ZETADYN 3 Series
Additional information for CANopen Lift
Brief instruction
Additional information for the operating instructions:
ZETADYN 3BF (R-TBA05_08)
ZETADYN 3C (R-TBA08_03)
ZETADYN 3C-MRL (R-TBA09_01)
ZETADYN 3BF009-1 (R-TBA08_02)
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
english
Content
1 General notes ............................................................. 2
1.1 Validity ............................................................. 2
1.2 Structure of the operating instructions ..................................... 2
1.3 Exclusion of liability ................................................... 2
2 Safety information ......................................................... 2
3 Start-up .................................................................. 3
3.1 Information for start-up ................................................. 3
3.2 Frequency inverter .................................................... 3
3.3 Bus-cable ........................................................... 3
3.4 Wiring .............................................................. 3
3.5 Electrical connection ................................................... 4
3.6 Activating the interface ................................................. 4
3.7 Operation mode ...................................................... 5
3.7.1 Command- and Statusbits of the recorder .............................. 6
4 Parameter ................................................................ 6
4.1 Parameter settings .................................................... 6
4.2 Infomenu ........................................................... 7
4.3 Network Management Status ............................................ 8
5 Error .................................................................... 8
5.1 Error diagnosis in CANopen Lift .......................................... 8
5.2 Error list ............................................................ 8
Brief instruction ZETADYN 3 Series
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
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1 General notes
1.1 Validity
These operating instructions apply to:
Frequency inverter from the series: ZETADYN 3
1.2 Structure of the operating instructions
This instruction is a brief instruction with additional informations. It is valid only in connection
with the following operating instructions:
•
R-TBA05_08 (ZETADYN 3BF)
•
R-TBA08_03 (ZETADYN 3C)
•
R-TBA09_01 (ZETADYN 3C-MRL)
•
R-TBA08_02 (ZETADYN 3BF009-1)
The following informations, described in the operating instructions have to be followed:
•
Safety information
•
Product overview
•
mechanische Installation
•
Electrical installation
•
Service & maintenance
•
Transport
•
Storage duration:
•
Disposal & recycling
Before installation and start-up, read this manual carefully to ensure correct use!
1.3 Exclusion of liability
Concurrence between the contents of these operating instructions and the described hardware and
software in the device has been examined.
It is still possible that non-compliances exist; no guarantee is assumed for complete conformity. The
contents of this manual are put through periodic reviews. Necessary modications are incorporated
into the next version.
Ziehl-Abegg AG is not liable for damage due to misuse, incorrect use, improper use or as a
consequence of unauthorized repairs or modications.
2 Safety information
The Safety informations , described in chapter 2 of the operating instructions R-TBA05_08,
R-TBA08_03, R-TBA09_01 or R-TBA08_02 or has to be followed!
Brief instruction ZETADYN 3 Series General notes
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3 Start-up
3.1 Information for start-up
Danger!
Defective connections can cause the motor to start unexpectedly or lead to uncontrolled motor
movements.
Reversed connections cause the motor to rotate in the wrong direction. That can cause serious
machine damage.
CAUTION!
Caution!
Incorrectly wired connections can destroy the electrical / electronic components.
Electrostatic discharges can be hazardous to the electronic components and lead to errors in the
software.
3.2 Frequency inverter
•
To operate the installation with CANopen, the frequency inverter must be equipped with
the optional board EM3-ENC-CAN-DCP (Art.-No.357107)!
•
Only devices with the CiA 417 prole are allowed.
•
All devices work in 11 bit - mode.
•
By implication, there can be one ZETADYN 3 connected to one bus-system.
•
When two ZETADYN 3 per bus-system are needed, please call Ziehl-Abegg before installing.
3.3 Bus-cable
•
A shielded bus-cable is not needed, but the data wires should be twisted.
•
The installation takes place in line structure. The seperate devices are connected to the bus with
short branch lines.
•
The bus should be terminated with a terminating resistor of 120 - 150 Ohms, at both ends of the
bus.
•
The maximum length of the bus is 200 m and 6 m at the branch lines.
•
All devices normally work with a baud rate of 250 kBit/s.
3.4 Wiring
•
The connection of the bus cable takes place at the slot "X-CAN" of the frequency inverter.
•
Take care of the maximum bus length.
•
Not correctly shielded motor- , brake chopper- or brake resistor cables can cause signicant
errors.
•
In case of an error, check the shielding of the cables.
Steuerung /
Control system
Umrichter /
Inverter
Schachtgeber /
Encoder
120 - 150 Ohm 120 - 150 Ohm
Exemplary assembly of a bus-system with CANopen
Brief instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
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3.5 Electrical connection
Information
The connection of the bus cable takes place at the slot X-CAN of the frequency inverter.
X-CAN
CL
CH
0VC
CAN High (H)
CAN Low (L)
GND
(1)
(2)
(3)
(4)
Optionaler
Schirmanschluss
Connection CAN
3.6 Activating the interface
The activation of the CAN interface can be set in the menu Control system/CONFIG.
Control system
|
-
"
CONFIG 01:ZA_IO
|
-
"
02:ZA_CAN
Conguration
The INFO menu shows CAN information at the pages 14 - 17 (Assumption: "CONFIG" = "02:
ZA_CAN").
Brief instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
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3.7 Operation mode
Information
There are two operation modes by using CAN:
•
Velocity Mode [pv]
Velocity Mode
•
Position Mode [pp]
Position Mode
Brief instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
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3.7.1 Command- and Statusbits of the recorder
•
Position Mode [pp] C&S / Velocity Mode [pv] C&S
•
C = Command = Command from the control system to the frequency inverter
•
S = Status = Status of the frequency inverter as reaction of a command from the control system
Status- / Commandbit Description Comment
CSwO Command Switch On
CEVo Command Enable Voltage
CQSt Command Quick Stop
CEOp Command Enable Operation
CFaR Command Fault Reset
CNSp Command New Setpoint only active in position mode
CHlt Command Halt
SRSO Status Ready to Switch On
SSdO Status Switched On
SOpE Status Operation Enabled
SVoE Status Voltage Enabled
SQSt Status Quick Stop
SSOD Status Switch On Disabled
STaR Status Target Reached
SS=0 Status Speed = 0 only active in velocity mode
SSpA Status Setpoint Acknowledge only active in position mode
SFlt Status Fault
SWrn Status Warning
The used mode can be set in the menu "S8: CAN/MODE" of the ZETADYN 3. Generally the mode is
sent from the control system to the ZETADYN 3 shortly before start-up. Therefor you have to set the
operation mode in the control system.
When the ZETADYN 3 is operated in position mode, the shaft-encoder has to be connected to the
same bus as the ZETADYN 3.
The control system transmits the travel speed to the frequency inverter before every drive. If the
transmitted speed couldn't be reached, the frequency inverter initiates a pointed arch drive. Therefor
the maximum speed has to be entered in the control system.
4 Parameter
4.1 Parameter settings
The seperate parameters for CAN operation can be modied in the menu S8:CAN.
Parameter Description Value range Factory setting
LIFT_NR Enter the lift number 1 ... 2 1
NODE_ID Node number,
normally:
Control system: 1
Frequency inverter: 2
Encoder: 4
1 ... 128 2
BD_RATE Transfer rate (baud rate) 10 kBd ... 250 kBd 250 kBd
MODE Operation mode of the ZETADYN 3 Position / Velocity Position
T_CMD Maximum waiting time for commands of the
control system
200 ... 3000 ms 1500 ms
T_MAX Maximum processing time for the CAN mes-
sages per cycle.
0,1 ... 3 ms 0.8 ms
Brief instruction ZETADYN 3 Series Parameter
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
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Information
The in the ZETADYN 3 adjusted nominal travel speed V* has to be equal or higher than the speed
which is sent to the ZETADYN 3 by the control system. Otherwise no drive takes place.
4.2 Info menu
The INFO menu provides an easily accessible overview of:
•
Current measurements
•
Current operation conditions of the ZETADYN 3
•
Current switching states of the inputs and outputs
•
Inverter internal measurements
•
Information about the internal components
The individual pages are numbered for increased clarity.
This is a CAN specic instruction. Only the pages 14 - 17 will be described. A complete overview is
shown in the operating instruction of the particular inverter.
Display Description
CAN--------------- -
14
Act· Mode: Velocity
T_max: 0 RErr:255
NMT:Preop./Warn.Lim:
Page 14: CAN
Operating information (normal view)
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Number of cycles, which excessed the maximum process time
RErr: Recieve buffer - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN--------------- -
14
Act· Mode: Velocity
T_max:0.7ms TErr:255
NMT:Preop./Warn.Lim:
Page 14: CAN
Operating information (while pressing "Enter")
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Maximum time for processing the CAN messges per cycle, since switch-on
TErr: Transmit buffer - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN Velocity------ -
15
V_CAN: +0mm/s
Contr.:Disable Volt.
Status:Sw. On Disab.
Page 15: CAN Velocity
Active in velocity mode
Line 2:
V_CAN: Travel speed, sent fron the control system to the ZETADYN 3.
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status of the ZETADYN 3
CAN Position------ -
16
S_CAN +0mm
Contr.:Disab. Volt.
Status:Sw.On Disab.
Page 16: CAN Position
Active in position mode
Line 2:
S_CAN: Relative target position, sent from the control system to the ZETADYN 3
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status of the ZETADYN 3
After pressing the "Enter" button the display shows the maximum travel
speed, sent by the control system
CAN Calib. 1------ -
17
AbsEnc mm: 5358
MotEnc mm:+ 4169
Offs:13081A/M 1.28
Page 17: CAN Calib.
Calibration
Lines 2 - 4:
For calibrating the distances which were sent by the motor encoder and the shaft
encoder.
Brief instruction ZETADYN 3 Series Parameter
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4.3 Network Management Status
Status: BootUp: ZETADYN 3 is switching to the bus
Stop: ZETADYN 3 was stopped (normally by the control sys-
tem)
Preop.: ZETADYN 3 can be parametrised, but before the it has
to be set to "operational".
Opera.: ZETADYN 3 is ready, a drive can take place.
Controller state: No Error: No errors existent
Warn.Lim.: Error counter exceed 127
Bus off: Because of too many errors the device was switched
off the bus (Error counter > 255)
5 Error
5.1 Error diagnosis in CANopen Lift
For error diagnosis and elimination the operating instructions R-TBA05_08-D, R-TBA08_03-D, RTBA09_01-D and R-TBA08_02-D provide the chapter "Error diagnosis". In this chapter the errors and
the possibilities to eliminate them are described.
5.2 Error list
Error Error text Description Condition
800 CAN: Timeout Velocity Mode: Heartbeat from control
system is missing or at wrong time
Position Mode:In addition to the heart-
beat of the control system, the heartbeat of the encoder is also monitored
Only during a drive
810 CAN: Quick Stop Det. Control system activates a quick stop Til software version 3.32
820 CAN: Illegal Status Control system sends commands in
wrong order to the ZETADYN 3.
830 CAN: Timeout Enab. Op. Controll system gives command "Ena-
ble Operation" not within T_CMD
Til software version 3.32
831 CAN: Timeout Dis. Op. Control system gives command "Dis-
able Operation" not within T_CMD, happens at stop.
Not maskable, if necessary increase T_CMD
832 CAN: Timeout Shutdown Happens by closing the brakes, when
control system gives command "Disable Operation" not within T_CMD.
Not maskable, if necessary increase T_CMD
833 CAN: Timeout Dis. Vol. Happens after drive, when control sys-
tem gives command "Disable Voltage"
not within T_CMD.
Not maskable, if necessary increase T_CMD
840 CAN: Enc. Info missing The object Encoder Info, which shows
how much encoder pulses are how
much mm distance wasn't programmed
by the control system
Only Position Mode / not maskable!
Brief instruction ZETADYN 3 Series Error
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© by Ziehl-Abegg - - 00163371-GB - 1114 - - Subject to technical changes
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email hotline.ra@ziehl-abegg.de
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Heinz-Ziehl-Straße · D-74653 Künzelsau · Germany
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