4210: Module temperature too high, [value] Error code 0x4280: Internal fault - module temperature monitoring Error code 0x4310: Motor temperature too high, [value] Error code 0x4380: Motor temperature sensor Error code 0x5112: 24-V supply Error code 0x6010: Watchdog reset Error code 0x6310: Incorrect parameter set download Error code 0x6320: Parameter error in object [value] Error code 0x7121: PLI - motor blocked Error code 0x7303: Error in feedback system Error code 0x7380: Hiperface communication error Error code 0x7381: Hiperface: Invalid absolute value - motor speed too high Error code 0x8180: ECAT DC - synchronisation required Error code 0x8181: EtherCAT communication Error code 0x8280: Sync Manager - address [value] Error code 0x8281: Sync Manager - actual size [value] Error code 0x8282: Sync Manager - settings [value] Error code 0x8283: PDO Mapping: Object unknown (index [value]) Error code 0x8284: No PDO mapping object (index [value]) Error code 0x8285: Too many mapped objects (max. number = [value]) Error code 0x8286: PDO mapping - error Error code 0x8700: Sync controller Error code 0x8701: Time-out during synchronisation with EtherCAT Sync signal Error code 0xFF00: Fatal internal error Error code 0xFF01: Fatal internal communication error, cycle [value] Error code 0xFF02: Brake

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Error code 0xFF03: Fatal internal error - overflow task [value] Error code 0xFF04: PLI - motor movement too large Error code 0xFF05: STO inhibited Error code 0xFF06: Max. speed reached Error code 0xFF07: Impermissible during identification or in the test mode Error code 0xFF08: Impossible during identification Error code 0xFF09: Motor phase failure Error code 0xFF0A: Motor phase failure - phase U Error code 0xFF0B: Motor phase failure - phase V Error code 0xFF0C: Motor phase failure - phase W Error code 0xFF0D: No resolver connected --> command cannot be executed. Error code 0xFF0E: Speed too low --> command cannot be executed. Error code 0xFF0F: No resolver connected --> command cannot be executed. Error code 0xFF10: Time-out Error code 0xFF11: Numerical problem Error code 0xFF12: Inverter error too big Error code 0xFF13: Identification aborted Error code 0xFF14: Not allowed in state 'operation enabled' or 'quick stop active' Error code 0xFF15: No Hiperface absolute value encoder connected --> command cannot be executed Error code 0xFF16: Connected Hiperface absolute value encoder is not supported Error code 0xFF17: Connected Hiperface absolute value encoder is not supported --> command cannot be executed Error code 0xFF18: Communication timeout in the manual control mode Error code 0xFF19: Internal error during identification

9.5 Identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 280

0x1000 - Device: Type 0x1001 - Error memory 0x1008 - ECAT: Manufacturer's device name 0x1009 - Device: Hardware version 0x100A - Device: Software version 0x1018 - ECAT: Identification data

9.6 Diagnostics parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281

0x10F8 - ECAT DC: Current time 0x2D81 | 0x3581 - Counter: Operating time 0x2D82 | 0x3582 - motor: Actual voltage - Veff, phase-phase 0x2D83 | 0x3583 - Motor: Phase currents 0x2D8A | 0x358A - Speed monitoring: Actual speed error

10 Service/internal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283

0x2DD0 | 0x35D0 - field: Values

0x2DD1 | 0x35D1 - motor: Currents

0x2DD2 | 0x35D2 - Position: Target position interpolated

0x2DD3 | 0x35D3 - Target speeds

0x2DD4 | 0x35D4 - Speed controller: Output signal

0x2DD5 | 0x35D5 - torque: Target torque

0x2DD6 | 0x35D6 - Torque: Filter cascade

0x2DD7 | 0x35D7 - Voltage values

0x2DDC | 0x35DC - Slip: Actual slip

0x2DDD | 0x35DD - Device: Actual output frequency

0x2DDE | 0x35DE - motor: Actual position of rotor angle

0x2DDF | 0x35DF - Axis: Device data

10.1 Firmware update _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 288

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11 Appendix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289

11.1 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289

11.2 Structure of the parameter set file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310

11.2.1 File header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310

11.2.2 Data header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 311

11.3 Communication objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 313

0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp) 0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst) 0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv) 0x1603 - RPDO-->Axis A: Velocity mode (vl) 0x1604 - RPDO-->Axis A: Touch probe (TP) 0x1605 - RPDO-->Axis A: Freely configurable (user) 0x1606 - RPDO-->Axis A: Torque limits 0x1607 - RPDO --> Axis A: Speed Limits 0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp) 0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst) 0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv) 0x1613 - RPDO-->Axis B: Velocity mode (vl) 0x1614 - RPDO-->Axis B: Touch probe (TP) 0x1615 - RPDO-->Axis B: Freely configurable (user) 0x1616 - RPDO-->Axis B: Torque limits 0x1617 - RPDO --> Axis B: Speed limits 0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp) 0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst) 0x1A02 - Axis A-->TPDO: Cyclic sync velocity mode (csv) 0x1A03 - Axis A-->TPDO: Velocity mode (vl) 0x1A04 - Axis A-->TPDO: Touch probe (TP) 0x1A05 - Axis A-->TPDO: Freely configurable (user) 0x1A06 - Axis A-->TPDO: Additional status information 0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp) 0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst) 0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv) 0x1A13 - Axis B-->TPDO: Velocity mode (vl) 0x1A14 - Axis B-->TPDO: Touch probe (TP) 0x1A15 - Axis B-->TPDO: Freely configurable (user) 0x1A16 - Axis B-->TPDO: Additional status information 0x1C00 - Sync Manager: Communication type 0x1C12 - Sync Manager 2 (RPDO-->Device): PDO mapping 0x1C13 - Sync Manager 3 (RPDO-->Device): PDO mapping 0x1C32 - Sync Manager 2 (RPDO-->Device): Parameter 0x1C33 - Sync Manager 3 (Device-->TPDO): Parameter

11.4 Licences _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 324

Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 325

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 336

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1 About this documentation

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

1 About this documentation

 Danger!

The controller is a source of danger which may lead to death or severe injury of persons.

To protect yourself and others against these dangers, observe the safety instructions before switching on the controller.

Please read the safety instructions in the mounting instructions and in the hardware manual for the i700 servo inverter. Both instructions are included in the scope of supply of the drive controller.

Target group

This documentation addresses to all persons who want to parameterise, configure, and diagnose the i700 servo inverter.

Validity

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

Product series Type designation From software version

i700 servo inverter E70ACM... 01.00

Screenshots/application examples

All screenshots in this documentation are application examples. Depending on the firmware version of the i700 servo inverter and the software version of the engineering tools installed (»PLC Designer« or »EASY Starter«), the screenshots in this documentation may deviate from the screen representation.

Document history

Version Description

1.5 03/2014 TD05 Extensions & corrections; Adaptation to software version V01.06

1.4 10/2013 TD05 Extensions & corrections; Adaptation to software versions V01.04 and V01.05

1.3 03/2013 TD05 Extensions & corrections; Adaptation to software version V01.03

1.2 10/2012 TD05 Extensions & corrections; Adaptation to software version V01.02

1.1 07/2012 TD05 First edition

 Tip!

Information and tools regarding the Lenze products can be found in the Internet:

http://www.lenze.com

12 Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

 Download

1 About this documentation

1.1 Conventions used

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

1.1 Conventions used

This documentation uses the following conventions to distinguish between different types of information:

Type of information Writing Examples/notes

Spelling of numbers

Decimal separator Point The decimal point is always used.

Example: 1234.56

Hexadecimal number 0x For hexadecimal numbers, the prefix "0x" is used.

Example: 0x60F4

Binary number 0b For binary numbers, the prefix "0b" is used.

Example: 0b00010111

Text

Version information Blue text colour All information that only applies to a certain controller

Program name » « The Lenze »PLC Designer« PC software...

Window italics The Message window ... / The Options dialog box...

Variable name Set bEnable to TRUE to...

Control element bold The OK button... / The Copy command... / The Properties

Sequence of menu commands

Shortcut <bold> Press <F1> to open the online help.

Program code Courier

Keyword Courier bold

software version or higher is identified accordingly in this documentation. Example: This function extension is available from software

version V3.0!

tab... / The Name input field...

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

Open to...

File

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

IF var1 < var2 THEN a = a + 1 END IF

Hyperlink underlined

Icons

Page reference ( 13) Optically highlighted reference to another page. In this

Step-by-step instructions

Optically highlighted reference to another topic. In this documentation it is activated by mouse-click.

documentation it is activated by mouse-click.

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



Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05 13

1 About this documentation

1.2 Terminology used

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

1.2 Terminology used

Term Meaning

Engineering Tools Software solutions for simple engineering at all stages

»EASY Navigator« – Ensures easy operator guidance

• All practical Lenze engineering tools at a glance

• Tools can be selected quickly

• Clearly arranged, simplifying the engineering process from the start

»EASY Starter« – Simple tool for service technicians

• Especially developed for the commissioning and maintenance of Lenze devices

• Graphical user interface with few buttons

• Simple online diagnostics, parameterisation and commissioning

• No risk of accidentally changing the application

• Ready applications can be loaded to the device

»PLC Designer« – for process programming

• Creation of individual programs

• Programming of Logic & Motion in accordance with IEC 61131-3 (IL, LAD, FBD, ST, SFC, and CFC editor), is based on CoDeSys V3

• Certified function blocks according to PLCopen Part 1 + 2

• Graphical DIN 66025 editor (G-code) with DXF import

• Integrated visualisation for an easy process representation

• All important pieces of information at a glance during commissioning

Lenze Controller The Lenze Controller (abbreviated: "Controller") is the central component of the

Engineering PC Use the Engineering PC and the engineering tools installed to configure and

HIPERFACE® HIPERFACE® stands for High Performance Interface and is a universal interface between

Object "Container" for one or several parameters which can be used to parameterise or monitor

Index For the purpose of addressing, each object is provided with a unique index.

Subindex If an object contains several parameters, the individual parameters are stored under

Touch probe A "Touch probe" is an event which can for instance be actuated in an edge-controlled

automation system which (by means of the runtime software) controls the Logic and Motion functionalities. The Lenze Controller communicates with the field devices via the fieldbus.

parameterise the system. The Engineering PC communicates with the Lenze Controller via Ethernet.

EtherCAT® is a real-time capable Ethernet system with top performance. EtherCAT® is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany.

motor feedback system and inverter. HIPERFACE® is a registered trademark of the SICK STEGMANN GmbH.

the i700 servo inverter.

In this documentation the index is represented as a hexadecimal value and is identified by a prefixed "0x", e.g. "0x1000".

"subindexes". In this documentation the colon is used as a separator between the index and the

subindex, e.g. "0x1018:1".

manner via a digital input to detect an actual value (that changes quickly) at the time of activation and to process it further within the program afterwards.

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

1 About this documentation

1.3 Definition of notes used

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

1.3 Definition of notes used

The following signal words and symbols are used in this documentation to indicate dangers and important information:

Safety instructions

Layout of the safety instructions:

 Danger!

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of property damage



Application notes

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.



Tip! Useful tip for simple handling



Reference to another document



Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05 15

1 About this documentation







1.4 Structure of the parameter descriptions

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

1.4 Structure of the parameter descriptions

All parameters which you can use to parameterise or monitor the i700 servo inverter are stored within "objects".

• For the purpose of addressing, each object is provided with a unique index. In this documentation the index is represented as a hexadecimal value and is identified by a prefixed "0x", e.g. "0x1000".

• If an object contains several parameters, they are stored in "subindexes". In this documentation the colon is used as a separator between the index and the subindex, e.g. "0x1018:1".

 Note!

This documentation is valid for the i700 servo inverter in the single axis version (single inverter) and also as double axis (double inverter).

For parameters referring to one axis, both indexes (for axis A and axis B) are listed in the parameter description. For a single axis, only the first index is relevant in this case.

Each parameter description is structured according to the following pattern:

Example: Structure of the parameter descriptions in this documentation

 Object index for axis A

 Object index for axis B (only relevant for double axis)

 Parameter or object name

 If the object contains several parameters: Overview table with list of all subindexes

 Table with detailed information about the corresponding parameter:

• Explanations & references (optional)

• Display options/possible settings, Lenze setting, attributes (for the meaning see the following table)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

1 About this documentation

1.4 Structure of the parameter descriptions

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

Parameter attributes

Name Meaning

Write access  = Parameter can be written to.

 = Parameter can only be read.

CINH  = Parameter can only be written to if controller inhibit is set.

OSC  = Parameter can be recorded by means of the oscilloscope function.

P  = Parameter can be persisted.

Tx  = Parameter can be mapped into the TPDO.

Rx  = Parameter can be mapped into the RPDO.

Data type Data type of the parameter:

INTEGER_8 1 byte, with sign

INTEGER_16 2 bytes with sign

INTEGER_32 4 bytes with sign

UNSIGNED_8 1 byte without sign

UNSIGNED_16 2 bytes without sign

UNSIGNED_32 4 bytes without sign

UNSIGNED_64 8 bytes without sign

STRING(xx) ASCII string (with character length xx)

ARRAY [] OF... ARRAY

Scaling Scaling of the parameter

 Tip!

To find a specific object or parameter in this documentation, you can use the following navigation helps:

• At the beginning of each main chapter, all objects which are described in the respective chapter are listed in a table.

•In the Table of attributes reference to the detailed description.

and the Index, all objects/parameters are listed with a

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05 17

2 Parameter handling

2.1 Parameter transfer during initialisation

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2 Parameter handling

2.1 Parameter transfer during initialisation

During the acceleration of the system, the controller and the controllers exchange configuration data (e.g. bus cycle and PDO mapping). With regard to this, observe the following particular features for the i700 servo inverter:

Parameter download

The i700 servo inverter itself does not settings deviating from the i700 servo inverter "Lenze setting" (default) are maintained centrally in the controller and are stored there permanently (persistently). During the initialisation at run-up, only these deviations are transferred to the i700 servo inverter by the controller. Like this it is ensured that the i700 servo inverter works with the parameter settings provided for it.

Firmware download (optional)

store parameter settings safe against mains failure. All

If required, the firmware of the i700 servo inverter can be stored together with the »PLC Designer« project. During the run-up, the controller then checks whether the firmware version in the i700 servo inverter complies with the firmware version stored in the project for this device. If this is not the case, the controller loads the firmware version stored in the project to the i700 servo inverter. Like this, it can be ensured for "Device replacement" service work that the replacement device also works with the same firmware version as the original device.

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

2 Parameter handling

2.2 Storage parameter set (par001.) and total parameter set (par000.)

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2.2 Storage parameter set (par001.*) and total parameter set (par000.*)

For the storage of the i700 servo inverter parameters, two different parameter sets are provided, which are stored in different parameter set files in the higher-level controller:

Storage parameter set (par001.i7psf)

• Only contains the parameters of the i700 servo inverter which are writable and identified with the "P" attribute (persistent).

• Parameters can be read out from the i700 servo inverter and saved to the file. Conversely, the parameters stored can be written to the i700 servo inverter again.

• Recommended for storage and archiving of the controllers settings.

Total parameter set (par000.i7psf)

• Contains all parameters of the i700 servo inverter, including the mere display parameters which vary permanently during operation.

• The total parameter set can only be read from the i700 servo inverter.

• Use for purposes of service and diagnostics.

 The structure of the parameter set file is described in the appendix.

Structure of the parameter set file ( 310)

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2 Parameter handling

2.2 Storage parameter set (par001.*) and total parameter set (par000.*)

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

2.2.1 Saving a parameter set from the i700 to a file (export)

Reading out and storing the parameters from the i700 servo inverter is initiated and controlled from the higher-level controller. For reading out a parameter set, the corresponding parameter values are summarised in a parameter set file (par001.* or par000.*) in the i700 servo inverter and are then transferred as a file to the controller via EtherCAT.

2.2.2 Loading the stored parameter set to the i700 (import)

Loading a stored parameter set file to the i700 servo inverter is initiated and controlled from the higher-level controller, just like in the case of the read-out. The storage parameter set file is transferred to the i700 servo inverter as a file via EtherCAT, and the parameter settings are loaded (imported).

For logical reasons, it is only possible to transfer "storage parameter set files" (par001.*) to the i700 servo inverter. Display parameters are updated under normal operating conditions and do not need to be loaded.

 Note!

In the case of Lenze controllers, the parameter set files are transferred as "files" via GCI ("Generic Communication Interface").

• GCI is a Lenze-specific application protocol which uses CoE ("CANopen over EtherCAT").

• Other control manufacturers may also use FoE ("File Access over EtherCAT") for the transfer.

2.2.3 Monitoring of the parameter import (error report)

When the parameter import has been completed, the "parErr.i7psf" error report file is created. This file is recreated automatically during every import.

On the basis of the error report it can be determined whether errors have occurred during the parameter import:

• Parameters that have been transferred with errors are listed there together with their index, subindex, and error code (SDO abort code).

• If no errors have occurred, this data area of the file is blank. However, the headers including the checksum are available and valid nevertheless.

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

2 Parameter handling

2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum

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

2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum

Each parameter set features an individual checksum (CRC32), which is composed of the settings of all storable indexes (P-flag) of the parameter set. When a setting changes, there is also a change in the checksum.

Cyclic redundancy check (CRC):

By comparison of the checksums of parameter sets it can be determined very quickly whether parameter sets are identical or not. In particular, it is thus determined for the i700 servo inverter whether the parameter set stored in the controller is identical to that in the i700 servo inverter and therefore does not have to be loaded again.

0x2030 - Parameter set: Validity check (CRC)

Checksum for quick comparison of the storage parameter set (par001.i7psf)

• If the checksum shown here is identical to the checksum of the parameter set file stored in the Lenze Controller,

it is not necessary to write the parameter set file to the i700 servo inverter.

• If the checksums are different, however, there are deviations between the parameter set available in the Lenze

Controller and that in the i700 servo inverter.

• The checksum cannot be used for comparison of the total parameter set (par000.i7psf).

Display area (min. value | unit | max. value) Initialisation

0 4294967295

 Write access  CINH  OSC  P  RX  TX UNSIGNED_32

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3 Communication with the controller

3.1 Acceleration of the system (initialisation)

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3 Communication with the controller

 "EtherCAT control technology" communication manual

Here you will find detailed information on the EtherCAT configuration and commissioning of Lenze devices in the EtherCAT network.

Objects described in this chapter

Object Name Data type

Axis A Axis B

0x2020 EoE information RECORD

0x2824

0x2830

0x2831

0x2833

0x3024 Device control via PDO: Activation UNSIGNED_8

0x3030 Lenze control word UNSIGNED_16

0x3031 Lenze status word UNSIGNED_16

0x3033 Lenze statusword 2 UNSIGNED_16

 Tip!

The communication objects important for the integration of the controller with external control are described in the appendix.

Communication objects

( 313)

3.1 Acceleration of the system (initialisation)

 Stop!

Before switching on the i700 servo inverter for the first time, check the entire wiring with regard to completeness, short circuit, and earth fault.

To establish communication, the i700 servo inverter must be supplied with voltage. During the acceleration of the system, the controller and the drive exchange configuration data.

The controller transmits the following configuration data to the i700 servo inverter:

•Bus cycle

• This is the basic cycle within which the EtherCAT bus is actuated. The bus cycle is given as a multiple of 125 μs.

• The bus cycle equals the communication cycle within which the process data are exchanged cyclically. New process data are only accepted and generated in the Servo-Inverter i700 maximally every 250 μs.

• Parameter set determined during commissioning.

• Among other things, it includes information about feedforward control values, the mains voltage and the switching frequency as well as controller parameters adapted to the motor module which are used for the motor control.

• Configuration of the process data transmitted cyclically via EtherCAT (PDO mapping)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

3 Communication with the controller

3.1 Acceleration of the system (initialisation)

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 Note!

If no data for the initialisation of the controller are transmitted, the i700 servo inverter uses the "Lenze setting" for the parameters.

Power up/Power down

In the case of "Power up" and "Power down", no undefined states can occur that cause damage to the device or motor movements which are not requested or not braked.

In the case of a voltage failure/dip, there is no immediate response by the i700 servo inverter. The functionality is to be maintained for as long as possible.

24-V supply voltage monitoring

Persistent data storage

A complete, persistent storage of the drive configuration which remains the same even though the controller is switched off from time to time is carried out in the higher-level controller instead of in the i700 servo inverter. Hence, the controller needs to transmit the configuration data again to the i700 servo inverter after a power up.

( 235)

However, in the case of a power down, the following device data are stored persistently in the i700 servo inverter:

• Power-on and elapsed-hour meter (0x2D81

• History buffer

( 265)

or 0x3581 for axis B)

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3 Communication with the controller

3.2 Process data (cyclic PDO transfer) and PDO mapping

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3.2 Process data (cyclic PDO transfer) and PDO mapping

 "EtherCAT control technology" communication manual

Here you will find some detailed information on the configuration of the process data objects (PDO mapping) with the »PLC Designer«.

Cyclic process data are transferred cyclically between the controller (master) and the controllers (slaves) as so-called Process Data Objects (PDOs).

• The i700 servo inverter supports the following bus cycle times of the EtherCAT:

0.125 ms*

0.250 ms

0.500 ms

1.000 ms ... (only integer multiple of 1 ms)

10.000 ms (max. cycle time)

* Note: With a bus cycle time of 0.125 ms, the process data is updated only every 0.250 ms, as this is the fastest control cycle for the setpoint and actual value transfer.

• The processing time of a process date through the drive is t=max[bus cycle, 0.250 ms]. If the entire chain from the control via the drive back to the control is considered, a process data needs 2 bus cycles in addition (for Lenze C3200) . Thus, the turnaround time for a PDO can be indicated with 3 bus cycles.

• For the process data communication, the i700 servo inverter supports the mapping of max. 32 process data objects (PDOs) with a total max. size of 100 bytes per direction of transmission.

• A fixed PDO mapping preconfigured by Lenze is available for every CiA402 operating mode supported by the i700 servo inverter. Every PDO mapping includes of several objects from the

Object directory

• For every axis, further fixed, preconfigured PDO mappings can be used for touch probe functionality.

• In addition to the fixed, preconfigured PDO mappings, freely configurable PDO mappings are available for every axis which can be used for individual PDO mapping. A maximum of 8 objects from the Object directory

can be configured per direction of transmission.

• The configuration of the PDOs actually transmitted between the controller and the i700 servo inverter is carried out via the »PLC Designer«.

• Experience shows that most i700 servo inverters are operated in one of the available CiA402 operating modes (csp, csv, cst or vl). We therefore recommend to use and activate the fixed PDO mapping preconfigured by Lenze for the selected operating mode. In doing so all parameters that usually need to be replaced during a cyclic PDO transfer can be accessed.

• If you wish to use touch probe functionality in addition, optionally and additionally activate the fixed, preconfigured PDO mapping for touch probe functionality.

• Moreover, the PDO mappings that can be freely configured by the user can be optionally activated. However, we recommend to use these freely configurable PDO mappings in special cases only, if no standard PDO mapping is suitable for the case of application at hand. Special thought should be given to the aspect of traceability in case of service.

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3 Communication with the controller

3.2 Process data (cyclic PDO transfer) and PDO mapping

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Object Info

Axis A Axis B

RPDO mapping – configuration of the process data (setpoints) from the controller to the i700 servo inverter

0x1600 0x1610 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode (csp)

0x1601 0x1611 Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode (cst)

0x1602 0x1612 Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode (csv)

0x1603 0x1613 Fixed, preconfigured PDO mapping object for "Velocity mode (vl)

0x1604 0x1614 Fixed, preconfigured PDO mapping object for "Touch probe (TP)

0x1605 0x1615 Freely configurable PDO mapping object

0x1606 0x1616 Fixed, preconfigured PDO mapping object for torque limit values

TPDO mapping – configuration of process data (actual values) from the i700 servo inverter to the controller

0x1A00 0x1A10 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode (csp)

0x1A01 0x1A11 Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode (cst)

0x1A02 0x1A12 Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode (csv)

0x1A03 0x1A13 Fixed, preconfigured PDO mapping object for "Velocity mode (vl)

0x1A04 0x1A14 Fixed, preconfigured PDO mapping object for "Touch probe (TP)

0x1A05 0x1A15 Freely configurable PDO mapping object

3.2.1 Synchronisation with "Distributed clocks" (DC)

The "Distributed clocks" (DC) function enables an exact time adjustment for applications where several auxiliary axes carry out a coordinated movement at the same time. The data is accepted synchronously with the PLC program. In the case of the DC synchronisation, all slaves are synchronised with a reference clock, called the "DC master".

 "EtherCAT control technology" communication manual

Here you will find some detailed information about DC synchronisation.

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3 Communication with the controller

3.3 Parameter data transfer (SDO communication)

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3.3 Parameter data transfer (SDO communication)

In addition to the cyclic process data transfer, parameter data can be transferred as so-called SDOs (Service Data Objects) in a non-cyclic manner within an individual datagram between the controller (master) and the controllers (slaves).

• SDO communication is implemented according to the EtherCAT-CoE protocol, using a mailbox.

• SDO communication enables read or write access to all indices contained in the object directory of the i700 servo inverter.

• The turnaround time for an SDO (request by the control, transport via the bus, processing in the drive, transport of the response back to the control) is between 1ms and 100ms plus 2*bus cycle time (typically 10 ms).

3.3.1 Object directory

The object directory contains the specific indices for all axes. The object directory is structured according to specifications of the EtherCAT Technology Group (ETG):

Range Index area

Device Axis A Axis B

Communication Area 0x1000 - 0x1FFF

Identification data 0x1000 - 0x1018 - -

Sync manager 0x1C00 - 0x1C33 - -

PDO mapping - 0x1600 - 0x1606

0x1A00 - 0x1A05

Manufacturer specific area 0x2000 - 0x5FFF

Device settings 0x2000 - 0x27FF - -

Axis identification - 0x2800 - 0x281F 0x3000 - 0x301F

Axis control - 0x2820 - 0x283F 0x3020 - 0x303F

Error management - 0x2840 - 0x28FF 0x3040 - 0x30FF

Motor control & motor settings - 0x2900 - 0x2CFF 0x3100 - 0x34FF

Touch probe - 0x2D00 - 0x2D3F 0x3500 - 0x353F

Monitoring functions - 0x2D40 - 0x2D7F 0x3540 - 0x357F

Diagnostics - 0x2D80 - 0x2DBF 0x3580 - 0x35BF

Service/internal - 0x2DC0 - 0x2E3F 0x35C0 - 0x363F

Reserved - 0x2E40 - 0x2FFF 0x3640 - 0x37FF

CiA402 profile specific area 0x6000 - 0xDFFF

Device profile CiA402 - 0x6000 - 0x67FF 0x6800 - 0x6FFF

0x1610 - 0x1616

0x1A10 - 0x1A15

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3 Communication with the controller

3.3 Parameter data transfer (SDO communication)

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3.3.2 SDO abort codes

If an SDO request is evaluated negatively, a corresponding abort code is output:

SDO abort code Description

0x0000 0000 No error

0x0503 0000 The status of the toggle bit has not changed.

0x0504 0000 SDO protocol time-out

0x0504 0005 The space in the main memory is not sufficient.

0x0601 0000 Access to object not supported.

0x0601 0001 Read access to a write-protected object.

0x0601 0002 Write access to a write-protected object.

0x0602 0000 Object is not listed in the object directory.

0x0604 0041 Object cannot be mapped into the PDO.

0x0604 0042 The number and/or length of the mapped objects would exceed the PDO length.

0x0604 0043 General parameter incompatibility

0x0604 0047 General internal device incompatibility

0x0606 0000 Access has failed because of hardware errors.

0x0607 0010 Wrong data type or parameter length.

0x0607 0012 Wrong data type (parameter length is too large).

0x0607 0013 Wrong data type (parameter length is too small).

0x0609 0011 Subindex does not exist.

0x0609 0030 The value range for parameters is too large (only for write access).

0x0609 0031 The parameter value is too high.

0x0609 0032 The parameter value is too low.

0x0800 0000 General error

0x0800 0020 Data cannot be transferred or saved to the application.

0x0800 0021 Data cannot be transferred or saved to the application because of local control.

0x0800 0022 Data cannot be transferred/saved to the application because of current device state.

3.3.3 ESI: EtherCAT Slave Information file (device description)

The EtherCAT Slave Information file (EtherCAT Device Description file) contains all information about the device (operating modes, parameters, …).

• The EtherCAT Slave Information file is integrated by the EtherCAT network configuration tool in order to be able to configure and commission the devices.

• Part of the information contained in the EtherCAT Slave Information file can be uploaded online by the EtherCAT master by accessing the EtherCAT EEPROM of the device. The description of the object directory can also be identified online.

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3 Communication with the controller

3.4 Activating the control via PDO

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3.4 Activating the control via PDO

0x2824 | 0x3024 - Device control via PDO: Activation

This object serves to switch off all RPDOs (from the device's point of view) so that the device is exclusively controlled via SDOs.

• This is, for instance, required for manual enable of commissioning functions and test modes via the (0x6040

control word 0x6840

Selection list (Lenze setting printed in bold)

0Off

1Activate

 Write access  CINH  OSC  P  RX  TX UNSIGNED_8

for axis B). Enable/inhibit via control word

3.5 Lenze control and status word

0x2830 | 0x3030 - Lenze control word

Via the Lenze control word, the control functions can be influenced.

Setting range (min. value | unit | max. value) Lenze setting

0x0000 0xFFFF 0x0000

Value is bit-coded: ( =bit set) Info

 Write access  CINH  OSC  P  RX  TX UNSIGNED_16

Bit 0  Flying restart: Completed Via this bit, the control reports the acceptance of the

Bit 1  Flying restart: Blocked "1" ≡ Block flying restart process

Bit 2  Reserved

Bit 3  Reserved Bit 4  Speed controller: Load I component "1" ≡ Set starting value of the torque

Bit 5  Position: Traverse to new actual

Bit 6  Activate DC-injection braking or

Bits 7-15  Reserved

position

short-circuit braking

speed found to the "Flying restart" function. The flying restart process is now completed.

• In case of servo control, this corresponds to the I component of the speed controller, in case of V/f operation to the modulation of the slip compensation.

• As long as this bit is set to "1", the I component and the slip compensation are set to the starting value set in 0x2902

"1" ≡ Set/relatively shift actual position

• Axis A: Set the actual position (0x6064 consideration of the set resolution (0x608F value set in 0x2983 value set in 0x2983

• Axis B: Set the actual position (0x6864 consideration of the set resolution (0x688F value set in 0x3183 value set in 0x3183

"1" ≡ Trigger DC-injection braking for asynchronous motor or short-circuit braking for synchronous motor

(or 0x3102 for axis B).

) under

) to the (0x2984 = 0), or shift it by the (0x2984 = 1).

) under

) to the (0x3184 = 0), or shift it by the (0x3184 = 1).

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

3 Communication with the controller

3.5 Lenze control and status word

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

0x2831 | 0x3031 - Lenze status word

In the Lenze status word, messages are combined that go beyond the CiA specification.

Display area (min. value | unit | max. value) Initialisation

0x0000 0xFFFF

Value is bit-coded: Info

Bit 0 Position controller: In limitation Position mode: Output of the position controller in

Bit 1 Speed: Limited speed setpoint 1 Input of speed controller 1 in limitation

Bit 2 Speed controller: In limitation Output of speed controller 1 in limitation

Bit 3 Torque: Limited target torque Target torque in limitation

Bit 4 Motor: Limited current setpoint Setpoint current in limitation

Bit 5 Speed: Limited speed setpoint 2 Torque mode: Input of speed controller 2 in limitation

Bit 6 Upper speed limit is active Torque mode: Speed is limited to the upper speed limit

Bit 7 Lower speed limit is active Torque mode: Speed is limited to the lower speed limit

Bit 8 Flying restart in progress ... V/f operation: "Flying restart process" function is active

Bit 9 Flying restart: Ready for operation V/f operation: "Flying restart process" function has

Bit 10 Limited output frequency V/f operation: Setpoint frequency in limitation

Bit 11 Asynchronous motor magnetised In case of servo control for synchronous motor (SM):

Bit 12 Motor phase failure detection in

progress ...

Bit 13 Feedback: Open circuit Position feedback is interrupted

Bit 14 Delay time: 'Reset error' is active The error cannot be reset before the delay time has

Bit 15 Clamp is active V/f operation: Clamp (short-time inhibit of the inverter)

 Write access  CINH  OSC  P  RX  TX UNSIGNED_16

limitation

(0x2946:1

(0x2946:2

acquired speed

• Bit is always set.

In case of servo control for asynchronous motor (ASM):

• Bit is set if the difference between setpoint and actual

• Bit is reset if the difference has increased to 15 % of

In case of V/f operation:

• Bit is set if the rotor time constant has been passed

Motor phase failure detection is active

expired. The remaining delay time is displayed in 0x2840 (or 0x3040

is active

or 0x3146:1 for axis B)

or 0x3146:2 for axis B)

flux is smaller than 10 % of setpoint flux.

setpoint flux.

seven times, calculated from the time the controller has been enabled and no restart on the fly has been active and the total motor current has reached 20 % of the rated motor current for the first time. Otherwise 0.

for axis B).

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3 Communication with the controller

3.5 Lenze control and status word

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

0x2833 | 0x3033 - Lenze statusword 2

From version 01.03

Display area (min. value | unit | max. value) Initialisation

0x0000 0xFFFF

Value is bit-coded: Info

Bit 0 Feedback modification Changes in the settings of the feedback system have

Bit 1 Manual test mode active A manual test mode is active

Bit 2 Manual control mode active Manual control mode is active

Bit 3 Angle tracking control: Active Reserved

Bit 4 Absolute value encoder selected From version 01.06

Bit 5 Absolut position available From version 01.06

Bit 6 DC-injection braking or short-circuit

braking: Active

Bit 7-15 Reserved

 Write access  CINH  OSC  P  RX  TX UNSIGNED_16

been executed. The status bit is reset at controller enable.

(0x2825

Absolute feedback system selected (parameterised)

Initialisation of the selected feedback system is completed. All information of the feedback system have been transmitted.

From version 01.06

DC-injection braking for asynchronous motor or shortcircuit braking for synchronous motor is active

or 0x3025 = 1, 2 or 3)

or 0x3025 = 4)

• In case of the "resolver" device variant, this bit is set if the resolver pole pair number "1" is set in 0x2C43

for axis B).

0x3443

• In case of the "enco der" devi ce variant, thi s bit is se t if the encoder type "2: Hiperface absolute value encoder" is set in 0x2C40

• In case of an error in the feedback system, this bit is set to "0" as long as the error exists.

(or 0x3440 for axis B).

(or

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05

+ 308 hidden pages

Lenze i700 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 About this documentation

1.1 Conventions used

1.2 Terminology used

1.3 Definition of notes used

1.4 Structure of the parameter descriptions

2 Parameter handling

2.1 Parameter transfer during initialisation

2.2 Storage parameter set (par001.) and total parameter set (par000.)

2.2.1 Saving a parameter set from the i700 to a file (export)

2.2.2 Loading the stored parameter set to the i700 (import)

2.2.3 Monitoring of the parameter import (error report)

2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum

0x2030 - Parameter set: Validity check (CRC)

3 Communication with the controller

3.1 Acceleration of the system (initialisation)

3.2 Process data (cyclic PDO transfer) and PDO mapping

3.2.1 Synchronisation with "Distributed clocks" (DC)

3.3 Parameter data transfer (SDO communication)

3.3.1 Object directory

3.3.2 SDO abort codes

3.3.3 ESI: EtherCAT Slave Information file (device description)

3.4 Activating the control via PDO

0x2824 | 0x3024 - Device control via PDO: Activation

3.5 Lenze control and status word

0x2830 | 0x3030 - Lenze control word

0x2831 | 0x3031 - Lenze status word

0x2833 | 0x3033 - Lenze statusword 2