Lenze 8400 StateLine C Reference Manual Download

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Firmware

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11.00 - DMS 8.0 EN - 10/2011

8400 StateLine C | Reference manual

Contents

5.7

Sensorless vector control (SLVC)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

5.7.1

Parameterisation dialog/signal flow

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

5.7.2

Types of control

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.7.2.1

Speed control with torque limitation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.7.2.2

Torque control with speed limitation

. . . . . . . . . . . . . . . . . . . . . . . . . . . 164

5.7.3

Basic settings

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

5.7.4

Optimising the control mode

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

5.7.4.1

Optimising the starting performance after a controller enable

. . . 166

5.7.4.2

Optimise speed controller

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

5.7.4.3

Optimising dynamic performance and field weakening behaviour

168

5.7.4.4

Optimising the stalling behaviour

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.7.4.5

Optimise response to setpoint changes

and determine mass inertia

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

5.7.4.6

Slip calculation from motor equivalent circuit diagram data

. . . . . . 172

5.7.5

Remedies for undesired drive behaviour

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

5.8

Sensorless control for synchronous motors (SLPSM)

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

5.8.1

Parameterisation dialog/signal flow

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

5.8.2

Types of control

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

5.8.3

Basic settings

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

5.8.4

Optimising the control mode

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

5.8.4.1

Optimise current controller

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

5.8.4.2

Optimise speed controller

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

5.8.4.3

Optimise response to setpoint changes

and determine mass inertia

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

5.8.4.4

Setting the current setpoint filter (band-stop filter)

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

5.8.4.5

Adapting the max. acceleration change (jerk limitation)

. . . . . . . . . 190

5.8.5

Pole position identification without motion

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

5.9

Parameterisable additional functions

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

5.9.1

Selection of switching frequency

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

5.9.2

Operation with increased rated power

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

5.9.3

Correction of the stator leakage inductance...

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

5.9.4

Flying restart function

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

5.9.5

DC-injection braking

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

5.9.5.1

Manual DC-injection braking (DCB)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5.9.5.2

Automatic DC-injection braking (auto DCB)

. . . . . . . . . . . . . . . . . . . . . 204

5.9.6

Slip compensation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.9.7

Oscillation damping

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

5.9.7.1

Oscillation damping voltage range

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5.9.7.2

Oscillation damping in the field weakening range

. . . . . . . . . . . . . . . 211

5.9.8

Phase sequence reversal for correcting misconnected UVW motor phases

. . 212

5.9.9

Field weakening for synchronous motors

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com

Summary of Contents for 8400 StateLine C

Page 1: ...L EDS84AVSCxx 13391971 H4h Reference manual E84AVSCxxxxx Inverter Drives 8400 StateLine C 8400 L force Drives Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com...

Page 2: ...ng Instructions MA for the communication module KHB Communication manual MA for the extension module MA Mounting instructions MA for the safety module SW Software reference manual MA for the accessori...

Page 3: ...ction block interconnection 30 2 2 Selection of the appropriate commissioning tool 31 2 2 1 Overview Accessories for commissioning 32 2 3 General notes on parameters 33 2 3 1 Changing the parameterisa...

Page 4: ...erising the motor control 56 3 6 4 Parameterising the application 57 3 6 5 Saving parameter settings safe against mains failure 59 3 6 6 Enable controller and test application 59 3 7 Commissioning of...

Page 5: ...es 86 4 2 1 FirmwareUpdate 87 4 2 2 Init 88 4 2 3 MotorIdent 89 4 2 4 SafeTorqueOff 90 4 2 5 ReadyToSwitchOn 91 4 2 6 SwitchedOn 92 4 2 7 OperationEnabled 93 4 2 8 Warning 93 4 2 9 TroubleQSP 94 4 2 1...

Page 6: ...4 3 3 Optimising the Imax controller 136 5 4 3 4 Optimising the stalling behaviour 137 5 4 3 5 Torque limitation 138 5 4 3 6 Defining a user defined V f characteristic 140 5 4 4 Remedies for undesired...

Page 7: ...Basic settings 180 5 8 4 Optimising the control mode 181 5 8 4 1 Optimise current controller 182 5 8 4 2 Optimise speed controller 183 5 8 4 3 Optimise response to setpoint changes and determine mass...

Page 8: ...f the brake resistor 231 5 12 Monitoring 232 5 12 1 Device overload monitoring Ixt 233 5 12 2 Motor load monitoring I2xt 234 5 12 3 Motor temperature monitoring PTC 236 5 12 4 Brake resistor monitorin...

Page 9: ...rface System block LS_DigitalOutput 272 6 2 Analog terminals 273 6 2 1 Parameterising analog input 275 6 2 1 1 Signal adaptation by means of characteristic 277 6 2 2 Parameterising analog output 279 6...

Page 10: ...assignment for fieldbus communication 311 7 2 5 Setting parameters short overview 313 7 2 6 Configuration parameters 315 7 3 TA Switch off positioning 318 7 3 1 Basic signal flow 320 7 3 2 Internal in...

Page 11: ...erface to safety system 359 8 3 Speed follower 360 8 3 1 Parameter setting 360 8 3 2 Setpoint selection 361 8 4 Holding brake control 362 8 4 1 Internal interfaces 363 8 4 2 Parameter setting 364 8 4...

Page 12: ...ut logbook entries 391 9 5 4 Exporting logbook entries to a file 392 9 5 5 File logbook in project 393 9 6 Monitoring 394 9 6 1 Monitoring configuration 395 9 6 2 Setting the error response 396 9 6 3...

Page 13: ...35 10 6 2 User data 437 10 7 Communication phases network management 438 10 7 1 Status transitions 439 10 7 2 Network management telegram NMT 440 10 7 3 Parameterising the controller as CAN master 441...

Page 14: ...466 10 10Monitoring 469 10 10 1 Integrated error detection 469 10 10 2 Heartbeat protocol 471 10 10 2 1 Telegram structure 472 10 10 2 2 Parameter setting 472 10 10 2 3 Commissioning example 474 10 10...

Page 15: ...er descriptions 518 14 1 1 Data type 519 14 1 2 Parameters with read only access 519 14 1 3 Parameters with write access 520 14 1 3 1 Parameters with setting range 520 14 1 3 2 Parameters with selecti...

Page 16: ...avigation 738 15 3 3 Change online display format 739 15 4 Reconfiguring the predefined interconnection 741 15 4 1 Inserting Deleting objects 741 15 4 1 1 Inserting a function block 742 15 4 1 2 Inser...

Page 17: ...781 16 1 9 L_Arithmetik_1 782 16 1 10L_Arithmetik_2 784 16 1 11L_Compare_1 786 16 1 11 1 Function 1 nIn1 nIn2 787 16 1 11 2 Function 2 nIn1 nIn2 788 16 1 11 3 Function 3 nIn1 nIn2 789 16 1 11 4 Functi...

Page 18: ...ramp 827 16 1 29 8 Additional setpoint 827 16 1 29 9 Application example for the additional load function 827 16 1 30L_OffsetGain_1 828 16 1 31L_OffsetGain_2 829 16 1 32L_OffsetGainP_1 830 16 1 33L_Of...

Page 19: ...LS_DigitalInput 857 16 2 6 LS_DigitalOutput 857 16 2 7 LS_DisFree 858 16 2 8 LS_DisFree_a 859 16 2 8 1 Display of internal process factors in application units 860 16 2 9 LS_DisFree_b 861 16 2 10LS_Dr...

Page 20: ...StateLine C Reference manual Contents 20 L Firmware 11 00 DMS 8 0 EN 10 2011 17 Index 876 Your opinion is important to us 892 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr...

Page 21: ...structions before switching on the controller Please read the safety instructions provided in the 8400 mounting instructions and in the 8400 hardware manual Both documents are supplied with the contro...

Page 22: ...4 2008 TD06 Error corrections supplements 1 0 11 2007 TD06 First edition Type of information Writing Examples notes Spelling of numbers Decimal separators Point The decimal point is generally used For...

Page 23: ...motor Code Parameter used for controller parameterisation or monitoring The term is usually called index Display code Parameter that displays the current status or value of an input output of a syste...

Page 24: ...latory masses in motion in a controlled manner The energy to be dissipated in this process is produced in the form of friction energy Unlike emergency braking this process is a regular and recurring o...

Page 25: ...nger 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 Dang...

Page 26: ...For this purpose the CAN on board CAN interface and the MCI interface for using a communication module e g PROFIBUS are available Danger In general changing a parameter causes an immediate response in...

Page 27: ...integrated technology application see the following subchapter Signal outputs for status and actual value signals M M n t 0 2 1 Switch off positioning Actuating drive speed Setpoint generator Process...

Page 28: ...drives presses machining systems metering units Switch off positioning technology application This technology application available from version 04 00 00 serves to solve speed controlled drive tasks f...

Page 29: ...g via few operating and diagnosing parameters local keypad operation Achieving a transparency as high as possible via the integrated functionality of the device by representing signal flow diagrams Pr...

Page 30: ...he function block editor according to the selected control mode In the deeper application level the main signal flow is realised in the form of an interconnection of various function and system blocks...

Page 31: ...ly a few parameters have to be adapted Commissioning with PC and L force EASY Starter The L force EASY Starter is a Lenze tool for easy online diagnostics parameter setting and commissioning of the co...

Page 32: ...or Hot pluggable Graphic display with plain texts Backlighting Easy user guidance 4 navigation keys 2 context sensitive keys Adjustable RUN STOP function incl 2 5 m cable Enclosure IP20 in case of fro...

Page 33: ...nd default setting Lenze setting For the sake of clarity some codes contain subcodes for saving parameters This Manual uses a slash as a separator between code and subcode e g C00118 3 According to th...

Page 34: ...y In the menu level List of available menus In the parameter level Code subcode and setting or actual value Device status Controller is switched on Pulse inhibit is active Controller is enabled System...

Page 35: ...cept change in the controller no saving with mains failure protection Back to main menu Abort discard change Parameter can only be changed when the controller is inhibited Save all parameter settings...

Page 36: ...e of a parameter with subcodes Press the navigation key to change tot he editing mode for the subcode Use the navigation keys to set the desired subcode 4 Use the function key to switch over to the ed...

Page 37: ...e X6 2 3 Exemplary constellation for parameterising the controller The All parameters tab in the EASY Starter and the Engineer provides a quick access to all parameters of the controller The given cat...

Page 38: ...a 24 V DC voltage e g via the X4 24E terminal The memory module can be preconfigured with customer specific data The memory module is available as a spare part without any data During operation Parame...

Page 39: ...r the versions of the old device and the new device are of importance Before data are actually transferred the versions are internally checked Basically the following applies Parameter sets of old dev...

Page 40: ...annot be accessed without knowing the password and are thus protected against unwanted changes Parameter Name Lenze setting C00051 MCTRL Actual speed value C00053 DC bus voltage C00054 Motor current C...

Page 41: ...e password are only granted access to the max 32 parameters of the user menu Device personalisation Only controllers and memorymoduleswhichare personalised with a specific binding ID can be used for t...

Page 42: ...delivery status ON Password has been set password protection is active This status is also displayed after an unsuccessful check deletion of the password due to an invalid entry OK Password has been...

Page 43: ...porarily to be able to carry out password protected functions Password protection will be deactivated until a valid password is entered and checked or the external 24 V supply of the control electroni...

Page 44: ...memory module The following two types are distinguished during the check If a different binding ID is detected during switch on of the controller during device initialisation The Fault error response...

Page 45: ...ay contain the following characters lower case letters a z upper case letters A Z digits 0 9 Note After the execution of one of the device commands listed below this parameter provides the current bin...

Page 46: ...ed in C00505 2 2 4 3 Unlocking the controller with a MasterPin Every controller has an individual master password the MasterPin A controller which is locked due to password mechanism can reach the del...

Page 47: ...ation Load Lenze setting 79 Danger Uncontrolled motor movements can occur Under certain conditions the motor may rotate after mains connection Possible consequences Persons in the vicinity of the mach...

Page 48: ...be adapted to the motor circuit configuration the drive parameters relevant for your application must be set correctly the configuration of the I O terminals must be adapted to the wiring ensure that...

Page 49: ...e with matching performances are assigned Recommendations for the following application cases If the controller and motor differ greatly in terms of performance Set the Imax limit in motor mode in C00...

Page 50: ...the L force Engineer separately on CD free of charge at your Lenze representative See the About Lenze area on our homepage for e g the corresponding German address Phone 800 894 0412 Fax 888 723 4773...

Page 51: ...pending error messages are displayed in a well arranged visualisation Check the input terminals for their corresponding setpoints On the Terminal assignment tab the current input and output signals a...

Page 52: ...r How to carry out a guided commissioning with the Engineer 1 In the Project view select the 8400 StateLine controller 2 Click the symbol to open the Commissioning wizard 8400 Now the commissioning wi...

Page 53: ...s safely as possible Prepare controller for commissioning 54 Creating an Engineer project and going online 55 Parameterising the motor control 56 Parameterising the application 57 Note Take all the ne...

Page 54: ...tch on voltage supply of the controller Without motor operation Connect external 24 V supply With motor operation Connect mains voltage If the green DRV RDY LED is blinking and the red DRV ERR LED is...

Page 55: ...n step select the Actuating drive speed application The application can also be selected any time afterwards via the Application parameter tab or C00005 In the Other components step select other compo...

Page 56: ...n be found on the left 2 In the Motor control list field C00006 select the desired motor control 3 Adapt the motor control parameters Related topics Notes on motor control 49 Motor control MCTRL 106 P...

Page 57: ...ed description see the chapter Terminal assignment of the control modes 302 2 Optional Use a process controller For this purpose select the desired operating mode in the L_PCTRL_1 Operating mode C0024...

Page 58: ...main setpoint C00012 2 000 s The setpoint is led via a ramp function generator with linear characteristic The ramp function generator converts setpoint step changes at the input into a ramp L_NSet_1...

Page 59: ...oint potentiometer or by selecting a fixed setpoint via the digital DI1 DI2 inputs Stop Before stipulating a speed setpoint check whether the brake in the form of a holding brake on the motor shaft ha...

Page 60: ...mode DI3 HIGH level Request DC injection braking DI4 HIGH level Request a change of direction of rotation Related topics Inhibit at power on auto start option 97 Trouble shooting during commissioning...

Page 61: ...e device on Safety instructions with regard to commissioning 48 X4 RFR Controller enable X4 DI1 Initiator connection for stop function 1 X4 DI2 Initiator connection for stop function 2 X4 DI3 Quick st...

Page 62: ...ch evaluation can be configured in the drive controller In code C00488 x you can change the method of detecting position signals from level evaluation to edge evaluation In order to prevent unintended...

Page 63: ...akes sense 3 Inhibit controller Set terminal X4 RFR to LOW level or open contact 4 Connect USB diagnostic adapter 5 Switch on voltage supply of the controller Without motor operation Connect external...

Page 64: ...n step select the Switch off positioning application The application can also be selected any time afterwards via the Application parameter tab or C00005 In the Other components step select other comp...

Page 65: ...n be found on the left 2 In the Motor control list field C00006 select the desired motor control 3 Adapt the motor control parameters Related topics Notes on motor control 49 Motor control MCTRL 106 P...

Page 66: ...application is selected the contents of the tab change e g the Process controller and Motor potentiometer buttons are not shown any more 2 In the Control mode list field C00007 and in case of illustra...

Page 67: ...8 Terminal assignment of the control modes 329 Setting parameters short overview 341 Configuration parameters 343 Parameter Lenze setting Info Value Unit Accel time main setpoint C00012 2 000 s The se...

Page 68: ...ab and C00158 display all active sources for the controller inhibit 2 Select the respective control signals via the digital inputs Related topics Inhibit at power on auto start option 97 Trouble shoot...

Page 69: ...ow a speed setpoint Activate Deactivate quick stop Other control functions Reset error message Set digital analog outputs in preparation Diagnostic functions Display of the actual speed value and moto...

Page 70: ...d PC manual control The online connection between the PC and the controller is monitored by the controller If the online connection is interrupted for longer than the set timeout Lenze setting 2 s Err...

Page 71: ...or dialog includes control elements which serve to select various control functions On the right hand side setpoint and status displays are provided for diagnostic purposes The execution of the variou...

Page 72: ...Via the Set setpoint A B buttons the speed setpoint can be set to a previously set constant value A B 2 To start the speed follower Enable the controller via the Enable controller button Please obser...

Page 73: ...k stop QSP button is clicked the motor is braked to a standstill within the deceleration time parameterised in C00105 Via the Deactivate quick stop QSP button the quick stop can be deactivated Via the...

Page 74: ...tatus information in many ways Visually via the LED status displays on the front of the controller 382 As text messages in the Logbook 389 As process signals via the outputs of the LS_DriveInterface s...

Page 75: ...the input output signals and the internal signal flow of the LS_DriveInterface system block which displays the device control in the function block editor Range Meaning Display parameter Display of t...

Page 76: ...in progress 40 etc The execution of the device command has not finished successfully until the Off ready status information is provided in C00002 x In the event of an error the Action cancelled statu...

Page 77: ...lbar icons of the Engineer when an online connection has been established Symbol Function Enable controller Inhibit controller Save parameter set for 8400 Save all parameter sets Note Device commands...

Page 78: ...rom version 06 00 00 static C00002 Subcode Device command Controller inhibit required Status information 23 Motor parameter identification Automatic motor data identification z dynamic 26 CAN reset no...

Page 79: ...me the parameter set was saved will be lost This device command has an effect on the settings of the parameters of the operating system application and module How to load the Lenze setting 1 If the co...

Page 80: ...om the memory module 1 If the controller is enabled it must be inhibited e g by executing the Enable Inhibit controller device command C00002 16 0 Off ready 2 Execute the Load all parameter sets devic...

Page 81: ...c status information Work in progress 20 Work in progress 40 Work in progress 60 etc is returned Tip This device command can also be activated via the Toolbar icon The Load Lenze setting device comman...

Page 82: ...91 is used for the synchronisation to the rotary or standing drive Flying restart function 200 In the case of an operation with feedback the actual speed is read out by the encoder system In the case...

Page 83: ...the quick stop again provided that no other source of a quick stop is active C00159 provides a bit coded representation of all active sources triggers of a quick stop Parameter Info Lenze setting Val...

Page 84: ...layed in C00170 Tip An error message can also be acknowledged by activating the Reset error button in the Diagnostics tab Detailed information on error messages can be found in the Diagnostics error m...

Page 85: ...t you do not know where the controller is located physically The C00002 27 1 On start device command serves to carry out an optical location For the time set in C00181 1 all four status LEDs at the fr...

Page 86: ...vice state machine The arrows between the device statuses mark possible status changes The digits stand for the status ID see table below Pulse inhibit grey field Can be reached from all statuses Warn...

Page 87: ...e status Display in C00137 Priority Status bits Display in C00150 Meaning Bit 11 Bit 10 Bit 9 Bit 8 0 FirmwareUpdate 0 0 0 0 Firmware update function is active 1 Init 0 0 0 1 Initialisation is active...

Page 88: ...log inputs are not yet evaluated at this time The bus systems CAN PROFIBUS etc do not work yet i e communication is not possible The application is not yet processed The monitoring functions are not y...

Page 89: ...nd C00002 23 After the motor parameter identification is completed the status changes back to SwitchedOn Tip Detailed information on motor parameter identification can be found in the Automatic motor...

Page 90: ...the drive controller is switched off by the safety system the device changes to the SafeTorqueOff status If the safety system deactivates the Safe torque off STO request the device changes to the Rea...

Page 91: ...also after the deactivation of Trouble Fault or SafeTorqueOff If C00142 activates the autostart option Inhibit at power on Lenze setting explicit deactivation of the controller inhibit after mains co...

Page 92: ...ive sources triggers of a controller inhibit Depending on certain conditions a status change takes place based on the SwitchedOn device status Related topics wCANControl wMCIControl control words 103...

Page 93: ...f a monitoring mode responds the error response Warning or Warning locked has been parameterised for If the error is no longer active the previous device status is displayed LED DRIVE READY LED DRIVE...

Page 94: ...us when the controller is enabled afterwards Depending on certain conditions a status change takes place based on the TroubleQSP device status Related topics wCANControl wMCIControl control words 103...

Page 95: ...401 LED DRIVE READY LED DRIVE ERROR Display in C00137 Display in status word 1 C00150 Bit 11 Bit 10 Bit 9 Bit 8 OFF Trouble 0 1 1 1 Note If the Inhibit at trouble auto start option has been activated...

Page 96: ...urs The device status can only be abandoned by mains switching or a system restart in preparation LED DRIVE READY LED DRIVE ERROR Display in C00137 Display in status word 1 C00150 Bit 11 Bit 10 Bit 9...

Page 97: ...roller is enabled and the set auto start option Here it is assumed that after mains connection no errors and trouble occur in the controller and the EnableOperation control bit in the wDriveControl is...

Page 98: ...n is activated the controller remains in the ReadyToSwitchOn status For changing to the SwitchedOn status the controller enable must first be deactivated Only when the controller is enabled again afte...

Page 99: ...deactivated auto start option Inhibit at Lenze setting C00142 Bit 4 0 n Loading of the Lenze setting not possible since controller inhibit not set o Controller inhibit via signal change by the user p...

Page 100: ...QK E DLO5HVHW LW 21752 25 6ZLWFK2Q LVDEOH9ROWDJH 6HW4XLFNVWRS QDEOH2SHUDWLRQ 0RGH6SHFLILFB 0RGH6SHFLILFB 0RGH6SHFLILFB 5HVHW DLO 6HW DOW UHVHUYHGB UHVHUYHGB HQ H6SHFLILFB HQ H6SHFLILFB HQ H6SHFLILFB...

Page 101: ...et error message 405 FALSE TRUE The current error is reset bStatus_Bit0 bStatus_Bit2 bStatus_Bit3 bStatus_Bit4 bStatus_Bit5 bStatus_Bit14 bStatus_Bit15 C00833 38 44 BOOL Freely assignable bits in the...

Page 102: ...rqueOff device status is active bReady BOOL TRUE SwitchedOn device status is active bReadyToSwitchOn BOOL TRUE ReadyToSwitchOn device status is active bOperationEnable BOOL TRUE OperationEnabled devic...

Page 103: ...control word in order that the device changes to the SwitchedOn status after mains connection To reach the ReadyToSwitchOn status it is sufficient to set the bit to 0 in one of the two control words...

Page 104: ...cific_4 Assignment depends on the selected technology application See description of the corresponding technology application Bit Name Function Bit Name Status Bit 0 FreeStatusBit0 Free status bit 0 B...

Page 105: ...RL Internal interfaces LS_DriveInterface system block Bit 14 FreeStatusBit14 Free status bit 14 not assigned freely assignable Bit 15 FreeStatusBit15 Free status bit 15 not assigned freely assignable...

Page 106: ...l SLVC Sensorless control for synchronous motors SLPSM Parameterisable additional functions Selection of switching frequency Operation with increased rated power Correction of the stator leakage induc...

Page 107: ...o to the Overview dialog level and click the following button Parameterisation dialog in the Engineer Via the From Motor Catalogue button the motor catalogue can be opened to select another motor Sele...

Page 108: ...d offline using the Engineer all motor data must then be copied to the controller and saved power failure proof to the memory module device command C00002 11 when an online connection has been establi...

Page 109: ...meters can be manually adapted afterwards Improving the concentricity factor includes the adjustment of the inverter error characteristic to the drive system and the knowledge of the motor cable resis...

Page 110: ...gue in another dialog Alternatively the motor can be inserted into the project at a later time via the Insert a component command Go to the Application parameters tab in the Overview Motor data dialog...

Page 111: ...ptation is not required The plant parameter term comprises all parameters that result from the combination of motor and load These characterise the transfer behaviour of the entire controlled system T...

Page 112: ...to increased accuracy of the determined motor parameters Also supports synchronous motors and asynchronous motors with a power of more than 11 kW Duration approx 80 s Tip In the Lenze setting a settin...

Page 113: ...decided based on the motor control selected in C00006 whether an asynchronous motor or a synchronous motor is to be identified Thus set a suitable motor control for the motor in C00006 before starting...

Page 114: ...s measured 2 The inverter error characteristic is measured 3 The motor stator leakage inductance C00085 is measured For asynchronous motors only 4 The motor magnetising inductance C00092 and the motor...

Page 115: ...dentification can be aborted in the following cases If a special motor e g mid frequency motor or a servo motor is used If there is a large deviation between inverter and motor power In this case we r...

Page 116: ...C00089 Rated motor frequency according to the connection method C00090 Rated motor voltage according to the connection method C00091 Motor cos 5 Defining the motor cable length and motor cable cross...

Page 117: ...er tab via the Motor control C00006 list field A click on the Motor control button leads you to the parameterisation dialog of the selected motor control The button is labelled according to the select...

Page 118: ...ional range to automatically reduce the power loss in the asynchronous motor energy optimisation The motor data required for the cos control and the V min boost C00016 and slip compensation C00021 req...

Page 119: ...implementation of torque actuated operation with speed limitation The limitation of the maximum torque in motor and generator mode for speed actuated operation Tip If a high torque without feedback i...

Page 120: ...0vec093 Operation in motor mode CW rotation Operation in generator mode CCW rotation Operation in motor mode CCW rotation Operation in generator mode CW rotation Sensorless vector control SLVC Sensorl...

Page 121: ...o SLVC or SLPSM Simple hoists VFCplus V f linear Group drives several motors connected to controller Identical motors and loads VFCplus V f linear Different motors and or alternating loads VFCplus V f...

Page 122: ...d should be geared to the speed range required for the respective application Lenze recommendation Reference speed C00011 1500 3000 rpm Irrespective of the selected motor control there are more limita...

Page 123: ...g of the maximum current in motor mode in C00022 approximately corresponds to the maximum permissible value of the respective inverter Remedies Increase of the acceleration and deceleration ramp times...

Page 124: ...1 V f control VFCplus encoder Reduce the slip limitation to twice the rated motor slip with C00971 Reduce the Vmin boost in C00016 Sensorless vector control SLVC Reduce the slip compensation with C000...

Page 125: ...ol with linear V f characteristic or the sensorless vector control SLVC For adjustment observe the thermal performance of the connected asynchronous motor at low output frequencies Usually standard as...

Page 126: ...us V f definable from version 04 00 00 The V f characteristic can be freely defined with this motor control Defining a user defined V f characteristic 140 11 VFCplusEco V f energy saving from version...

Page 127: ...setpoint 20 C00006 Motor control 4 C00054 Motor current 16 C00910 1 Max pos output frequency 21 C00830 26 MCTRL nBoost_a 5 C00022 Imax in motor mode 17 C00910 2 Max neg output frequency 22 C00015 V f...

Page 128: ...found in the following subchapters Tip Information on the optimisation of the control mode and the adaptation to the real application is provided in the chapter Optimising the control mode 131 Paramet...

Page 129: ...4 Linear V f characteristic with voltage reduction from version 10 00 00 For drives which often work in partial load operation the energy saving V f characteristic control VFCplusEco offers the opport...

Page 130: ...nerator overload during deceleration The controller prolongs the deceleration ramp to keep the current on or below the current limit Increasing load with constant speed If the motor current limit valu...

Page 131: ...oost 134 Freely defining the characteristic From version 04 00 00 the V f characteristic can also be defined freely if the linear and quadratic characteristics are not suitable Defining a user defined...

Page 132: ...011 to traverse the entire speed range of the motor The V f base frequency is automatically calculated from the stored motor nameplate data by the motor parameter identification 5 4 Calculation of the...

Page 133: ...en being constantly excited up to f 87 Hz Advantages Higher speed setting range 73 higher power output in case of standard motors Motor current and motor power increase by the factor The field weakeni...

Page 134: ...et the Vminboost 1 Operate motor in idle state at approx 6 of the rated motor speed 2 Increase Vmin boost C00016 until the following motor current is reached Motor in short time operation up to 0 5 nr...

Page 135: ...motor nameplate so that a no load current of approx 0 8 Irated motor results at the slip frequency of the machine V f control VFCplus encoder If V f control VFCplus encoder is selected we recommend a...

Page 136: ...ion Increase of the reset time Ti C00074 1 of the Imax controller vibrations occur in the V f control VFCplus encoder mode during the intervention of the current limitation controller Recommendation I...

Page 137: ...d frequency causes a stronger limitation of the maximum current The behaviour in the field weakening range can be adapted via the override point of field weakening C00080 This parameter serves to shif...

Page 138: ...ation in motor mode Scaling 16384 100 Mmax C00057 Setting range 0 199 99 If keypad control is performed Parameterisable via C00728 1 nTorqueGenLimit_a C00830 28 INT Torque limitation in generator mode...

Page 139: ...racy for the actual torque C00056 2 and the torque limitation 5 6 Extract from the signal flow of the V f control VFC encoder Parameter Info Parameter Info 1 C00056 2 Actual torque value 9 C00830 22 M...

Page 140: ...ints Example C00967 3 C00967 4 and C00968 3 C00968 4 The grid points can be specified in any sequence Internally they are automatically ordered from the minimum to the maximum frequency value Above th...

Page 141: ...ng the motor control 1 Engineer Go to the Project view and select the 8400 StateLine controller 2 Go to Workspace and change to the Application parameters tab 3 Select the motor control 10 VFCplus V f...

Page 142: ...nerator mode 15 C00050 Speed setpoint 20 C00056 2 Actual torque value 4 C00054 Motor current 16 C00910 1 Max pos output frequency 21 C00058 Output frequency 5 C00022 Imax in motor mode 17 C00910 2 Max...

Page 143: ...ator mode For operation without speed feedback C00006 6 Insufficient speed constancy at high load setpoint and motor speed are not proportional anymore Increase slip compensation C00021 Important Unst...

Page 144: ...ed application areas of this motor control mode are materials handling technology and pump and fan systems This motor controlmode serves toimproveefficiency ofstandard asynchronous motors with efficie...

Page 145: ...tant parameters When you click the More details button in the left most position a signal flow with more details parameters is displayed Stop For adjustment observe the thermal performance of the conn...

Page 146: ...0 Speed setpoint 30 C00978 VFC ECO Voltage reduction 6 C00023 Imax in generator mode 18 C00056 2 Actual torque value 31 C00018 Switching frequency 7 C00074 Ti Imax controller 19 C00058 Output frequenc...

Page 147: ...energy saving V f characteristic control VFCplusEco compared to the standard V f characteristic control VFCplus The characteristics were recorded with a standard asynchronous motor 2 2 kW with energy...

Page 148: ...itialised depending on the device and thus they do not need to be entered directly In order to achieve a high energy optimisation these motor data can be entered see the following section Set the moto...

Page 149: ...the V f base frequency 132 Adapting the Vmin boost 134 Adapting drive behaviour Limitation of the maximum current by a current limitation controller e g to prevent the motor from stalling or to limit...

Page 150: ...ergy optimisation This setting serves to respond to load torques if these amount to approx 25 of the rated torque or occur with low dynamics An increase of the minimum voltage V f to 70 permits to app...

Page 151: ...the Lenze setting of C00982 is a compromise regarding the switch off of the Eco function voltage reduction 0 To increase the dynamics when switching off the Eco function Reduce setting in C00982 Curre...

Page 152: ...ion 151 Optimising the cos phi controller 151 Insufficient speed constancy at high load setpoint and motor speed are not proportional anymore Increase slip compensation C00021 Important Unstable drive...

Page 153: ...eased the maximum output voltage of the device is reduced Output voltage is too low There is a too low maximum torque in the high field weakening range Reduction of the oscillation damping field weake...

Page 154: ...w dialog level in the Motor control C00006 list field 7 VFCplus V f linear encoder for linear characteristic or 9 VFCplus V f quadr encoder for square law characteristic 4 Click the Motor control V f...

Page 155: ...e 34 C00018 Switching frequency 7 C00074 Ti Imax controller 22 C00830 24 MCTRL nSpeedCtrlI_a 35 C00830 32 MCTRL nPWMAngleOffset_a 8 C00073 Vp Imax controller 23 C00830 25 MCTRL nSpeedCtrlPAdapt_a 36 C...

Page 156: ...r than 50 Hz or with a number of pole pairs 2 are used set the motor parameters according to the motor nameplate Motor selection Motor data 107 5 Define speed setpoint e g 20 of the rated speed and en...

Page 157: ...he resolution of the speed sensor There is a direct relationship between encoder resolution and gain The higher the encoder resolution the higher the gain can be set The following table provides maxim...

Page 158: ...lower speeds speed setpoint 0 may become necessary It is recommended to check as a final step the behaviour at setpoint speed 0 and further reduce the slip regulator gain in case of irregular running...

Page 159: ...can also be limited by another limiting element the slip limitation C00971 2 A slip limitation to for instance double the rated slip of the motor prevents the motor from stalling in very dynamic proce...

Page 160: ...e motor catalogue the motor nameplate data are entered and motor parameter identification is carried out afterwards or the nameplate data and equivalent circuit data of the motor motor leakage inducta...

Page 161: ...risation dialog signal flow Proceed as follows to open the dialog for parameterising the motor control 1 Engineer Go to the Project view and select the 8400 StateLine controller 2 Go to Workspace and...

Page 162: ...Ti torque controller 21 C00833 69 MCTRL bSpeedCtrlPAdaptOn 29 C00830 88 MCTRL nSpeedHighLimit_a 7 C00071 1 SLVC Ti speed controller 22 C00074 2 SLVC Ti torque controller 30 C00830 23 MCTRL nSpeedLowL...

Page 163: ...t_a process input signal Motor current limitation A cross current setpoint is calculated from the torque setpoint which is limited depending on the magnetising current the max current in motor mode C0...

Page 164: ...ion the speed controlled drive can only rotate within a speed range whose positive speed is limited by nSpeedHighLimit_a and whose negative speed is limited by nSpeedLowLimit_a Identifier DIS code dat...

Page 165: ...data When selecting and parameterising the motor the motor nameplate data and the equivalent circuit diagram data are relevant Detailed information can be found in the Motor selection Motor data chapt...

Page 166: ...vate the auto DCB function with C00019 0 2 Do not activate the controller inhibit Instead stop the drive by selecting a setpoint of 0 or by activating the quick stop function Procedure with setting a...

Page 167: ...or the setting of the gain of the speed controller Tip Values recommended by Lenze for the setting of the proportional gain For drive systems without feedback Vp 6 25 For drive systems with a good dis...

Page 168: ...g range 5 11 Speed torque characteristic diagram in the field weakening range For Ti 15 ms see the actual speed value slightly drops in the field weakening range if the load torque increases in the mo...

Page 169: ...tor control depends on the setting of the reset time Ti of the torque controller C00074 2 The following applies to the reset time Ti C00074 2 15 ms The behaviour in the field weakening range can be ad...

Page 170: ...tal moment of inertia under C00273 provides the optimum torque feedforward control Depending on the application an adjustment of the setting under C00273 may be necessary to optimise the response to p...

Page 171: ...tor end i e with account being taken of the gearbox factors 3 Repeat the data logger recording see step 1 Now the data logger should show that part of the required torque is generated by the feedforwa...

Page 172: ...m motor nameplate data Lenze setting 1 Slip calculation from motor equivalent circuit diagram data Bit 1 7 Reserved Note In order that the slip can be calculated from the motor equivalent circuit diag...

Page 173: ...igher speeds Check the setting of the magnetising inductance C00092 by comparing the current consumption in no loadoperationwiththeratedmagnetisingcurrent C00095 Optimise oscillation damping C00234 Sh...

Page 174: ...data are entered and motor parameter identification is carried out afterwards or the nameplate data and equivalent circuit data of the motor motor leakage inductance and motor stator resistance are en...

Page 175: ...Operating ranges of the sensorless control for synchronous motors Stop The injection of a constant current may cause an unwanted heating of the motor at controlled operation We recommend using a temp...

Page 176: ...5 8 1 Parameterisation dialog signal flow Proceed as follows to open the dialog for parameterising the motor control 1 Engineer Go to the Project view and select the 8400 StateLine controller 2 Go to...

Page 177: ...p 15 C00105 Decel time quick stop 21 C00830 28 Limitation of torque in generator mode 5 C00833 35 MCTRL bDeltaPosOn 16 C00051 Actual speed value 22 C00830 24 MCTRL nSpeedCtrlI_a 6 17 C00998 2 SLPSM Fi...

Page 178: ...rator mode 13 C00996 1 SLPSM Closed loop controlled switching speed 20 C00018 Switching frequency 4 C00274 SC Max change in acceleration 14 C00996 2 SLPSM Open loop controlled switching speed 21 C0083...

Page 179: ...ueMotLimit_a process input signal and the torque in generator mode can be limited via the nTorqueGenLimit_a process input signal Identifier DIS code data type Information possible settings nTorqueMotL...

Page 180: ...C00996 2 in with regard to the rated motor speed C00087 Tip With voltage adjusted motors a speed switching threshold of 10 is recommended As a rule of thumb the speed switching threshold should be sel...

Page 181: ...e Lenze settings of the current controller are predefined for a power adapted motor For an optimal drive behaviour of a synchronous motor we recommend to adapt the controller settings Optimisation ste...

Page 182: ...following formulae Note An optimisation of the current controller should generally be carried out unless a power adapted standard motor is used or the motor has been selected from the motor catalogue...

Page 183: ...the speed input difference of the controller is scaled to the rated motor speed whereas the output torque refers to the rated motor torque A gain of 10 means that a speed difference of 1 is gained th...

Page 184: ...ssing through of the speed range Tip Values recommended by Lenze for the setting of the proportional gain For drive systems without feedback Vp 2 8 For drive systems with a good disturbance behaviour...

Page 185: ...ntroller Stop If the controller parameters are preset unfavourably the control can tend to heavy overshoots up to instability Following and speed errors can adopt very high values If the mechanics are...

Page 186: ...ogger Motor control variables to be recorded nSpeedSetValue_a speed setpoint nMotorSpeedAct_a actual speed value 2 Evaluate the ramp response Solid line ramp response actual speed value Dash line spee...

Page 187: ...e setting under C00273 may be necessary to optimise the response to position speed setpoint changes by means of the torque feedforward control 5 15 Typical signal characteristics for different setting...

Page 188: ...to the motor end i e with account being taken of the gearbox factors 3 Repeat the data logger recording see step 1 Now the data logger should show that part of the required torque is generated by the...

Page 189: ...lter How to set the current setpoint filter 1 Optimise current controller 182 2 Optimise speed controller 183 3 Measure the oscillation frequency observe current or speed 4 Set the measured oscillatio...

Page 190: ...permissible maximum torque change per ms based on the rated motor torque Via the max acceleration change that can be set in C00274 the change of the setpoint torque can be limited for jerk limitation...

Page 191: ...74 Short overview of the relevant parameters The stator time constants can be calculated based on the following formula Parameter Info Lenze setting Value Unit C02874 Pole position identification 1 On...

Page 192: ...ree is 70 Increase setting in C02872 step by step and execute controller enable for various rotor displacement angles until an optimisation degree 70 is displayed 5 Optional C02875 serves to increase...

Page 193: ...erated at a switching frequency of 16 kHz the Ixt evaluation C00064 is considered including the required derating to 67 of the rated device current at switching frequencies of 2 4 and 8 kHz Selection...

Page 194: ...overtemperature error message will be issued when the maximally permissible heatsink temperature is reached An Error response is the result and the motor is coasting Lowering of the switching frequen...

Page 195: ...he switching frequency changeover by the heatsink temperature via C00144 If required ensure that the changeover threshold of the controller output current to the next switching frequency below will no...

Page 196: ...d in the rated data in the 8400 hardware manual The hardware manual has been stored in electronic form on the data carrier supplied with the 8400 drive controller Stop Operation at increased rated pow...

Page 197: ...ting C00022 Imax in motor mode higher than rated motor current max 160 rated motor current C00081 Rated motor power adapt motor data see motor nameplate then carry out identification run Automatic mot...

Page 198: ...controller parameters is now possible via an adjustable saturation characteristic that can be set in C02853 17 interpolation points The following picture shows a typical saturation characteristic of a...

Page 199: ...characteristic Distribution of the interpolation points Note The saturation characteristic is not only used for the correction of the current controller but also influences the current controller feed...

Page 200: ...t circuit is only available for asynchronous motors A flying restart circuit for synchronous motors is in preparation For a correct functioning of the flying restart circuit we recommend to perform a...

Page 201: ...circuit positive speed range n 0 rpm negative speed range n 0 rpm total speed range 3 Define the starting frequency The starting frequency which defines the starting point of the flying restart funct...

Page 202: ...ia the setting of the integration time C00993 A reduction of the integration time causes the flying restart function to accelerate and thus a reduced flying restart time We recommend not to change the...

Page 203: ...rview of the relevant parameters Method DC injection braking can be carried out in two ways with different types of activation Manual DC injection braking DCB 204 Automatic DC injection braking auto D...

Page 204: ...operation A The drive has been enabled and in the course of operation the speed setpoint falls below the auto DCB threshold In case of operation without speed feedback a braking current C00036 is inje...

Page 205: ...CB function contrary to our recommendation see above the auto DCB threshold must not fall below the following values depending on the number of encoder increments C00420 How to set the automatic DC in...

Page 206: ...current set in C00036 is injected e After the hold time C00106 has expired a pulse inhibit is set Speed setpoint Actual speed value of the motor Output current of the controller Pulse inhibit DC injec...

Page 207: ...9 2 Calculate the slip compensation according to motor nameplate data 3 Transfer the calculated slip constant s to C00021 4 Correct the setting in C00021 while the drive is running until the load depe...

Page 208: ...the speed range of 10 100 of the rated motor speed and loads rated motor torque Greater deviations are possible in the field weakening range If C00021 is set too high the drive may get unstable Negat...

Page 209: ...oscillations may occur In the voltage range output voltage is lower than max voltage Here the oscillations occur in no load operation Here speeds of 40 80 of the rated speed are typical See subchapter...

Page 210: ...tions and thus destabilise the running operation How to eliminate speed oscillations in no load operation at speeds with 40 80 of the rated speed 1 Approach the area where the speed oscillations occur...

Page 211: ...compensated so that no speed oscillations may be expected Thus an adaptation of C00236 is not required in the majority of cases Maximum output voltage to be reached with Lenze setting of C00236 Single...

Page 212: ...nected motor phases the rotating field of the controller s output can be reversed by selecting 1 Inverted in C00905 In this case a phase will be reversed at the output of the inverter This function do...

Page 213: ...off or restrict the field weakening operation via C00938 Stop In the field weakening operation a current is injected into the synchronous motor even in idle state which can rise to maximum current C00...

Page 214: ...eakening operation is limited and at the same time heating of the motor in the field weakening operation and idle state is limited If a higher speed for the field weakening operation is required or th...

Page 215: ...permissible speed is monitored Stop If an OEM motor is used If pulse inhibit is set in the controller the DC bus is loaded with the voltage that corresponds to the current speed of the machine Since w...

Page 216: ...ible DC bus voltage 800 V if field weakening gets lost Field weakening Speed n Motor voltage peak value Switched off 4000 rpm 560 V 5700 rpm 800 V 6000 rpm 840 V Switched on 6000 rpm 560 V If pulse in...

Page 217: ...ded motor and encoder cables If an HTL encoder is used at the digital input terminals Observe the maximum input frequencies of the digital inputs DI1 DI2 max 10 kHz Note In the Lenze setting e g when...

Page 218: ...rement in C00497 1 Parameter Info Lenze setting Value Unit C00115 1 Fct DI 1 2 10kHz Function of the digital inputs DI1 and DI2 DI1 In1 DI2 In2 C00420 1 Encoder increments at FreqIn12 If the digital i...

Page 219: ...ation of the encoder including correct detection of the direction of rotation 3 DI1 DI2 FreqIn12 DI1 1 track frequency input DI2 direction 4 DI1 CountIn1 DI2 In2 DI1 counter input DI2 digital input Da...

Page 220: ...nge of 4 128 increments Evaluation with automatic scan time minimisation for an optimum dynamic performance Method is also suited for encoders with poor signal quality e g for encoders with high error...

Page 221: ...s at least amounts to 0 5 rpm For a maximum dynamic performance the scan time is automatically kept at the minimum value required through internal arithmetic operations Note At the digital terminals D...

Page 222: ...requirements with regard to the dynamic performance the respective scanning time must be selected and set in C00425 1 Encoder resolution Number of increments Scanning time ms 1 2 5 10 20 50 100 200 50...

Page 223: ...he connected brake resistor is smaller than required the brake chopper can be destroyed Appropriate protective measures are provided in the subchapter Avoiding thermal overload of the brake resistor 2...

Page 224: ...parameterising the brake energy management 1 Engineer Go to the Project view and select the 8400 StateLine controller 2 Go to Workspace and change to the Application parameters tab 3 Go to the Overvi...

Page 225: ...n set with the selection 0 for 400 V AC mains This means that C00174 can be set to a maximum of 131 V DC 725 V DC 594 V DC Brake resistor C00133 Brake resistor utilisation C00129 Brake resistance valu...

Page 226: ...ccur due to the traversing dynamics Inverter motor brake 228 The way in which the different braking procedures work is demonstrated schematically in the following illustration 5 26 Graph of the effect...

Page 227: ...adherence to the deceleration ramp in simple applications selection of a braking method without an external brake resistor enables costs to be reduced due to the avoidance of having to use a brake res...

Page 228: ...s more time than the inverter motor brake function with an optimised setting Moreover the function is only recommended for braking to a standstill In the following cases we recommend the inverter moto...

Page 229: ...r due to alternating instances of acceleration and deceleration as a result of this switching operation 5 27 Signal flow of the Inverter motor brake function In case of an asynchronous motor the addit...

Page 230: ...ltage 3ph 400V 1ph 230V C00174 Reduc brake chopper threshold 0 V C00175 Resp to brake resistor control Brake resistor C00987 Inverter motor brake nAdd Speed lift which is connected in pulses to the br...

Page 231: ...l SLVC Set reduced brake chopper threshold C00174 to approx 70 V Set additive speed C00987 to 2 4 fold rated slip speed Adapt the deceleration ramp so that the deceleration time is slightly below 10 3...

Page 232: ...s entered into the logbook of the controller Related topics Device state machine and device statuses 86 Diagnostics error management 380 Basics on error handling in the controller 380 Error messages o...

Page 233: ...l be entered into the logbook The bMctrlIxtOverload status output of the LS_DeviceMonitor system block will be set to TRUE A setting of C00604 0 No Reaction deactivates the monitoring Parameter Info C...

Page 234: ...oad setting C00120 C00120 is to be set as follows If you reduce C00120 starting from the calculated value the motor utilisation meter will already be counted up before the rated overload threshold is...

Page 235: ...can be avoided by deactivating this function if necessary C00606 0 No Reaction The current limits set in C00022 and C00023 influence the I2 xt calculation only in an indirect way However the operation...

Page 236: ...commend to always activate the PTC input when using motors which are equipped with PTC thermistors or thermostats This prevents the motor from being destroyed by overheating Functional test Connect a...

Page 237: ...ge threshold due to a braking energy that is too high the monitoring for overvoltage in the DC bus is activated OU DC bus overvoltage error message Apart from the threshold of the I2 xt utilisation th...

Page 238: ...the Lenze setting these parameters are preset with the corresponding power adapted Lenze brake resistor C00133 indicates the calculated utilisation of the brake resistor in A utilisation of 100 corre...

Page 239: ...ses reaches the threshold value set in C00599 If the motor phase failure detection is tripped The response set in C00597 will take place The error message LP1 Motor phase failure is entered into the l...

Page 240: ...nitoring before operation must not be connected to a rotating or coasting machine high compensation currents and effect of the DC injection braking In case of motor control with feedback no motor phas...

Page 241: ...met Motor phase failure monitoring C00597 and motor phase error monitoring before operation C2866 2 are active The controller is enabled controller enable The bMctrlMotorPhaseFault status output of t...

Page 242: ...current to be parameterised in C00939 is a limit value to protect the motor from destruction influence of the rated data and demagnetisation This limit value must not be travelled cyclically in the dr...

Page 243: ...ed error message is entered into the logbook The bMctrlTorqueMax status output of the LS_DeviceMonitor system block will be set to TRUE 5 12 10 Motor speed monitoring This function extension is availa...

Page 244: ...ion between actual speed and setpoint speed is higher than f 40 Hz for a time 0 1 s 2 If the sign of the injected frequency and the actual speed is not the same the Imax controller is active and this...

Page 245: ...nal interfaces system block LS_MotorInterface 5 13 Internal interfaces system block LS_MotorInterface The LS_MotorInterface system block provides the internal interfaces to the driving machine in the...

Page 246: ...adaptive adaptation nSpeedCtrlPAdapt_a C00830 25 INT Adaptive adjustment of the speed controller gain Scaling 16384 100 Vp C00070 bSpeedInterpolatorOn C00833 28 BOOL Speed setpoint interpolation FALS...

Page 247: ...nction within motor control can work with the absolute position setpoint dnPosSetValue_p or alternatively with the speed setpoint nSpeedSetValue_a and the specified following error dnDeltaPos_p FALSE...

Page 248: ...torque Scaling 16384 100 Mmax C00057 bDcBrakeOn C00833 34 BOOL Activate DC injection brake FALSE Deactivate DC injection braking TRUE Activate DC injection braking bTorqueLimitAdaptOn C00833 98 BOOL A...

Page 249: ...384 100 Mmax C00057 nMotorTorqueAct_a C00056 2 INT Actual torque In the VFC encoder motor control mode this value is determined from the current motor current and only approximately corresponds to the...

Page 250: ...To enable the ramp function generator to follow automatically when the controller is inhibited for jerk free setpoint connection TRUE Set the ramp function generator to a setpoint of nHlgSetValue_a nH...

Page 251: ...editor Note The LS_DeviceMonitor system block can only be inserted on the application level If status signals of the motor control function are to be output via digital outputs or example you can use...

Page 252: ...84 100 bMctrlI2xtOverload BOOL TRUE Thermal motor overload I2 xt motor overload setting C00120 Lenze setting C00120 100 nMctrlI2xtRate_a INT Current thermal motor load I2xt Scaling 16384 100 bMctrlMot...

Page 253: ...terminals is described in the chapter entitled User defined terminal assignment 282 Note The input and output terminals of the drive controller have already been functionally assigned in the default s...

Page 254: ...ve controller has a parameterisable output terminal DO1 for outputting digital signals a relay output terminal strip X101 Note Initialisation behaviour After mains switching up to the start of the app...

Page 255: ...can be changed from HIGH active to LOW active by clicking this button Indicates that the polarity of the input is LOW active The polarity can be changed from LOW active to HIGH active by clicking thi...

Page 256: ...ersion Bit coded C02830 1 4 DI1 DI4 Debounce time 1 0 25 C00443 1 DIx Terminal level C00443 2 DIx Output level Digital output DO1 C00118 DigOutX Inversion Bit coded C00423 3 DO1 ON delay 0 000 s C0042...

Page 257: ...gital inputs 258 Using DI1 and DI2 as frequency inputs 259 Using DI1 as a counter input 263 C00115 1 Function assignment of DI1 and DI2 Function assignment DI1 DI2 0 DI1 In1 DI2 In2 Digital input Digi...

Page 258: ...rminal level at the input of the internal processing function is shown in C00443 1 in bit coded form The output level for the application is shown in C00443 2 in bit coded form Internal interfaces to...

Page 259: ...ence speed C00011 1500 rpm Speed setpoint 100 Result The speed or the number of increments is too high Tip From version 06 00 00 the LS_DigitalInput system block can also provide the encoder position...

Page 260: ...normal digital input Function assignment 2 DI1 DI2 FreqIn 2 track Select this setting in C00115 to connect a two track encoder to terminals DI1 DI2 Q UHT Q BD 2IIVHW DLQ Q UHT Q BY N LW GQ3RV Q BS RP...

Page 261: ...setting Value Unit C00011 Appl Reference speed 1500 rpm Frequency input DI1 DI2 C00115 1 Fct DI 1 2 10kHz 0 DI1 In1 DI2 In2 C00420 1 Encoder increments at FreqIn12 128 Incr rev C02842 1 FreqIn12 Offs...

Page 262: ...gitalInput 266 Input Data type Information possible settings Frequency input DI1 DI2 bPosIn12_Load BOOL from version 06 00 00 Load angle integrator with starting value and reset status signal TRUE Ang...

Page 263: ...he starting value must be have been set so that it is smaller than the comparison value Otherwise the counter will be kept at the starting value because the condition Count value Comparison value has...

Page 264: ...bCountIn1_Compare is reset to FALSE bCountIn1_LoadStartValue BOOL Load starting value into counter FALSE TRUE The starting value set in C02840 1 is accepted as the current count value Identifier DIS...

Page 265: ...ing value The output bCount1_Compare is set to TRUE Via a FALSE TRUE edge at the bCountIn1_ResetCompare input the bCountIn1_Compare output can be reset to FALSE Via a FALSE TRUE edge at the bCountIn1_...

Page 266: ...ged in C00115 if required That way these input terminals can alternatively be used as frequency counter inputs Generally the input terminals DI3 DI4 are configured as normal digital inputs 6B LJLWDO Q...

Page 267: ...meaning bCInh C00443 2 BOOL RFR digital input controller enable Digital inputs DI1 DI4 Using DI1 and DI2 as digital inputs bIn1 bIn4 C00443 2 BOOL Digital input DI1 DI4 Counting input DI1 Using DI1 as...

Page 268: ...puts Identifier DIS code data type Information possible settings bPosIn12_Load BOOL Load angle integrator with starting value and reset status signal TRUE Angle integrator is loaded with the value at...

Page 269: ...12_State output is set to FALSE A positive nFreqIn12_v signal is incremented the counter content is increased with every cycle A negative nFreqIn12_v signal is decremented the counter content is reduc...

Page 270: ..._Load input is status controlled In case of a TRUE signal the integrator is loaded with the value at dnPosIn12_Set_p and the bPosIn12_State output is set to FALSE A positive nFreqIn12_v signal is incr...

Page 271: ...at the input and a certain integration time t Given values nFreqIn12_v 1000 rpm integer value 1092 Integration time t 10 s Starting value of the integrator 0 Solution Conversion of the nFreqIn12_v inp...

Page 272: ...ystem block maps the digital output terminals in the FB editor Input DIS code data type Information possible settings bRelay C00444 1 BOOL Relay output potential free two way switch bOut1 C00444 1 BOO...

Page 273: ...20 mA For open circuit monitoring purposes the current signal can be evaluated on a life zero or a dead zero basis 0 20 mA without open circuit monitoring 4 20 mA with open circuit monitoring Analog...

Page 274: ...en the parameterising dialog for assigning application inputs to the analog input Changing the terminal assignment with the Engineer 286 Parameter Info Lenze setting Value Unit Analog input 1 C00028 1...

Page 275: ...ters for the analog input Parameter Info Lenze setting Value Unit Analog input 1 C00034 1 AIN1 Config 0 10V 10V C00026 1 AIN1 Offset 0 00 C00027 1 AIN1 Gain 1 0000 C00028 1 AIN1 Input voltage V C00029...

Page 276: ...detected via the analog input terminal A1I instead select 1 0 20 mA or 2 4 20 mA in C00034 Tip By selecting 2 4 20mA you can implement a 4 20 mA current loop e g for stipulation of the speed setpoint...

Page 277: ...e X axis and the output signal corresponds to the Y axis 6 4 Characteristic for analog inputs In the Engineer there is a parameterising dialog for entering the characteristic This dialog also displays...

Page 278: ...teristic 1 Go to the Terminal assignment tab and select the Analog terminals entry in the Control connections list field 2 Click on the button for the analog input in order to open the Analog input di...

Page 279: ...t tab to go to the parameterisation dialog for the analog output Short overview of the parameters for the analog output Parameter Info Lenze setting Value Unit Analog output 1 C00434 1 O1U Gain 100 00...

Page 280: ...g nIn1_a C00033 1 INT Analog input 1 Scaling 214 10 V for use as voltage input 214 20 mA for use as current input bCurrentErrorIn1 BOOL Status signal Current input error Only when analog input 1 is us...

Page 281: ...the events that activate disconnection is carried out in C00447 for the digital output terminal Finally the following parameters define the value status that the output terminals are to have when the...

Page 282: ...keypad Change the parameters for signal configuration in the parameters list Tip First of all select a Lenze configuration useful for the purpose at hand by going to C00005 and selecting a technology...

Page 283: ...that represent the device output terminals are logically linked to output signals of the technology application The following graphic illustrates the source destination principle 6 5 Source destinati...

Page 284: ...ng example digital output 1 LS_DigitalOutput bOut1 input is logically linked to the status signal Drive ready LA_nCtrl_bDriveReady output signal Configuration parameters for the analog and digital out...

Page 285: ...ed technology application Configuration parameters 315 2 Navigate to the configuration parameter LA_NCtrl bJogSpeed2 C00701 10 which represents the logical signal link of the application input bJogSpe...

Page 286: ...fixed setpoint 2 3 To do this the DI2 digital input is not to be linked to the bJogSpeed2 input but to the bJogRamp1 input of the application module Possibility 1 Change terminal assignment by means...

Page 287: ...Signal flow button in order to change to the dialog level Overview Signal flow 3 On the dialog level Overview Signal flow click on the Digital control signals button in order to open the Digital cont...

Page 288: ...FB Editor tab 2 Delete the existing interconnection from LS_DigitalInput bIn2 to LA_NCtrl bJogSpeed2 3 Establish a new interconnection from LS_DigitalInput bIn2 to LA_NCtrl bJogRamp1 Tip You can find...

Page 289: ...e g conveyor drives interconnected extruders test benches vibrators travelling drives presses machine tools dosing systems TA Actuating drive speed 291 Switch off positioning technology application Th...

Page 290: ...eldbus The interconnection of the input output terminals and ports shown in the FB editor in the I O level changes accordingly You can select the control mode in the Engineer on the Application parame...

Page 291: ...ts for speed and ramp time Adjustable setpoint ramp times Freely selectable variable ramp shape Automatic holding brake control Quick stop QSP with adjustable ramp time Motor potentiometer function Pr...

Page 292: ...nt generator L_NSet_1 Speed setpoint input limitation Additional speed setpoint offset and gain L_OffsetGainP_2 Actual speed sensor value offset and gain L_OffsetGainP_3 Process controller L_PCTRL_1 H...

Page 293: ...via the bMPotEnable input The behaviour of the motor potentiometer during switch on of the drive system can be selected in C00805 For a detailed functional description see the L_MPot FB Optional selec...

Page 294: ...nctions chapter bCInh BOOL Enable Inhibit controller FALSE Enable controller The controller switches to the OperationEnabled device status if no other source of a controller inhibit is active C00158 p...

Page 295: ...rrent value of the main setpoint integrator is held bRFG_0 BOOL Ramp function generator Lead the main setpoint integrator to 0 within the current Ti times For a detailed functional description see the...

Page 296: ...still be executed for the positive direction of rotation FALSE Direction of rotation to the right Cw TRUE Direction of rotation to the left Ccw bRLQCw BOOL Activate clockwise rotation fail safe For a...

Page 297: ...5 alternative acceleration deceleration times can be selected For main setpoint nMainSetValue_a the set acceleration time C00012 and deceleration time C00013 are active in the case of the binary coded...

Page 298: ...9 99 nPIDActValue_a INT Speed or actual sensor value actual process value Offset and gain for this input signal can be set in C00698 and C00672 Scaling 16384 100 Internal limitation to 199 99 nPIDInfl...

Page 299: ...n2 bGPLogicIn3 BOOL Binary logic Input signals The logic operation is selected in C00820 The result is output at output bGPLogicOut nGPCompareIn1_a nGPCompareIn2_a INT Analog comparison Input signals...

Page 300: ...BOOL In preparation output is not interconnected on the application level bImaxActive BOOL Current setpoint inside the limitation status signal TRUE The current setpoint is internally limited the driv...

Page 301: ...ulDivOut_a INT Multiplication Division Output signal bGPDigitalDelayOut BOOL Binary delay element Output signal bGPLogicOut BOOL Binary logic Output signal bGPCompareOut BOOL Analog comparison Output...

Page 302: ...peed1 Quick stop bSetQuickstop X4 DI2 Fixed setpoint 2 3 bJogSpeed2 Activate manual DC injection braking DCB bSetDCBrake Fixed setpoint 2 3 bJogSpeed2 X4 DI3 Activate manual DC injection braking DCB b...

Page 303: ..._NCtrl bJogSpeed2 X3 O1U LA_NCtrl nMotorSpeedAct_a X4 DI3 LA_NCtrl bSetDCBrake 10 V 100 reference speed C00011 X4 DI4 LA_NCtrl bSetSpeedCcw X4 DO1 LA_NCtrl bDriveReady X4 COM CG NC CL NO CH X3 DI3 DI2...

Page 304: ...NCtrl bJogSpeed2 X3 O1U LA_NCtrl nMotorSpeedAct_a X4 DI3 LA_NCtrl bSetQuickstop 10 V 100 reference speed C00011 X4 DI4 LA_NCtrl bSetSpeedCcw X4 DO1 LA_NCtrl bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR...

Page 305: ...Ctrl bSetDCBrake X3 O1U LA_NCtrl nMotorSpeedAct_a X4 DI3 LA_NCtrl bMPotUp 10 V 100 reference speed C00011 X4 DI4 LA_NCtrl bMPotDown X4 DO1 LA_NCtrl bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR 24E X3 AR...

Page 306: ...LA_NCtrl bJogSpeed2 X3 O1U LA_NCtrl nMotorSpeedAct_a X4 DI3 LA_NCtrl bRLQCw 10 V 100 reference speed C00011 X4 DI4 LA_NCtrl bRLQCcw X4 DO1 LA_NCtrl bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR 24E X3 AR...

Page 307: ...Ctrl bDriveReady Quick commissioning SAVE Par1 Quick commissioning Terminals Keypad SAVE Par1 8400 StateLineC User Menu Logbook Go to param Quick commissioning C2 1 C7 C728 C11 C12 C13 C15 C16 C22 C87...

Page 308: ...R LA_NCtrl bFailReset X3 A1U X4 DI1 X3 A1I X4 DI2 X3 O1U LA_NCtrl nMotorSpeedAct_a X4 DI3 10 V 100 reference speed C00011 X4 DI4 X4 DO1 LA_NCtrl bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR 24E X3 AR A1...

Page 309: ...eReady Note You must set the setpoint arithmetic in C00190 to 1 NOut NSet NAdd so that the additional speed setpoint selected via the analog input A1U has an additive effect The manual jog function vi...

Page 310: ...eady Note You must set the setpoint arithmetic in C00190 to 1 NOut NSet NAdd so that the additional speed setpoint selected via the analog input A1U has an additive effect The manual jog function via...

Page 311: ...ce status after mains connection without the need for a master control specifying this bit via fieldbus If control via a bus system is not wanted e g in the case of control via terminals the wDriveCtr...

Page 312: ...freely assignable Bit 3 FreeStatusBit3 Free status bit 3 not assigned freely assignable Bit 4 FreeStatusBit4 Free status bit 4 not assigned freely assignable Bit 5 FreeStatusBit5 Free status bit 5 no...

Page 313: ...cceleration time add setpoint 0 000 s C00221 L_NSet_1 Deceleration time add setpoint 0 000 s C00222 L_PCTRL_1 Vp 1 0 C00223 L_PCTRL_1 Tn 400 ms C00224 L_PCTRL_1 Kd 0 0 C00225 L_PCTRL_1 MaxLimit 199 99...

Page 314: ...00 C00698 L_OffsetGainP_3 Offset 0 00 C00800 L_MPot_1 Upper limit 100 00 C00801 L_MPot_1 Lower limit 100 00 C00802 L_MPot_1 Acceleration time 10 0 s C00803 L_MPot_1 Deceleration time 10 0 s C00804 L_...

Page 315: ...3 C700 3 C700 4 C701 4 C701 3 C701 34 C701 35 C701 8 nPar1_a nPar2_a nPar3_a nPar4_a LS_ParFree_a C 2 472 C 3 472 C 4 472 C472 1 bFailReset bCInh bCInhActive bDriveFail wDriveControlStatus wStateDeter...

Page 316: ...C00682 C00681 C00830 82 C00833 66 C00833 63 C00833 64 C00833 65 C00830 16 C00830 17 C00830 14 C00830 15 C00833 13 In Out 32767 199 99 LA_NCtrl Configuration parameters Entry in select list C700 9 C70...

Page 317: ...rs Entry in select list C701 28 C701 29 C701 30 1022 1023 GeneralPurpose GP functions nGPSignalOut1_a C00410 1 C00413 2 C00413 1 nGPSignalOut2_a C00410 2 C00413 4 C00413 3 nGPSignalOut3_a C00410 3 C00...

Page 318: ...ontroller which can be used to connect other sensors for the additional stop positions These sensors effect a reduction in speed before the last switch off sensor is reached Features Pre configured co...

Page 319: ...c without speed sensor Alternatively for large breakaway torques Use of a sensorless vector control only applicable for horizontal movements Limit switch evaluation One limit switch is required per di...

Page 320: ...ain L_OffsetGainP_2 Setpoint generator L_NSet_1 Speed setpoint input limitation Terminal assignment display of digital control signals Selection of edge level for tripping the ramp down and stop funct...

Page 321: ...of the control bits bCInh BOOL Enable Inhibit controller FALSE Enable controller The controller switches to the OperationEnabled device status if no other source of a controller inhibit is active C001...

Page 322: ...e time the acceleration deceleration jumps to the value 0 For a detailed functional description see the L_NSet FB TRUE The current value of the main setpoint integrator is held nVoltageAdd_a INT Addit...

Page 323: ...L_RLQ FB FALSE Quick stop TRUE Clockwise rotation bRLQCcw BOOL Activate counter clockwise rotation fail safe For a detailed functional description see the L_RLQ FB FALSE Quick stop TRUE Counter clock...

Page 324: ...ng down of the ramp function generator in the downstream L_NSet FB These inputs do only have a function if they were previously activated via bJogCtrlInputSel1 and bJogCtrlInputSel2 see Truth table fo...

Page 325: ...bGPLogicIn2 bGPLogicIn3 BOOL Binary logic Input signals The logic operation is selected in C00820 The result is output at output bGPLogicOut nGPCompareIn1_a nGPCompareIn2_a INT Analog comparison Inpu...

Page 326: ...OL Result of the speed comparison TRUE During open loop operation Speed setpoint Comparison value C00024 During closed loop operation Actual speed value Comparison value C00024 bImaxActive BOOL Curren...

Page 327: ...ivision Output signal bGPDigitalDelayOut BOOL Binary delay element Output signal bGPLogicOut BOOL Binary logic Output signal bGPCompareOut BOOL Analog comparison Output signal bGPSignalOut1 bGPSignalO...

Page 328: ...and bJogCtrlJog2 are passed through 1 1 to the downstream FB L_NSet for the selection of fixed setpoints TRUE FALSE The bJogCtrlSlowDown1 and bJogCtrlStop1 inputs are evaluated Pre switch off can be...

Page 329: ...ion 1 bJogCtrlStop1 X4 DI2 Fixed setpoint 2 3 bJogCtrlJog2 Stop function 2 bJogCtrlStop2 Selection Pre switch off 1 bJogCtrlSlowDown 1 Fixed setpoint 2 3 bJogCtrlJog2 Selection Pre switch off 1 bJogCt...

Page 330: ...ogCtrlJog1 X3 A1I X4 DI2 LA_SwitchPos bJogCtrlJog2 X3 O1U X4 DI3 LA_SwitchPos bFailReset 10 V 100 reference speed C00011 X4 DI4 LA_SwitchPos bSetSpeedCcw X4 DO1 LA_SwitchPos bDriveReady X4 X3 DI3 DI2...

Page 331: ...trlStop2 X3 O1U X4 DI3 LA_SwitchPos bRLQCw 10 V 100 reference speed C00011 LA_SwitchPos bJogCtrlInputSel1 X4 DI4 LA_SwitchPos bRLQCcw X4 DO1 LA_SwitchPos bDriveReady LA_SwitchPos bJogCtrlInputSel2 X4...

Page 332: ...wn1 X3 O1U X4 DI3 LA_SwitchPos bRLQCw 10 V 100 reference speed C00011 LA_SwitchPos bJogCtrlInputSel1 X4 DI4 LA_SwitchPos bRLQCcw X4 DO1 LA_SwitchPos bDriveReady LA_SwitchPos bJogCtrlInputSel2 X4 DI3 D...

Page 333: ...tchPos bJogCtrlJog1 X3 A1I X4 DI2 LA_SwitchPos bJogCtrlJog2 X3 O1U X4 DI3 LA_SwitchPos bRLQCw 10 V 100 reference speed C00011 X4 DI4 LA_SwitchPos bRLQCcw X4 DO1 LA_SwitchPos bDriveReady X4 DI3 DI2 DI4...

Page 334: ...signment X101 NC NO LA_SwitchPos bDriveFail X4 RFR LA_SwitchPos bFailReset X3 A1U X4 DI1 X3 A1I X4 DI2 X3 O1U X4 DI3 X4 DI4 X4 DO1 LA_SwitchPos bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR 24E X3 AR A1U...

Page 335: ...gnment X101 NC NO LA_SwitchPos bDriveFail X4 RFR LA_SwitchPos bFailReset X3 A1U X4 DI1 X3 A1I X4 DI2 X3 O1U X4 DI3 X4 DI4 X4 DO1 LA_SwitchPos bDriveReady X4 DI3 DI2 DI4 GIO 24I DI1 RFR 24E X3 AR A1U G...

Page 336: ..._SwitchPos bJogCtrlSlowDown2 X4 DO1 LA_SwitchPos bDriveReady Note You must set the setpoint arithmetic in C00190 to 1 NOut NSet NAdd so that the additional speed setpoint selected via the analog input...

Page 337: ...witchPos bJogCtrlSlowDown2 X4 DO1 LA_SwitchPos bDriveReady Note You must set the setpoint arithmetic in C00190 to 1 NOut NSet NAdd so that the additional speed setpoint selected via the analog input A...

Page 338: ...is bit via fieldbus If control via a bus system is not wanted e g in the case of control via terminals the wDriveCtrl output signal of the LS_ParFix system block can be connected to the control word i...

Page 339: ...Only available for control mode 40 MCI Status word Name Status Bit 0 DriveFail 1 Drive controller in error status Fault device status is active Bit 1 PowerDisabled 1 Inverter control inhibited pulse i...

Page 340: ...13 Trouble 1 Controller is in the Trouble device status E g if an overvoltage has occurred Bit 14 JogCtrlInputSel1 Binary coded selection of the switch off position 1 3 Bits 5 and 6 of the control wo...

Page 341: ...point 0 000 s C00221 L_NSet_1 Deceleration time add setpoint 0 000 s C00241 L_NSet_1 Hyst NSet reached 0 50 C00488 1 InputSens SlowDown1 0 Level C00488 2 InputSens Stop1 0 Level C00488 3 InputSens Slo...

Page 342: ...L_MPot_1 Inactive fct 0 Retain value C00805 L_MPot_1 Init fct 0 Load last value C00806 Use of motor potentiometer 0 No C02610 2 MCK Ramp time synchr setpoint 2 000 s C02611 1 MCK Pos max speed 199 99...

Page 343: ...keRelease C761 26 nDCVoltage_a nDCVoltage_a nMotorVoltage_a nMotorVoltage_a bQSPIsActive bQSPActive bIn1 bIn2 bIn3 bIn4 LS_DigitalInput bCInh LS_DigitalOutput bRelay bOut1 C 1 621 C 2 621 bRfgStop bRF...

Page 344: ...00682 C00681 C00830 82 C00833 66 C00833 63 C00833 64 C00833 65 C00830 16 C00830 17 C00830 14 C00830 15 C00833 13 In Out 32767 199 99 LA_SwitchPos Configuration parameters Entry in select list C760 10...

Page 345: ...32 C761 33 C761 34 1217 1218 GeneralPurpose GP functions nGPSignalOut1_a C00410 1 C00413 2 C00413 1 nGPSignalOut2_a C00410 2 C00413 4 C00413 3 nGPSignalOut3_a C00410 3 C00413 6 C00413 5 nGPSignalOut4_...

Page 346: ...the configuration parameters of other inputs Related topics User defined terminal assignment 282 TA Actuating drive speed Configuration parameters 315 TA Switch off positioning Configuration paramete...

Page 347: ...the form of a quotient numerator and denominator 7 7 GeneralPurpose function Multiplication division For a detailed functional description see FB L_MulDiv nGPArithmetikOut_a nGPArithmetikIn1_a nGPAri...

Page 348: ...is independent of the input signals 7 9 GeneralPurpose function Binary logic For a detailed functional description see FB L_DigitalLogic bGPDigitalDelayOut bGPDigitalDelayIn C00720 1 C00720 2 C00833...

Page 349: ...You can set an inversion of the output signals 7 11 GeneralPurpose function Binary signal monitor For a detailed functional description see FB L_SignalMonitor_b bGPCompareOut nGPCompareIn1_a nGPCompa...

Page 350: ...op clock edge controlled For a detailed functional description see FB L_DFlipFlop nGPSignalOut1_a C00410 1 C00413 2 C00413 1 nGPSignalOut2_a C00410 2 C00413 4 C00413 3 nGPSignalOut3_a C00410 3 C00413...

Page 351: ...g creation of individual FB interconnections is not required anymore and the amount of work and complexity involved in the implementation of standard functions is minimised In the Motion Control Kerne...

Page 352: ...f the available technology applications For problem free interaction of the Motion Control Kernel and motor control function the two associated system blocks LS_MotionControlKernel and LS_MotorInterfa...

Page 353: ...dnMotorRefOffset_p bQspOn BOOL Trigger quick stop QSP via the MCK Also see device command Activate Deactivate quick stop TRUE Activate quick stop Motor control is decoupled from the setpoint selectio...

Page 354: ...8400 StateLine wAuxCtrl wSMCtrl WORD Interface to the optional safety system Setting control bit 0 SafeStop1 in this control word causes e g the automatic deceleration of the drive to standstill withi...

Page 355: ...us detection via switching contacts at the brake Only effective if bit 5 in C02582 is set to 1 FALSE Brake is released TRUE Brake is applied Identifier Data type Value meaning Control and setpoint sig...

Page 356: ...tRelative_p wActProfileNo wFollowProfileNo bPosBusy bPosDone bHomingDone bHomePosAvailable bMBrakeReleaseOut BOOL Trigger signal for switching element holding brake control via a digital output Use bi...

Page 357: ...7 ConstSpeedDuty 8 DeceleratingActive 9 S_ShapingActive 10 Pos HW Limit Detected 11 Neg HW Limit Detected 12 HomPosDone 13 HomPosAvailable 14 Reserved 15 Reserved Note The internal StandBy operating...

Page 358: ...e machine 8 2 MCK state machine Prio Condition 1 Setpoint generation through Motor control MCTRL DCB DC injection braking QSP quick stop CINH controller inhibit 2 Safe stop 1 SS1 requested Interface t...

Page 359: ...l functions are in preparation Behaviour in case of request for Safe Stop 1 SS1 The drive is brought to a standstill with the stopping ramp set in C02610 3 8 3 Ramping down to standstill If the reques...

Page 360: ...mode In the Engineer you can set the initial limit by means of the dialog box Min Max speed Open the Min max speed dialog box by opening the Application Parameters tab and clicking on the following bu...

Page 361: ...the speed limits set in C02611 1 4 Speed setpoint generation When the speed limit values are set the Motion Control Kernel influences the setpoint generation with a synchronisation mode The synchronis...

Page 362: ...ncept of the entire machine Thus proceed very carefully when commissioning this system part Stop Holding brakes on Lenze motors are not intended for braking during operation The increased wear caused...

Page 363: ...y effective if bit 4 in C02582 is set to 1 Feedforward control of the motor before release FALSE Starting value 1 C02581 4 active TRUE Starting value 2 C02581 5 active nMBrakeAddValue_a INT from versi...

Page 364: ...outputs are not suitable for the direct control of a holding brake Connect the digital output connected to the trigger signal bMBrakeReleaseOut with a relay or power contactor which switches the brake...

Page 365: ...brake FF control starting value 2 0 C02582 Holding brake Setting 0 C02589 1 Holding brake Closing time 100 ms C02589 2 Holding brake Release time 100 ms C02589 3 Holding brake Waiting time status 100...

Page 366: ...ent After the brake has been activated and the brake application time has expired the controller is inhibited automatically by the basic Holding brake control function Tip You can use mode 11 to easil...

Page 367: ...function Tip The 2 12 mode is the common mode to control the brake Modus 13 Semi automatic control From version 11 00 00 In this mode brake release and brake application can be directly controlled via...

Page 368: ...rection Note Reversal Ccw is then considered Bit 3 Horizontal application Direction of movement of the axis 0 The axis performs vertical movements Gravitational acceleration causes movements 1 The dir...

Page 369: ...application C02581 3 Tip The lower speed threshold for brake application should be set to approximately 5 20 of the maximum speed to minimise the wear of the brake and provide for an optimum brake re...

Page 370: ...ng of the application and release time can cause a faulty control of the brake If the application time is set too low the controller is inhibited and the drive becomes torqueless before the brake is a...

Page 371: ...characteristic when a mechanical holding brake is closed application time 10 7 ms 8 7 Oscillogram 2 Current characteristic when a mechanical holding brake is released release time 36 8 ms Related topi...

Page 372: ...1 s has expired Conclusion 90 of the selected setpoint is already ramped up while the brake is only providing 3 of the setpoint via the feedforward control Since at this point a step change from 3 to...

Page 373: ...al speed is still above the threshold when the monitoring time has expired the brake will be automatically applied in the automatic brake control mode mode 12 n Motor magnetising time CINH controller...

Page 374: ...chronises to the already accelerated speed setpoint 5 After the waiting time set in C02589 3 has additionally expired the status monitoring starts again if activated via bit 5 in C02582 Time diagram 8...

Page 375: ...BrakeReleased status signal is reset to FALSE The elapse of the brake application time starts 3 After the brake application time has expired the controller is inhibited 4 After the waiting time set in...

Page 376: ...0 s Feedforward control n C02581 1 Switching threshold o C02581 2 Hysteresis for release p C02581 3 Hysteresis for application q C02593 2 Application delay r C02593 1 Actual value monitoring time s C...

Page 377: ...hreshold is reached to avoid an excessive wear of the brake The braking action only takes places due to the friction in the load mechanics Only when the motor speed has reached the threshold for brake...

Page 378: ...two conditions 1 On the settings selected under C02582 Bit 2 Inverted feedforward control Bit 3 direction of the axis 2 On the sign of the setpoint Truth table for the direction of the feedforward co...

Page 379: ...selected via bit 4 in C02582 Bit 4 0 Automatic selection The torque saved at the last stop is used Bit 4 1 Manual selection bMBrakeStartValue2 FALSE The feedforward control value 1 set in C02581 4 is...

Page 380: ...etection e g the motor control supply information to a so called error handler The error handler is processed every 1 ms and evaluates all information In this evaluation the so called status determini...

Page 381: ...d topics Device control DCTRL 74 Device state machine and device statuses 86 System bus CAN on board 427 DRIVE READY CAN RUN DRIVE ERROR CAN ERROR Labelling Colour Description CAN RUN green CAN bus ok...

Page 382: ...torque off is active SafeTorqueOff OFF Device is ready to start ReadyToSwitchOn OFF Device is switched on SwitchedOn OFF Motor data identification operation OperationEnabled The controller is ready t...

Page 383: ...ibit Display all active sources of a quick stop Resetting an error Acknowledge fault message if the error cause has been eliminated Logbook Display the Logbook of the controller 389 Monitoring Configu...

Page 384: ...nection to the controller 3 Select the Diagnostics tab With an online connection the Diagnostics tab displays current status information about the controller Tip The online connection to the controlle...

Page 385: ...dialog box displays further information on the error Click the Help about error button to open the online help with information on the error cause and possible remedies From version 06 00 00 Engineer...

Page 386: ...Meaning Note Controller is switched on SwitchedOn 92 Controller is enabled Application in the controller is stopped Quick stop is active Controller is inhibited The power outputs are inhibited Contro...

Page 387: ...Actual torque value C00058 Output frequency C00061 Heatsink temperature C00064 1 Device utilisation Ixt C00064 2 Device utilisation Ixt 15s C00064 3 Device utilisation Ixt 3 min C00133 Brake resistor...

Page 388: ...t C00177 4 Stress counter earth fault C00177 5 Stress meter clamp C00178 Time the controller was enabled elapsed hour meter C00179 Power up time power on time meter C00180 1 Running time control card...

Page 389: ...by the application via LS_SetError Loading saving of parameter sets loading of the Lenze setting in preparation Transmitting the firmware to the controller in preparation Switching on off of the cont...

Page 390: ...ll not lead to new line entries in the configuration of the logbook in the Lenze setting Instead one counter will be counted up for this error The time of the error is always the time of its first occ...

Page 391: ...and to establish an online connection to the controller 3 Select the Diagnostics tab from the Workspace 4 Click Logbook Example Representation of the logbook in the Engineer V2 13 Button Function Rese...

Page 392: ...more details Show more details Analog value 1 digital values 1 2 More output types of the error numbers 32 bit internal 32 bit and internal 16 bit Instead of the more details button the less details i...

Page 393: ...tries uploaded up to now is filed in the Engineer project independent of the set filter criteria A logbook of the same device already filed before will be overwritten without querying the user The fil...

Page 394: ...D on the front of the controller goes on Related topics LED status displays of the device status 382 Device state machine and device statuses 86 Device overload monitoring Ixt 233 Motor load monitorin...

Page 395: ...ons using the Engineer 1 Select the 8400 StateLine controller in the Project view 2 Select the Diagnostics tab from the Workspace 3 Click the Monitoring button The 8400 monitoring configuration dialog...

Page 396: ...p The table in chapter Short overview A Z contains the error messages for which the response can be set 407 Warning thresholds Some of the monitoring functions are activated if a defined warning thres...

Page 397: ...e at the bResetFail input of the LS_DriveInterface system block the FailReset control bit in the control word must be parameterised with a value of 1 Automatic reset using the AutoFailReset function O...

Page 398: ...r fault With C00006 4 SLVC Vector control has been set but no motor parameter identification has been carried out Execute automatic motor parameter identification with the C00002 23 device command Ass...

Page 399: ...automatic motor parameter identification with the C00002 23 device command or Adjust motor parameters manually C00084 Motor stator resistance C00087 Rated motor speed C00088 Rated motor current C0008...

Page 400: ...bled the controller will not stop if the speed setpoint 0 or a quick stop QSP occurs Among other things the final motor current depends on the value set for the Vmin boostandmayrise upto Imax which ca...

Page 401: ...the error number Display parameter C00168 The 32 bit error number is output by the SB LS_DriveInterface to the outputs wStateDetermFailNoLow Low Word and wStateDetermFailNoHigh high word From version...

Page 402: ...ule and communication errors to the plugged in extension module Yes if it is a fieldbus error 131 CAN integrated general Errors related to general CAN functions Yes 135 CAN process data object PDO Err...

Page 403: ...78671 means A DC bus undervoltage has been detected in the Motor management encoder subject area The error response is a Fault which must be unlocked separately after the error has been eliminated Ass...

Page 404: ...word without changing the interconnection of the technology application For the sake of legibility the 16 bit error number in the logbook is displayed with the following syntax Error subject area no...

Page 405: ...tegrated general Errors related to general CAN functions Yes 35 CAN process data object PDO Errors that are explicitly only related to the CAN PDO process data objects Yes 40 Device configuration Erro...

Page 406: ...of the 8400 StateLine controller and execute the Export error texts command 2 Define the following options in the Export error texts dialog box Output file and memory location Languages to be exported...

Page 407: ...1501 1 0x7000 xx 0127 00015 0x1b0f 6927 CE0F MCI control word Fault C00594 2 0xF000 xx 0135 00001 0x2301 8961 CE1 CAN RPDO1 No Reaction C00593 1 0x8100 xx 0135 00002 0x2302 8962 CE2 CAN RPDO2 No React...

Page 408: ...H1 Heatsink overtemperature Fault 0x4000 xx 0119 00015 0x130f 4879 oH3 Motor temperature X106 triggered Fault C00585 0x4000 xx 0119 00000 0x1300 4864 oH4 Heatsink temp shutdown temp 5 C No Reaction C0...

Page 409: ...phase supply has failed Check mains connection terminal X100 Response Lenze setting printed in bold 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Re...

Page 410: ...emperature 90 C Maybe the ambient temperature of the controller is too high or the fan or its ventilation slots are dirty Check control cabinet temperature Clean filter Clean controller If required cl...

Page 411: ...ed 5 Warning 6 Information Cause Remedy The device has detected an overvoltage in the DC bus To protect the device hardware the inverter control is switched off Depending on the configuration of the a...

Page 412: ...ur due to leakage currents to PE If motor filters with additional terminals for UG and UG and devices greater or equal 3 kW are used the earth fault detection may be triggered due to leakage currents...

Page 413: ...5 Warning 6 Information Cause Remedy During the identification of the motor parameters an error has occurred Possible causes Interrupted motor cable Switched off power section during the identificatio...

Page 414: ...s not been completed successfully Check parameter setting of the pole position identification Response Lenze setting printed in bold 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked...

Page 415: ...function of the switching frequency Motor control Defining speed limits Response Lenze setting printed in bold Setting C00570 1 Adjustable response 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4...

Page 416: ...etting C00597 Adjustable response 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy Motor phase failure power section This error message is displa...

Page 417: ...t of the controller respectively Replace module controller If the problem occurs again you needs to consult Lenze Response Lenze setting printed in bold Setting C00594 2 Adjustable response 0 No React...

Page 418: ...able response 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy CAN on board Cyclic node monitoring Being a Heartbeat consumer the device has not...

Page 419: ...d Setting C00593 4 Adjustable response 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy CAN on board Time monitoring for RPDO4 has tripped RPDO4...

Page 420: ...atibility OK StateLine V2 0 to StateLine V3 0 OK StateLine V2 0 to HighLine V2 0 Not OK HighLine Vx x to StateLine Vx x Not OK StateLine V3 0 to StateLine V3 0 Response Lenze setting printed in bold 0...

Page 421: ...a personalised memory module Response Lenze setting printed in bold 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy Device error Consultation w...

Page 422: ...ror cause and reset acknowledge error manually afterwards Response Lenze setting printed in bold 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy...

Page 423: ...ipped Check the fan for short circuit Clean the fan Response Lenze setting printed in bold 0 No Reaction 1 Fault 2 Trouble 3 TroubleQuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy Devic...

Page 424: ...QuickStop 4 WarningLocked 5 Warning 6 Information Cause Remedy User error 3 has been tripped via the bSetError3 input of the LS_SetError_1 system block User defined Response Lenze setting printed in b...

Page 425: ...ngs bSetError1 BOOL Input for tripping US01 User error 1 Error subject number 980 Error number C00581 1 x 0x0400000 980 x 0x10000 C00161 1 bSetError2 BOOL Input for tripping US02 User error 2 Error su...

Page 426: ...EN 10 2011 Parameter Parameter Possible settings Info C00161 1 4 0 65535 Error ID for user errors 1 4 C00581 1 4 Response to user errors 1 4 0 No response 1 Fault pulse inhibit 2 Trouble 3 TroubleQSP...

Page 427: ...s and host systems The interface transfers CAN objects following the CANopen communication profile CiA DS301 version 4 02 developed by the umbrella organisation of CiA CAN in Automation in conformity...

Page 428: ...2 server SDO channels an address range of 1 63 is provided Number of parameterisable PDO channels For device version BaseLine C max 2 transmit PDOs TPDOs with 1 8 bytes adjustable max 2 receive PDOs R...

Page 429: ...es Transfer mode for TPDOs in case of data change including adjustable blocking time Time controlled 1 to x ms After the reception of 1 to 240 sync telegrams Protocols Standard PDO protocols PDO write...

Page 430: ...d on the processing time in the device the telegram runtime baud rate telegram length the bus load especially if the bus is charged with PDOs and SDOs at a low baud rate Processing time in the 8400 co...

Page 431: ...400 controller is provided with an integrated bus terminating resistor which can be activated via the unlabelled DIP switch DIP switch position R OFF bus terminating resistor is inactive ON bus termin...

Page 432: ...annels set in C00366 1 SDO Lenze setting 1 127 2 SDO 1 63 Note All DIP switches a d 1 64 OFF Lenze setting At switching on the settings under code C00350 node address and C00351 baud rate will become...

Page 433: ...e 1 s off CAN Run Pre Operational CAN Error Warning Limit reached Green is blinking every 0 2 s Red is blinking twice 1 s off CAN Run Pre Operational CAN Error Node Guard Event Permanently green CAN R...

Page 434: ...a transfer rate the node address or the identifiers respectively Communication accessories PC interface PC system bus adapter 2173 incl connection cable and voltage supply adapter for DIN keyboard con...

Page 435: ...pe of user data The identifier consists of a basic identifier and the node address of the node to be addressed Identifier COB ID basic identifier node address node ID Exception The identifier for proc...

Page 436: ...ocol and cannot be changed In the Lenze setting the basic identifiers of the PDOs are preset according to the Predefined connection set of DS301 V4 02 and can be changed via parameters indexes if requ...

Page 437: ...actual values The exact meaning of the PDO file contents is determined via the function block editor FB Editor in the I O level or via the PDO mapping Parameter data SDOs service data objects Paramet...

Page 438: ...r switch on an initialisation run is carried out During this phase the controller is not involved in the data exchange via the bus The standard values are re written to all CAN relevant parameters Aft...

Page 439: ...expired C00356 1 and the 0x0100 Start remote node NMT command is transmitted to all nodes Data can only be exchanged via process data objects if the status is Operational 3 6 0x01 xx Start remote node...

Page 440: ...t telegram The status of all nodes can be changed at the same time node ID 1 127 If a node address is specified only the status of the node with the corresponding address changes Example Data can only...

Page 441: ...n status data can be exchanged via process data objects A delay time can be set in C00356 1 which must expire after mains switching before the controller transmits the Start remote node NMT telegram T...

Page 442: ...ocess data telegrams between the host system and the devices are distinguished in terms of direction as follows Process data telegrams to the device RPDO Process data telegrams from the device TPDO Th...

Page 443: ...selected in C00005 TA Actuating drive speed Process data assignment for fieldbus communication 311 TA Switch off positioning Process data assignment for fieldbus communication 338 Transmit PDOs TPDOs...

Page 444: ...LP_CanIn1 wCtrl C00866 2 LP_CanIn1 wIn2 C00866 3 LP_CanIn1 wIn3 C00866 4 LP_CanIn1 wIn4 PDO mapping C00408 1 LP_CanIn1 Mapping selection CanIn C00409 1 LP_CanIn1 wCtrl MapVal 0 C00409 2 LP_CanIn1 wIn...

Page 445: ...5 0x0000 C00866 5 LP_CanIn2 wIn1 C00866 6 LP_CanIn2 wIn2 C00866 7 LP_CanIn2 wIn3 C00866 8 LP_CanIn2 wIn4 PDO mapping C00408 2 LP_CanIn2 Mapping selection CanIn C00409 5 LP_CanIn2 wIn1 MapVal 0 C00409...

Page 446: ...x0000 C00866 9 LP_CanIn3 wIn1 C00866 10 LP_CanIn3 wIn2 C00866 11 LP_CanIn3 wIn3 C00866 12 LP_CanIn3 wIn4 PDO mapping C00408 3 LP_CanIn3 Mapping selection CanIn C00409 9 LP_CanIn3 wIn1 MapVal 0 C00409...

Page 447: ...Info Lenze setting C00401 2 LP_CanOut1 Inversion bState_B0 15 0x0000 C00868 1 LP_CanOut1 wState C00868 2 LP_CanOut1 wOut2 C00868 3 LP_CanOut1 wOut3 C00868 4 LP_CanOut1 wOut4 Highlighted in grey displ...

Page 448: ...ter Info Lenze setting C00401 4 LP_CanOut2 Inversion bOut1_B0 15 0x0000 C00868 5 LP_CanOut2 wOut1 C00868 6 LP_CanOut2 wOut2 C00868 7 LP_CanOut2 wOut3 C00868 8 LP_CanOut2 wOut4 Highlighted in grey disp...

Page 449: ...r Info Lenze setting C00401 6 LP_CanOut3 Inversion bOut1_B0 15 0x0000 C00868 9 LP_CanOut3 wOut1 C00868 10 LP_CanOut3 wOut2 C00868 11 LP_CanOut3 wOut3 C00868 12 LP_CanOut3 wOut4 Highlighted in grey dis...

Page 450: ...ave basic identifier values in the range of 385 1407 Short overview Parameters for setting the identifiers Process data object Basic identifier Individual setting dec hex Lenze code CANopen index PDO1...

Page 451: ...en a transmission cycle time has elapsed Synchronous transmission A TPDO or RPDO is transmitted or received after the device has received a sync telegram COB ID 0x80 Cyclic transmission The cyclic tra...

Page 452: ...ynchronous RTR only 254 255 Asynchronous manufacturer specific device profile specific If this value is entered the PDO transmission is event controlled or cyclic Note The values 254 and 255 have the...

Page 453: ...ms due to the blocking time set a transmission takes place every 100 ms as quickly as possible event controlled transmission The transmission cycle timer is reset to 0 if event controlled transmission...

Page 454: ...aster TPDOs The master reads them as process input data B When the transmission process is completed the slaves receive RPDOs the process output data of the master All other telegrams e g parameters o...

Page 455: ...et via decoupling configuration and decoupling values Bit coded selection is carried out in C00342 1 for the process data words read by the bus defining the events that will trigger decoupling Bit cod...

Page 456: ...nals 281 Parameter Info Lenze setting Value Unit C00343 1 LP_CanIn1 wCtrl DiscVal 0 C00343 2 4 LP_CanIn1 wIn2 wIn4 DiscVal 0 C00343 5 8 LP_CanIn2 wIn1 wIn4 DiscVal 0 C00343 9 12 LP_CanIn3 wIn1 wIn4 Di...

Page 457: ...ver The SDO enables read and write access to all device parameters and to the CANopen object directory integrated in the device Indices e g 0x1000 ensure access to device parameters and functions incl...

Page 458: ...following subchapters provide detailed information on user data Object Direction Lenze Base ID CANopen Base ID from device to device dec hex dec hex SDO1 Parameter data channel 1 TSDO1 z 1408 580 140...

Page 459: ...7 1 byte 0x21 33 Block Write response 0x60 96 4 bytes Controller acknowledges a write request Read request 0x40 64 4 bytes Reading of a parameter from the controller Read response 0x43 67 4 bytes Cont...

Page 460: ...Index Decimal 24575 11 24564 Hexadecimal 0x5FFF 0xB 0x5FF4 Subindex 0x00 subindex 0 since the parameter does not have any subcodes Entries 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byt...

Page 461: ...te HIGH byte 5th byte 6th byte 7th byte 8th byte Parameter value 1 byte 0x00 0x00 0x00 Parameter value 2 bytes 0x00 0x00 LOW byte HIGH byte Parameter value 4 bytes LOW word HIGH word LOW byte HIGH byt...

Page 462: ...standardised according to DS301 V4 02 The representation of the error codes is provided in reverse read direction see example below Example Representation of error code 0x06 04 00 41 in bytes 5 8 1st...

Page 463: ...rameter incompatibility 0x0604 0047 General internal device incompatibility 0x0606 0000 Access denied because of hardware error 0x0607 0010 Unsuitable data type unsuitable service parameter length 0x0...

Page 464: ...ns on the telegram to the drive Identifier 1536 node address 1536 5 1541 0x0605 1536 SDO1 basic identifier to the controller Command 0x40 Read request request to read a parameter from the controller I...

Page 465: ...e drive Identifier 1536 node address 1536 2 1538 0x0602 1536 SDO1 basic identifier to the controller Command 0x23 Write request request to write a parameter to the controller Index 24575 code number 2...

Page 466: ...x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00 Explanations on the telegram to the drive Identifier 1536 node address 1536 12 1548 0x060C 1536 SDO1 basic identifier to the controller Command 0x40 Read...

Page 467: ...command then with the 0x70 0111 0000bin command and then again with the 0x60 command etc Toggle bit Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command...

Page 468: ...it Identifier User data 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00...

Page 469: ...or Stuff bit error If more than 5 consecutive bits have the same logic value before the ACK delimiter in the CAN telegram the previously transmitted telegram will be rejected and an error flag will be...

Page 470: ...g baud rate of one or several nodes Too high cable length Too many or no terminating resistors Too high bus load too many data telegrams e g since a node permanently transmits event controlled due to...

Page 471: ...elegram to one or more consumers 2 The consumer s monitor the heartbeat telegram for arrival on a regular basis r Reserved always 0 s Status of the producer 0 Boot up 4 Stopped 5 Operational 127 Pre O...

Page 472: ...odes producers to be monitored Parameterisable in C00386 1 n or via object I 1016 The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater value than the heartbeat...

Page 473: ...the consumer if it does not receive any heartbeat telegram from the producer within the heartbeat consumer time The consumer changes from the Operational communication status to the Pre Operational co...

Page 474: ...node 1 1 Set the heartbeat producer time C00381 to 10 ms Parameterising the heartbeat consumer node 2 1 Set the CAN node address of the producer in C00385 1 2 Set the heartbeat consumer time in C00386...

Page 475: ...error codes Error register Cause 0x0000 0xXX One of several errors eliminated 0x00 One error has been eliminated error free status afterwards 0x3100 0x01 Supply voltage of standard device faulty or fa...

Page 476: ...e CANopen protocol CANopen object Relationship to Lenze code Index Subindex Name I 1000 0 Device type I 1001 0 Error register I 1003 Predefined error field 0 Number of errors 1 10 Standard error field...

Page 477: ...pplication objects in PDO 1 4 Application object 1 4 C00409 5 8 C00866 5 8 I 1602 RPDO3 mapping parameter 0 Number of mapped application objects in PDO 1 4 Application object 1 4 C00409 9 12 C00866 9...

Page 478: ...4 Application object 1 4 C00868 1 4 I 1A01 TPDO2 mapping parameter 0 Number of mapped application objects in PDO 1 4 Application object 1 4 C00868 5 8 I 1A02 TPDO3 mapping parameter 0 Number of mapped...

Page 479: ...is 00 00 00 00 I 1001 Error register The error status in the data byte U8 is bit coded The following error states are coded in the data byte U8 Index I 1000 Name Device type Subindex Default setting...

Page 480: ...field under subindex 1 10 will be deleted if the subindex number of recorded errors is overwritten with the value 0 Emergency error codes Cause Entry in the error register I 1001 0x0000 One of severa...

Page 481: ...rams are only to be received by certain communication modules their identifiers can be entered with values up to and including 0x07FF The identifier can only be changed if the communication module doe...

Page 482: ...a telegram assignment Index I 1006 Name Communication cycle period Subindex Default setting Setting range min value unit max value Access Data type 0 Communication cycle period 0 s 0 s 65535000 rw U32...

Page 483: ...heartbeat time Subindex Default setting Setting range min value unit max value Access Data type 0 Highest subindex supported 1 for BaseLine 7 for StateLine 15 from HighLine onwards read access only ro...

Page 484: ...ex Default setting Setting range min value unit max value Access Data type 0 Producer heartbeat time 0 0 ms 65535 rw U16 Index I 1018 Name Identity object Subindex Default setting Display range min va...

Page 485: ...bindex supported 2 2 2 ro U8 1 COB ID client server rx node ID 0x600 0 4294967295 ro U32 2 COB ID server client tx node ID 0x580 0 4294967295 ro U32 Subindex Meaning 1 Specification of receive identif...

Page 486: ...ntifier set bit 31 to 0 Index I 1201 Name SDO2 server parameter Subindex Default setting Setting range min value unit max value Access Data type 0 Highest subindex supported 3 read access only ro U8 1...

Page 487: ...ata telegram assignment for subindex 2 User data assignment 10 9 User data assignment for writing to subindex 1 10 10 User data assignment for writing to subindex 2 8th byte 7th byte 6th byte 5th byte...

Page 488: ...ntry reserved read or writeaccessleads to error message 0x06090011 rw U8 5 Event timer not used for RPDOs rw U16 Subindex Meaning Code 0 5 is permanently set Max 5 subindices are supported 1 RPDO1 ide...

Page 489: ...254 PDO will be accepted immediately Index I 1401 Name RPDO2 communication parameter Subindex Default setting Setting range min value unit max value Access Data type 0 Highest subindex supported 5 rea...

Page 490: ...e unit max value Access Data type 0 Highest subindex supported 5 read access only ro U8 1 COB ID used by RPDO 0x400 node ID 0 4294967295 rw U32 2 Transmission type 254 0 255 rw U8 3 Inhibit time not u...

Page 491: ...alue unit max value Access Data type 0 Number of mapped application objects in PDO 0 0 8 rw U8 1 4 Application object 1 4 0 0 4294967295 rw U32 Subindex Meaning 0 Number of mapped objects 1 4 Mapping...

Page 492: ...s RPDO3 Port block LP_CanIn3 446 Index I 1602 Name RPDO3 mapping parameter Subindex Default setting Setting range min value unit max value Access Data type 0 Number of mapped application objects in PD...

Page 493: ...essage 0x06090011 rw U8 5 Event timer 0 ms 0 ms 65535 rw U16 Subindex Meaning Code 0 5 is permanently set Max 5 subindices are supported 1 TPDO1 identifier According to the Predefined Connection Set t...

Page 494: ...For cyclic operation transmission type 254 the cycle time for sending the process data object on the CAN bus can be set under subindex 5 The entered value corresponds to the time in ms PDO transmissi...

Page 495: ...s only ro U8 1 COB ID used by TPDO 0x280 node ID 0 4294967295 rw U32 2 Transmission type 254 0 255 rw U8 3 Inhibit time 0 ms 0 0 1 ms 65535 rw U16 4 Reserved reserved read or writeaccessleads to error...

Page 496: ...s only ro U8 1 COB ID used by TPDO 0x380 node ID 0 4294967295 rw U32 2 Transmission type 254 0 255 rw U8 3 Inhibit time 0 ms 0 0 1 ms 65535 rw U16 4 Reserved reserved read or writeaccessleads to error...

Page 497: ...e Access Data type 0 Number of mapped application objects in PDO 0 0 8 rw U8 1 4 Application object 1 4 0 0 4294967295 rw U32 Subindex Meaning 0 Number of mapped objects 1 4 Mapping entries 1 4 for TP...

Page 498: ...t block LP_CanOut3 449 Index I 1A02 Name TPDO3 mapping parameter Subindex Default setting Setting range min value unit max value Access Data type 0 Number of mapped application objects in PDO 0 0 8 rw...

Page 499: ...CAN master in C00352 the NMT command Start Remote Node is sent to all nodes at the bus broadcast telegram Network management telegram NMT bReInitCAN BOOL Reinitialisation TRUE Reinitialise CAN on boar...

Page 500: ...a communication module the major advantage for the user is the possibility of parameterising controlling and diagnosing the drive system via the available fieldbus The following fieldbuses are support...

Page 501: ...e case of the 8400 drive controller 16 words per direction are exchanged The master computer can directly access the process data Access to the process data takes place via the port blocks LP_MciIn an...

Page 502: ...ecked for plausibility regarding the function and version Fieldbus specific device profiles and PDO mapping When specific bus systems are used the controller is to behave according to a defined manufa...

Page 503: ...e different requirements regarding the signals sent to them predefined assignment of the MCI PDOs depends on the technology application selected in C00005 TA Actuating drive speed Process data assignm...

Page 504: ...In78_p are available from version 11 00 00 Parameter Info Lenze setting C00876 1 LP_MciIn wCtrl C00876 2 16 LP_MciIn wIn2 wIn16 C00890 1 LP_MciIn Inversion bCtrl_B0 15 0x0000 C00890 3 LP_MciIn Inversi...

Page 505: ...e from version 06 00 00 Parameter Info Lenze setting C00877 1 LP_MciOut wState C00877 2 16 LP_MciOut wOut2 wOut16 C00890 2 LP_MciOut Inversion bState_B0 15 0x0000 C00890 4 LP_MciOut Inversion bOut2_B0...

Page 506: ...cycle time setpoint Time after which the internal phase locking loop PLL anticipates the synchronisation signals The time must be set in C01121 according to the cycle of the synchronisation source sel...

Page 507: ...ine the optimal time with activated synchronisation by themselves In this case a manual change is not possible For determining C01122 the point in time where all bus nodes have valid PDOs is decisive...

Page 508: ...gement This function extension is available from version 11 00 00 The SB LS_SyncManagement provides status information for synchronising the internal time base Outputs Identifier Data type Value meani...

Page 509: ...erfaces for the basic Parameter change over function Inputs Identifier Data type Information possible settings bExecute BOOL FALSE TRUE If Execute Mode C01082 0 by Execute Activate writing of the para...

Page 510: ...tton 4 Go to the Overview Basic functions dialog box and click the Parameter change over button Identifier Data type Value meaning bDone BOOL Writing of the parameter list completed status signal The...

Page 511: ...8 0 EN 10 2011 L 511 8400 StateLine C Reference manual Parameter change over Configuring the list using the Engineer parameterisation dialog Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Ema...

Page 512: ...arameters If the option In menu groups is activated all parameters are shown assigned to their functions By clicking on the button in the Filter area you can shorten the list of available parameters I...

Page 513: ...the OK button to accept the configuration and close the dialog box You can call the configuration dialog again at any time in order to change or expand the WriteParamList retrospectively Entering valu...

Page 514: ...named parameters in the Code Subcode format C01085 1 12 000 C01085 2 26 001 C01085 3 27 001 C01085 4 222 000 C01085 5 223 000 C01085 6 224 000 C01085 7 n 0 000 no parameter Entering values for the pa...

Page 515: ...by a FALSE TRUE edge at the bExecute control input 1 by Input Select The parameter list is written when the selection inputs bSelectWriteValue_1 and bSelectWriteValue_2 are changed and once during the...

Page 516: ...the bFail output is set to TRUE C01083 displays an error status and C01084 displays the number of the list entry at which the error occurred in connection with the selected value set If several errors...

Page 517: ...from version xx xx xx The parameter descriptions are based on software version V11 00 00 Tip For quick reference of a parameter with a certain name simply use the index of the online documentation The...

Page 518: ...pe Parameter index in decimal and hexadecimal notation for access via a fieldbus e g CAN system bus Tip The parameter index is calculated as follows Index dec 24575 code Index hex 0x5FFF code Example...

Page 519: ...these parameters with a grey background or with an online connection with a pale yellow background Data type Meaning INTEGER_16 16 bit value with sign INTEGER_32 32 bit value with sign UNSIGNED_8 8 b...

Page 520: ...rs with setting range Description structure Parameter setting in the Engineer In the Engineer parameters are set by entering the desired value into the input field 14 1 3 2 Parameters with selection l...

Page 521: ...tructure Parameter setting in the Engineer The Engineer uses a dialog box for parameter setting in which the individual bits can be set or reset Alternatively the value can be entered as a decimal or...

Page 522: ...Cxxxxx 4 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Attribute Meaning Read access Read acce...

Page 523: ...ue to be set must be multiplied by the corresponding scaling factor 100 14 2 Conversion formula for write access via bus system Character length In case of parameters of VISIBLE_STRING data type the c...

Page 524: ...evice commands Selection list 0 Off ready 1 On start 4 Action cancelled 5 No access 6 No access controller inhibit 20 20 working 40 40 working 60 60 working 80 80 working Subcodes Lenze setting Info C...

Page 525: ...are loaded by the memory module Only possible when the controller is inhibited C00002 7 0 Off ready Reserved C00002 8 0 Off ready Reserved C00002 9 0 Off ready Reserved C00002 10 0 Off ready Reserved...

Page 526: ...erPin From version 06 00 00 Unlocking the controller with a MasterPin C00002 29 0 Off ready Set binding ID From version 06 00 00 Device personalisation C00002 30 0 Off ready Delete binding ID From ver...

Page 527: ...ess CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00005 Application Data type UNSIGNED_16 Index 24570d 5FFAh Selection of the technology application Selection list Lenze setting p...

Page 528: ...e to be entered V f characteristic control 9 VFCplus V f quadr encoder This control type is used for speed control of an asynchronous motor via a square law V f characteristic The control type require...

Page 529: ...inals 11 16 Terminal 16 20 Keypad The technology application is controlled via the keypad 21 PC The technology application is controlled via the Free parameters of the controller PC control 30 CAN The...

Page 530: ...0 Free Free Application Interconnection has been changed I O level Interconnection has been changed 10 Free Terminal0 Application Interconnection has been changed I O level Terminals 0 control mode 12...

Page 531: ...ff positioning I O level Keypad control mode 3021 SwitchPos PC Application Switch off positioning I O level PC control mode 3030 SwitchPos CAN Application Switch off positioning I O level CAN control...

Page 532: ...Setting range min value unit max value Lenze setting 0 000 s 999 999 2 000 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000 Parameter Name C00015 VFC V f base frequency...

Page 533: ...ptimised 6 4 kHz constant drive optimised 7 8 kHz constant drive optimised 8 16 kHz constant drive optimised 11 4 kHz var min Pv 12 8 kHz var min Pv 13 16 kHz var min Pv 15 2 kHz constant min Pv 16 4...

Page 534: ...cess Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C00023 Imax in generator mode Data type INTEGER_16 Index 24552d 5FE8h Maximum current in generator mode for all mo...

Page 535: ...o transfer COM MOT Scaling factor 100 Parameter Name C00029 AINx Input current Data type INTEGER_16 Index 24546d 5FE2h Display of the input current at the analog input When the analog input has been c...

Page 536: ...urrent C00098 DC injection braking Setting range min value unit max value Lenze setting 0 00 200 00 50 00 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C...

Page 537: ...d from the motor control and thus may not correspond to the real actual speed Display range min value unit max value 60000 rpm 60000 Read access Write access CINH PLC STOP No transfer COM MOT Scaling...

Page 538: ...or control modes Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C00057 Maximum torque Data type UNSIGNED_32 Index 24518d 5FC6h Display of the maximum torq...

Page 539: ...e exceeds the threshold set in C00123 the fault message OC5 Device overload Ixt is output and the fault response set in C00604 is executed default setting Warning Display range min value unit max valu...

Page 540: ...ubcodes Lenze setting Info C00070 1 15 00 SLVC Vp speed controller C00070 2 6 00 Reserved C00070 3 3 00 SLPSM Vp speed controller Read access Write access CINH PLC STOP No transfer COM MOT Scaling fac...

Page 541: ...74 2 30 ms SLVC Ti torque controller Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00075 Vp current controller Data type UNSIGNED_16 Index 24500d 5FB4h Ga...

Page 542: ...FCplus the stall protection function or the max permissible current in the field weakening range can be adapted Setting range min value unit max value Lenze setting 500 Hz 500 0 Hz Read access Write a...

Page 543: ...ed has been selected from the motor catalogue the suitable value can be entered automatically An automatic detection via the motor parameter identification is possible as well Setting range min value...

Page 544: ...the suitable value can be entered automatically Setting range min value unit max value Lenze setting 0 40 1 00 0 85 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Param...

Page 545: ...he firmware version of the device as string Read access Write access CINH PLC STOP No transfer COM MOT Character length 12 Parameter Name C00100 Firmware version Data type UNSIGNED_8 Index 24475d 5F9B...

Page 546: ...e setting 0 000 s 999 900 2 000 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000 Parameter Name C00106 Auto DCB Hold time Data type UNSIGNED_32 Index 24469d 5F95h Hold...

Page 547: ...11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 RFR inverted Inversion of digital input RFR controller enable Read access Write access CINH PLC STOP No transfer COM MOT Parameter N...

Page 548: ...he current thermal motor load is displayed in C00066 Setting range min value unit max value Lenze setting 0 00 250 00 100 00 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1...

Page 549: ...brake resistor Setting range min value unit max value Lenze setting 0 0 kWs 6553 5 10 0 kWs Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 10 Parameter Name C00133 Brake res...

Page 550: ...Bit 3 EnableOperation Bit 4 ModeSpecific_1 Bit 5 ModeSpecific_2 Bit 6 ModeSpecific_3 Bit 7 ResetFault Bit 8 SetHalt Bit 9 Reserved_1 Bit 10 Reserved_2 Bit 11 LenzeSpecific_1 Bit 12 LenzeSpecific_2 Bit...

Page 551: ...current device status Selection list read only 0 FirmwareUpdate 1 Init 2 MotorIdent 3 ReadyToSwitchON 4 SwitchedON 5 OperationEnable 6 Warning 7 Trouble 8 Fault 9 TroubleQSP 10 SafeTorqueOff 11 Syste...

Page 552: ...trol signals C00138 2 MCK control signals C00138 3 FWM control signals Read access Write access CINH PLC STOP No transfer COM MOT Parameter Name C00142 Auto start option Data type UNSIGNED_8 Index 244...

Page 553: ...mal 48 Value is bit coded bit set Info Bit 0 SafeTorqueOff Bit 1 ReadyToSwitchOn Bit 2 SwitchedOn Bit 3 TroubleQSP From version 06 00 00 Bit 4 Trouble Bit 5 Fault Bit 6 Warning Bit 7 ImpIsActive Bit 8...

Page 554: ...3 FreeStatusBit3 Free status bit 3 Bit 4 FreeStatusBit4 Free status bit 4 Bit 5 FreeStatusBit5 Free status bit 5 Bit 6 ActSpeedIsZero Current speed is 0 Bit 7 ControllerInhibit Controller is inhibite...

Page 555: ...r is ready for operation Bit 5 ControllerInhibit Controller is inhibited Bit 6 Trouble Trouble Bit 7 InitState Initialisation Bit 8 CwCcw CW CCW rotation Bit 9 TroubleQSP Quick stop due to fault is ac...

Page 556: ...ue 0x0000 0xFFFF Value is bit coded Bit 0 Terminal controller enable Bit 1 CAN control word Bit 2 MCI control word Bit 3 SwitchOn Bit 4 Application Bit 5 Device command Bit 6 Error response Bit 7 Inte...

Page 557: ...fer COM MOT Parameter Name C00160 Status determining error 16bit Data type UNSIGNED_16 Index 24415d 5F5Fh From version 06 00 00 Display of the status determining error as short 16 bit error number Dis...

Page 558: ...t 3 11 CAN1 input bit 4 12 CAN1 input bit 5 13 CAN1 input bit 6 14 CAN1 input bit 7 15 CAN1 input bit 8 16 CAN1 input bit 9 17 CAN1 input bit 10 18 CAN1 input bit 11 19 CAN1 input bit 12 20 CAN1 input...

Page 559: ...MCI word1 input bit7 63 MCI word1 input bit8 64 MCI word1 input bit9 65 MCI word1 input bit10 66 MCI word1 input bit11 67 MCI word1 input bit12 68 MCI word1 input bit13 69 MCI word1 input bit14 70 MC...

Page 560: ...nalMonitor_b Out1 107 L_SignalMonitor_b Out2 108 L_SignalMonitor_b Out3 109 L_SignalMonitor_b Out4 110 L_PCTRL_1 act set Subcodes Lenze setting Info C00163 1 0 No signal Logbook binary element 1 C0016...

Page 561: ...31 MCI word 16 32 Current motor speed 33 Current motor torque 34 DC bus voltage 35 Current motor current 36 Current motor voltage 37 Current motor frequency 38 Effective speed setpoint 39 Device utili...

Page 562: ...the currently pending error Subcodes Info C00166 1 Resp to status det error Response to the status determining error C00166 2 Subj status det error Subject area of the status determining error C00166...

Page 563: ...f the currently pending error Display range min value unit max value 0 4294967295 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00171 Logbook access index...

Page 564: ...the Ramp function generator stop signal are used When the threshold voltage is exceeded C00174 the brake resistor is energised and the ramp function generator is stopped 3 FI_MotBrk RfgStop From versi...

Page 565: ...s 2147483647 Subcodes Info C00180 1 Running time control card C00180 2 Running time heatsink fan C00180 3 Running time internal fan Read access Write access CINH PLC STOP No transfer COM MOT Scaling f...

Page 566: ...24389d 5F45h Maximum number of AutoFailReset procedures AutoFailReset function Setting range min value unit max value Lenze setting 1 16 4 Read access Write access CINH PLC STOP No transfer COM MOT Sc...

Page 567: ...hmetics To be able to influence the main setpoint NSet by an additional setpoint NAdd Selection list Lenze setting printed in bold 0 Out Set 1 Out Set Add 2 NOut NSet NAdd 3 NOut NSet NAdd 100 4 NOut...

Page 568: ...wer section C00203 3 Type MCI module C00203 4 Reserved C00203 5 Type Memory module C00203 6 Type Safety card C00203 7 Type Standard device C00203 8 Type Complete device C00203 9 Reserved Read access W...

Page 569: ...ion time for the additional setpoint nNAdd_a Setting range min value unit max value Lenze setting 0 000 s 999 999 0 000 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000...

Page 570: ...output value of the PID process controller Setting range min value unit max value Lenze setting 0 000 s 999 999 0 010 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000 P...

Page 571: ...OP No transfer COM MOT Scaling factor 100 Parameter Name C00235 Oscillation damping filter time Data type UNSIGNED_8 Index 24340d 5F14h Oscillation damping Setting range min value unit max value Lenze...

Page 572: ...ut at the output nPIDOut_a Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00243 L_PCTRL_1 Acceleration time influence Data type UNSIGNED_32 Index 24332d 5F...

Page 573: ...s SLPSM Setting range min value unit max value Lenze setting 40 0 Hz 1000 0 200 0 Hz Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 10 Parameter Name C00271 SC Width of curr...

Page 574: ...tput voltage Data type UNSIGNED_8 Index 24299d 5EEBh From version 11 00 00 Setting range min value unit max value Lenze setting 80 99 95 Read access Write access CINH PLC STOP No transfer COM MOT Scal...

Page 575: ...Name C00306 Debug address Data type UNSIGNED_32 Index 24269d 5ECDh This code is for device internal use only and must not be written to by the user Parameter Name C00307 Debug value Data type UNSIGNE...

Page 576: ...D_32 Index 24260d 5EC4h This code is for device internal use only and must not be written to by the user Parameter Name C00316 SystemFail Info Data type UNSIGNED_16 Index 24259d 5EC3h This code is for...

Page 577: ...N3 OUT Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00323 Transmission mode CAN Rx PDOs Data type UNSIGNED_8 Index 24252d 5EBCh RPDO transmission type ac...

Page 578: ...ue 0 ms 6500 Subcodes Lenze setting Info C00324 1 0 ms CAN emergency blocking time C00324 2 0 ms CAN1_OUT blocking time C00324 3 0 ms CAN2_OUT blocking time C00324 4 0 ms CAN3_OUT blocking time Read a...

Page 579: ...set to TRUE Setting range min hex value max hex value Lenze setting 0x0000 0xFFFF 0x0000 decimal 0 Value is bit coded bit set Bit 0 BusOff_MsgErr Bit 1 Warning Bit 2 NodeStopped Bit 3 HeartBeatEvent B...

Page 580: ...alue max hex value 0x0000 0xFFFF Value is bit coded bit set Bit 0 BusOff_MsgErr Bit 1 Warning Bit 2 NodeStopped Bit 3 HeartBeatEvent Bit 4 CAN1_In_ berw Bit 5 CAN2_In_ berw Bit 6 CAN3_In_ berw Bit 7 R...

Page 581: ...al C00343 12 0 LP_CanIn3 wIn4 DiscVal Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00344 LP_CanOut decoupling value Data type UNSIGNED_16 Index 24231d 5E...

Page 582: ...off 4 Reserved 5 Reserved Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00347 CAN status HeartBeat producer Data type UNSIGNED_8 Index 24228d 5EA4h From...

Page 583: ...ate 2 Bit 9 Baud rate 4 Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 DIP switch at 24V ON accepted Read access Write access CINH PLC STOP No transfer COM MOT...

Page 584: ...mains switching if a value of 1 has been entered and saved here System bus CAN on board Selection list Lenze setting printed in bold 0 Slave 1 Master Read access Write access CINH PLC STOP No transfer...

Page 585: ...54 1 513 COBID CAN1_IN C00354 2 385 COBID CAN1_OUT C00354 3 769 COBID CAN2_IN C00354 4 641 COBID CAN2_OUT C00354 5 1025 COBID CAN3_IN C00354 6 897 COBID CAN3_OUT Read access Write access CINH PLC STOP...

Page 586: ...monitoring times Data type UNSIGNED_16 Index 24218d 5E9Ah Imaging of the RPDO event time see DS301 V4 02 If a value unequal to 0 is entered the RPDO is not expected before the set time has expired If...

Page 587: ...SIGNED_16 Index 24215d 5E97h System bus CAN on board Display range min value unit max value 0 65535 Subcodes Info C00360 1 All PDO SDO sent C00360 2 All PDO SDO received C00360 3 Telegram counter CAN1...

Page 588: ...NSIGNED_8 Index 24209d 5E91h Change in function from version 05 01 00 Selection of the number of active parameter data channels Up to and including version 05 00 00 parameter data channels 1 and 2 are...

Page 589: ...m bus CAN on board Setting range min hex value max hex value Lenze setting 0x0000 0xFFFF 0x0080 decimal 128 Value is bit coded bit set Bit 0 COBID Bit0 Bit 1 COBID Bit1 Bit 2 COBID Bit2 Bit 3 COBID Bi...

Page 590: ...Bit 15 Sync transmit off Read access Write access CINH PLC STOP No transfer COM MOT Parameter Name C00369 CAN sync transmission cycle time Data type UNSIGNED_16 Index 24206d 5E8Eh Cycle during which t...

Page 591: ...x value Lenze setting 0 ms 65535 0 ms Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00385 CAN node addr HeartBeat producer Data type UNSIGNED_8 Index 2419...

Page 592: ...rt blocks CAN port block Setting range min hex value max hex value 0x0000 0xFFFF Value is bit coded Info Bit 0 Active Bit set bit is inverted Bit 15 Active Subcodes Lenze setting Info C00401 1 0 Inver...

Page 593: ...s Data type UNSIGNED_16 Index 24165d 5E65h The L_SignalMonitor_a FB Selection of the signal sources Selection list See selection list analog signals Subcodes Lenze setting Info C00410 1 0 Not connecte...

Page 594: ...d offset of the analog signals Setting range min value unit max value 199 99 199 99 Subcodes Lenze setting Info C00413 1 0 00 Offset for output nOut1_a C00413 2 100 00 Gain for output nOut1_a C00413 3...

Page 595: ...Data type UNSIGNED_8 Index 24150d 5E56h From version 03 00 00 Encoder sample time for the digital input terminals when configured as frequency inputs Using DI1 and DI2 as frequency inputs Selection l...

Page 596: ...36 1 O1U Output voltage Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C00439 AOUT application Data type INTEGER_16 Index 24136d 5E48h Display of the inpu...

Page 597: ...t 4 Trouble Bit 5 Fault Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Fail CAN_Management Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Read acce...

Page 598: ...ax hex value 0x0000 0xFFFF Value is bit coded Info Bit 0 DI1 Bit set HIGH level Bit 1 DI2 Bit 2 DI3 Bit 3 DI4 Bit 4 Reserved Bit 5 Reserved Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Reserved...

Page 599: ...Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Subcodes Info C00444 1 DOx Input level C00444 2 DOx Terminal level Read access Write acce...

Page 600: ...t decoupling Data type UNSIGNED_16 Index 24128d 5E40h From version 04 00 00 Configuration defining the events that lead to a decoupling of the digital output terminals Configuring exception handling o...

Page 601: ...0 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Read access Write access CINH PLC STOP No transfer COM MOT Parameter Name C00449 FreqInxx_dnOut_p Data type I...

Page 602: ...time Data type UNSIGNED_32 Index 24114d 5E32h From version 06 00 00 PC manual control Setting range min value unit max value 0 000 s 999 999 Subcodes Lenze setting Info C00461 1 2 000 s Remote Accele...

Page 603: ...peed Bit 7 ReleaseLimitSwitch Bit 8 HomStartStop Bit 9 HomSetPos Bit 10 HomResetPos Bit 11 EnableSpeedOverride Bit 12 EnableAccOverride Bit 13 EnableSRampOverride Bit 14 PosTeachSetPos Bit 15 PosTeach...

Page 604: ...e screen 5 5 min 15 15 min 30 30 min 60 60 min Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00466 Keypad Default parameter Data type INTEGER_32 Index 241...

Page 605: ...output bPar1 bPar16 C00470 C00470 16 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00471 LS_ParFree Data type UNSIGNED_16 Index 24104d 5E28h The LS_ParFr...

Page 606: ...C00474 2 0 incr LS_ParFree dnPar2_p C00474 3 0 incr LS_ParFree dnPar3_p C00474 4 0 incr LS_ParFree dnPar4_p Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name...

Page 607: ...Lenze setting Info C00484 1 0 00 Application unit 1 Offset C00484 2 0 00 Application unit 2 Offset C00484 3 0 00 Application unit 3 Offset C00484 4 0 00 Application unit 4 Offset Read access Write ac...

Page 608: ...cation units 1 C00487 2 Application units 2 C00487 3 Application units 3 C00487 4 Application units 4 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C0048...

Page 609: ...in bold Info 1 Low resolution encoder StateLine High precision procedure for low resolution encoders 128 increments 3 Edge counting procedure Simple edge counting procedure with adjustable scanning t...

Page 610: ...Parameter write protection Bit 2 Parameter read protection Bit 3 Reserved Bit 4 Reserved Bit 5 Reserved Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit...

Page 611: ...8 11 000 C00011 Reference speed C00517 9 39 001 C00039 1 Fixed setpoint 1 C00517 10 39 002 C00039 2 Fixed setpoint 2 C00517 11 12 000 C00012 Accel time main setpoint C00517 12 13 000 C00013 Decel tim...

Page 612: ...nfo C00561 1 Internal fan C00561 2 Heatsink fan C00561 3 Motor phase U From version 11 00 00 C00561 4 Motor phase V From version 11 00 00 C00561 5 Motor phase W From version 11 00 00 Read access Write...

Page 613: ...x 24005d 5DC5h Configuration of monitoring of the motor control group 2 Selection list 0 No Reaction 1 Fault 5 Warning Subcodes Lenze setting Info C00570 1 0 No Reaction Response if direct axis curren...

Page 614: ...UNSIGNED_8 Index 23996d 5DBCh Response when the max speed limit C00909 or output frequency limit C00910 has been reached Selection list Lenze setting printed in bold 0 No Reaction 1 Fault 5 Warning R...

Page 615: ...temp 5 C Data type UNSIGNED_8 Index 23993d 5DB9h Response if the heatsink temperature has reached the switch off temperature threshold Selection list Lenze setting printed in bold 0 No Reaction 1 Faul...

Page 616: ...ing Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00592 Resp to CAN bus connection Data type UNSIGNED_8 Index 23983d 5DAFh Configuration of monitoring of...

Page 617: ...g time set in C00357 2 for the reception of the PDO CAN2_IN is exceeded C00593 3 0 No Reaction Response if the monitoring time set in C00357 3 for the reception of the PDO CAN3_IN is exceeded Read acc...

Page 618: ...ved C00595 9 0 No Reaction Reserved C00595 10 0 No Reaction Reserved C00595 11 0 No Reaction Reserved C00595 12 0 No Reaction Reserved C00595 13 0 No Reaction Reserved C00595 14 0 No Reaction Reserved...

Page 619: ...ailure set in C00597 will be triggered Setting range min value unit max value Lenze setting 0 00 100 00 5 00 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Nam...

Page 620: ...r overload I xt Data type UNSIGNED_8 Index 23969d 5DA1h Response if the adjustable motor overload threshold C00120 is reached The current thermal motor load is displayed in C00066 Selection list Lenze...

Page 621: ...t Data type UNSIGNED_16 Index 23955d 5D93h Connection parameters 16 bit inputs Selection of the 16 bit output signals to be connected to the 16 bit input signals The selection list contains all 16 bit...

Page 622: ...00620 39 0 Not connected Reserved C00620 40 0 Not connected Reserved C00620 41 0 Not connected Reserved C00620 42 0 Not connected Reserved C00620 43 0 Not connected Reserved C00620 44 0 Not connected...

Page 623: ...ected Reserved C00620 83 0 Not connected Reserved C00620 84 0 Not connected Reserved C00620 85 0 Not connected Reserved C00620 86 0 Not connected Reserved C00620 87 0 Not connected Reserved C00620 88...

Page 624: ...connected LP_CanOut1 bState_B7 C00621 13 0 Not connected LP_CanOut1 bState_B8 C00621 14 0 Not connected LP_CanOut1 bState_B9 C00621 15 0 Not connected LP_CanOut1 bState_B10 C00621 16 0 Not connected L...

Page 625: ...t connected LP_CanOut3 bOut1_B14 C00621 60 0 Not connected LP_CanOut3 bOut1_B15 C00621 61 0 Not connected LP_MciOut bState_B0 C00621 62 0 Not connected LP_MciOut bState_B1 C00621 63 0 Not connected LP...

Page 626: ...Reserved C00621 104 0 Not connected Reserved C00621 105 0 Not connected Reserved C00621 106 0 Not connected Reserved C00621 107 0 Not connected Reserved C00621 108 0 Not connected Reserved C00621 109...

Page 627: ...ot connected Reserved C00621 147 0 Not connected Reserved C00621 148 0 Not connected Reserved C00621 149 0 Not connected Reserved C00621 150 0 Not connected Reserved C00621 151 0 Not connected Reserve...

Page 628: ...etting Info C00622 1 0 Not connected Reserved C00622 2 0 Not connected Reserved C00622 3 0 Not connected Reserved C00622 4 0 Not connected Reserved C00622 5 0 Not connected Reserved C00622 6 0 Not con...

Page 629: ...2 max C00632 3 0 00 L_NSet_1 Blocking speed3 max Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C00633 L_NSet_1 Min SkipFrq Data type INTEGER_16 Index 239...

Page 630: ...t 7 Reserved Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Read access Write access CINH PLC STOP No transfer COM MOT Pa...

Page 631: ...type INTEGER_16 Index 23935d 5D7Fh The L_NSet_1 FB Display of the generated main speed setpoint at the output nNOut_a Display range min value unit max value 199 99 199 99 Read access Write access CIN...

Page 632: ...dex 23895d 5D57h The L_Compare_1 FB Comparison operation If the statement of the selected comparison operation is true the binary bOut output will be set to TRUE Selection list Lenze setting printed i...

Page 633: ...dow Data type INTEGER_16 Index 23888d 5D50h The L_Compare_2 FB Window for the comparison function selected in C00685 Setting range min value unit max value Lenze setting 0 00 100 00 2 00 Read access W...

Page 634: ...ffsetGainP_2 Offset Data type INTEGER_16 Index 23878d 5D46h The L_OffsetGainP_2 FB Offset additive to the input signal Setting range min value unit max value Lenze setting 199 99 199 99 0 00 Read acce...

Page 635: ...AIN1_Out LA_NCtrl nMainSetValue_a input for main speed setpoint C00700 8 0 Not connected LA_NCtrl nAuxSetValue_a input for additional speed setpoint C00700 9 0 Not connected LA_NCtrl nGPAnalogSwitchIn...

Page 636: ...ll binary output signals which can be assigned to the binary inputs mapped by the subcodes Selection list See selection list digital signals Subcodes Lenze setting Info C00701 1 0 Not connected LA_NCt...

Page 637: ..._NCtrl bGPDigitalDelayIn input for digital signal with time delay C00701 25 0 Not connected LA_NCtrl bGPLogicIn1 input signal 1 for digital logic C00701 26 0 Not connected LA_NCtrl bGPLogicIn2 input s...

Page 638: ...C00701 48 0 Not connected LA_NCtrl bFreeIn8 input for binary user signal 8 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C00701 LA_NCtrl Digital connection...

Page 639: ...8 kHz var drive optimised 3 16 kHz var drive optimised 5 2 kHz constant drive optimised 6 4 kHz constant drive optimised 7 8 kHz constant drive optimised 8 16 kHz constant drive optimised 11 4 kHz va...

Page 640: ...range min value unit max value 199 99 199 99 Subcodes Lenze setting Info C00728 1 100 00 Torque limit in motor mode C00728 2 100 00 Torque limit in generator mode C00728 3 0 00 Setpoint speed Read acc...

Page 641: ...r Parameter Name C00742 Oscilloscope trigger delay Data type INTEGER_16 Index 23833d 5D19h This code is for device internal use only and must not be written to by the user Parameter Name C00743 Oscill...

Page 642: ...control C00760 2 0 Not connected LA_SwitchPos wMCIDriveControl input for control word from communication interface to device control C00760 3 0 Not connected LA_SwitchPos nVoltageAdd_a input for addi...

Page 643: ...rameters for Switch off positioning application Binary inputs Selection of the binary output signals to be connected to the binary input signals The selection list contains all binary output signals w...

Page 644: ...tchPos bJogSpeed4 selection input for fixed setpoints C00761 21 0 Not connected LA_SwitchPos bJogSpeed8 selection input for fixed setpoints C00761 22 0 Not connected LA_SwitchPos bJogRamp1 selection i...

Page 645: ...6 input for binary user signal 6 C00761 46 0 Not connected LA_SwitchPos bFreeIn7 input for binary user signal 7 C00761 47 0 Not connected LA_SwitchPos bFreeIn8 input for binary user signal 8 Read acce...

Page 646: ...value Lenze setting 0 1 s 6000 0 10 0 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 10 Parameter Name C00803 L_MPot_1 Deceleration time Data type UNSIGNED_16 Index 23772...

Page 647: ...lied to the nIn_a input is looped through without any changes to the nOut_a output 1 Yes The motor potentiometer is used The analog value applied at the nIn_a input is led via the motor potentiometer...

Page 648: ...ction of the internal logic function Selection list Lenze setting printed in bold Info 0 bOut 0 Constant value FALSE 1 bOut 1 Constant value TRUE 2 bOut bIn1 AND bIn2 AND bIn3 AND operation 3 bOut bIn...

Page 649: ...13 L_Arithmetik_1 nIn2_a C00830 14 L_AnalogSwitch_1 nIn1_a C00830 15 L_AnalogSwitch_1 nIn2_a C00830 16 L_Compare_1 nIn1_a C00830 17 L_Compare_1 nIn2_a C00830 18 MCTRL nTorqueLimitAdapt_a C00830 19 Re...

Page 650: ...C00830 60 L_OffsetGain_2 nGain_a C00830 61 L_PCTRL_1 nAct_a C00830 62 L_PCTRL_1 nAdapt_a C00830 63 L_PCTRL_1 nSet_a C00830 64 L_PCTRL_1 nInfluence_a C00830 65 MCK nSpeedCtrlI_a C00830 66 MCK nPWMAngle...

Page 651: ...t inputs Data type UNSIGNED_16 Index 23744d 5CC0h Decimal hexadecimal bit coded display of 16 bit input values of various blocks Display area min hex value max hex value 0x0000 0xFFFF Value is bit cod...

Page 652: ...DCTRL wCANControl C00831 38 DCTRL wMCIControl C00831 39 Reserved C00831 40 Reserved C00831 41 L_Compare_2 nIn1_a C00831 42 L_Compare_2 nIn2_a C00831 43 Reserved C00831 44 Reserved C00831 45 L_AnalogSw...

Page 653: ...0831 78 MCK wAuxCtrl C00831 79 MCK wSMCtrl C00831 80 L_OffsetGainP_3 nIn_a C00831 81 L_MPot_1 nIn_a C00831 82 L_MulDiv_1 nIn_a C00831 83 LS_DataAccess wIn1 Lenze internal C00831 84 LS_DataAccess wIn2...

Page 654: ...AnalogSwitch_1 bSet C00833 14 L_NSet_1 bRfgStop C00833 15 L_NSet_1 bRfg0 C00833 16 L_NSet_1 bNSetInv C00833 17 L_NSet_1 bJog1 C00833 18 L_NSet_1 bJog2 C00833 19 L_NSet_1 bJog4 C00833 20 L_NSet_1 bJog8...

Page 655: ...C00833 61 L_Not_2 bIn C00833 62 L_Not_3 bIn C00833 63 L_DigitalLogic_1 bIn1 C00833 64 L_DigitalLogic_1 bIn2 C00833 65 L_DigitalLogic_1 bIn3 C00833 66 L_DigitalDelay_1 bIn C00833 67 MCTRL bPosDerivativ...

Page 656: ...nternal C00833 104 LS_DataAccess bEnableIn3 Lenze internal C00833 105 LS_DataAccess bEnableIn4 Lenze internal C00833 106 L_PCTRL_1 bEnableInfluenceRamp C00833 107 Reserved C00833 108 Reserved C00833 1...

Page 657: ...C00834 4 MCTRL dnDeltaPos_p C00834 5 MCTRL dnPosSetValue_p C00834 6 MCTRL dnMotorRefOffset_p C00834 7 MCK dnProfilePosition_p C00834 8 L_Interpolator_1 dnPhiIn_p Read access Write access CINH PLC STO...

Page 658: ...38 LS_AnalogOutput nOut2_a V C00840 39 LS_AnalogOutput nOut1_a I C00840 40 LS_AnalogOutput nOut2_a I C00840 41 LS_DisFree_a nDis5_a C00840 42 LS_DisFree_a nDis6_a C00840 43 LS_DisFree_a nDis7_a C00840...

Page 659: ...pe UNSIGNED_16 Index 23734d 5CB6h Decimal hexadecimal bit coded display of 16 bit input values of various blocks of the I O level Display area min hex value max hex value 0x0000 0xFFFF Value is bit co...

Page 660: ...gOutput nOut2_a I C00841 41 LS_DisFree_a nDis5_a C00841 42 LS_DisFree_a nDis6_a C00841 43 LS_DisFree_a nDis7_a C00841 44 LS_DisFree_a nDis8_a C00841 45 LS_DisFree wDis5 C00841 46 LS_DisFree wDis6 C008...

Page 661: ...1 TRUE Subcodes Info C00843 1 LS_DigitalOutput bRelay C00843 2 LS_DigitalOutput bOut1 C00843 3 LS_DigitalInput bCountIn1_Reset C00843 4 LS_DigitalInput bCountIn1_LoadStartValue C00843 5 LP_CanOut1 bSt...

Page 662: ...Out2 bOut1_B15 C00843 45 LP_CanOut3 bOut1_B0 C00843 46 LP_CanOut3 bOut1_B1 C00843 47 LP_CanOut3 bOut1_B2 C00843 48 LP_CanOut3 bOut1_B3 C00843 49 LP_CanOut3 bOut1_B4 C00843 50 LP_CanOut3 bOut1_B5 C0084...

Page 663: ...ut2_B9 C00843 87 LP_MciOut bOut2_B10 C00843 88 LP_MciOut bOut2_B11 C00843 89 LP_MciOut bOut2_B12 C00843 90 LP_MciOut bOut2_B13 C00843 91 LP_MciOut bOut2_B14 C00843 92 LP_MciOut bOut2_B15 C00843 93 LS_...

Page 664: ...anagement bReInitCAN C00843 128 LS_DigitalInput bPosIn12_Load C00843 129 Reserved C00843 130 Reserved C00843 131 Reserved C00843 132 Reserved C00843 133 Reserved C00843 134 Reserved C00843 135 Reserve...

Page 665: ...nputs I O level incr Data type INTEGER_32 Index 23731d 5CB3h Display of 32 bit input values of different I O level blocks in increments Display range min value unit max value 2147483647 Incr 214748364...

Page 666: ...hex value 0x0000 0xFFFF Value is bit coded Bit 0 Active Bit 15 Active Subcodes Info C00866 1 LP_CanIn1 wCtrl C00866 2 LP_CanIn1 wIn2 C00866 3 LP_CanIn1 wIn3 C00866 4 LP_CanIn1 wIn4 C00866 5 LP_CanIn2...

Page 667: ...ive Bit 5 Active Bit 6 Active Bit 7 Active Bit 8 Active Bit 9 Active Bit 10 Active Bit 11 Active Bit 12 Active Bit 13 Active Bit 14 Active Bit 15 Active Subcodes Info C00868 1 LP_CanOut1 wState C00868...

Page 668: ...ve Bit 15 Active Subcodes Info C00876 1 LP_MciIn wCtrl C00876 2 LP_MciIn wIn2 C00876 3 LP_MciIn wIn3 C00876 4 LP_MciIn wIn4 C00876 5 LP_MciIn wIn5 C00876 6 LP_MciIn wIn6 C00876 7 LP_MciIn wIn7 C00876...

Page 669: ...ciOut wOut11 C00877 12 LP_MciOut wOut12 C00877 13 LP_MciOut wOut13 C00877 14 LP_MciOut wOut14 C00877 15 LP_MciOut wOut15 C00877 16 LP_MciOut wOut16 Read access Write access CINH PLC STOP No transfer C...

Page 670: ...gative speed for all motor control modes Setting range min value unit max value 0 00 175 00 Subcodes Lenze setting Info C00909 1 120 00 Max pos speed C00909 2 120 00 Max neg speed Read access Write ac...

Page 671: ...factor 1 Parameter Name C00922 ICM_DiagnosticCounter Data type UNSIGNED_16 Index 23653d 5C65h This code is for device internal use only and must not be written to by the user Parameter Name C00937 Fi...

Page 672: ...caling factor 1 Parameter Name C00952 L_Interpolator_1 Limit value error cycles Data type UNSIGNED_16 Index 23623d 5C47h From version 04 00 00 The L_Interpolator_1 FB Limit value for missing data tele...

Page 673: ...INTEGER_16 Index 23608d 5C38h From version 04 00 00 Selection of the interpolation points frequency values for the V f characteristic control VFCplus with user definable V f characteristic C00006 10...

Page 674: ...x 23604d 5C34h Limitation of the output frequency of the slip regulator and limitation of the injected stator frequency for the V f control VFCplus encoder Setting range min value unit max value 0 00...

Page 675: ...r 1000 Parameter Name C00976 VFC ECO Ti CosPhi controller Data type UNSIGNED_16 Index 23599d 5C2Fh From version 10 00 00 Reset time of the Cos Phi controller for energy saving V f characteristic contr...

Page 676: ...arent output power Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000 Parameter Name C00981 Energy display Data type INTEGER_32 Index 23594d 5C2Ah From version 10 00 00 Dis...

Page 677: ...Parameter Name C00987 Inverter motor brake nAdd Data type INTEGER_16 Index 23588d 5C24h From version 04 00 00 Speed lift which is connected in pulses to the brake rampe when the motor is braked Invert...

Page 678: ...a type INTEGER_16 Index 23583d 5C1Fh Manual selection of the starting value for the flying restart function Only active if C00991 4 Flying restart fct Setting range min value unit max value Lenze sett...

Page 679: ...ss CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C00997 SLPSM Filter cutoff frequency Data type INTEGER_16 Index 23578d 5C1Ah From version 10 00 00 Sensorless control for synchro...

Page 680: ...rved Bit 14 Reserved Bit 15 Reserved Read access Write access CINH PLC STOP No transfer COM MOT Parameter Name C01082 LS_WriteParamList Execute Mode Data type UNSIGNED_8 Index 23493d 5BC5h From versio...

Page 681: ...lected via bSelectWriteValue_1 and bSelectWriteValue_2 Display range min value unit max value 0 32 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C01085 LS_...

Page 682: ...From version 04 00 00 Parameter change over Parameter values value set 3 Setting range min value unit max value 2147483647 2147483647 Subcodes Lenze setting Info C01088 1 0 Parameter values value set...

Page 683: ...te_2 Index C01090 3 0 000 LS_ParReadWrite_3 Index Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1000 Parameter Name C01091 LS_ParReadWrite 1 3 CycleTime Data type UNSIGNED_...

Page 684: ...thmetic function allows for easy arithmetic conversion of the process value to be written or which was read into the format of the target parameter via parameterisable factors and without the need for...

Page 685: ...on via CAN bus Sync telegram 4 MCI Synchronisation via MCI communication module Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C01121 Sync cycle time setpoi...

Page 686: ...ing range min value unit max value Lenze setting 0 s 1000 0 s Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name C01123 Sync window Data type UNSIGNED_16 Index...

Page 687: ...0 Subcodes Lenze setting Info C01139 1 0 000 s L_Transient_1 Pulse duration C01139 2 0 000 s L_Transient_2 Pulse duration C01139 3 0 000 s L_Transient_3 Pulse duration C01139 4 0 000 s L_Transient_4 P...

Page 688: ...time Data type UNSIGNED_8 Index 22811d 591Bh This code is for device internal use only and must not be written to by the user Parameter Name C01765 Service code difference threshold UG Data type UNSIG...

Page 689: ...IGNED_8 Index 21995d 55EBh Selection of the operating mode for holding brake control Holding brake control Selection list Lenze setting printed in bold Info 0 Brake control off No holding brake is use...

Page 690: ...ata type UNSIGNED_8 Index 21993d 55E9h Activation of functional holding brake control options Holding brake control Setting range min hex value max hex value Lenze setting 0x00 0xFF 0x40 decimal 64 Va...

Page 691: ...5 Feedback monitoring From version 11 00 00 Activation of status monitoring 1 The bMBrakeApplied input for status detection of the brake via a switching contact at the brake is monitored after thewai...

Page 692: ...he switching status of the holding brake C02589 4 0 ms Holding brake Ramp time FF ctrl From version 11 00 00 Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 1 Parameter Name...

Page 693: ...g contact error Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Read access Write access CINH PLC STOP No transfer COM MOT...

Page 694: ...alue 0 00 199 99 Subcodes Lenze setting Info C02611 1 199 99 MCK Pos max speed Upper limit of the speed setpoint limitation in positive direction of rotation C02611 2 0 00 MCK Pos min speed Lower limi...

Page 695: ...setting Info C02830 1 0 0 00 ms DigIn1 Debounce time C02830 2 0 0 00 ms DigIn2 Debounce time C02830 3 0 0 00 ms DigIn3 Debounce time C02830 4 0 0 00 ms DigIn4 Debounce time Read access Write access C...

Page 696: ...Lenze setting Info C02842 1 0 00 FreqIn12 Offset Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C02843 FreqInxx Gain Data type INTEGER_16 Index 21732d 54E...

Page 697: ...C02853 5 100 PSM Lss saturation characteristic C02853 6 100 PSM Lss saturation characteristic C02853 7 100 PSM Lss saturation characteristic C02853 8 100 PSM Lss saturation characteristic C02853 9 100...

Page 698: ...or 1 Parameter Name C02867 Identification procedure Data type UNSIGNED_8 Index 21708d 54CCh From version 10 00 00 Selection of the identification procedure for motor parameter identification Automatic...

Page 699: ...1 1 PLI without motion Running time Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor 100 Parameter Name C02872 PLI without motion Adaptation of time duration Data type INTEGER...

Page 700: ...Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Subcodes Lenze setting Info C02874 1 1 PLI without...

Page 701: ...ded bit set Bit 0 SLVC Bit 1 Reserved Bit 2 Reserved Bit 3 Reserved Bit 4 Reserved Bit 5 Reserved Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 12 Res...

Page 702: ...08 LA_SwitchPos_nMotorVoltage_a 1209 LA_SwitchPos_nGPAnalogSwitchOut_a 1210 LA_SwitchPos_nGPArithmetikOut_a 1211 LA_SwitchPos_nGPMulDivOut_a 1212 LA_SwitchPos_nGPSignalOut1_a 1213 LA_SwitchPos_nGPSign...

Page 703: ...peedSet_v 32201 MCK_nSpeedCtrlI_a 32202 MCK_nSpeedSetValue_a 32203 MCK_nTorqueSetValue_a 32204 MCK_wActProfileNo 32205 MCK_wFollowProfileNo 32206 MCK_wMotionState1 Selection list analog signals 32207...

Page 704: ...LA_nCtrl_In_wFreeIn4 42200 LA_SwitchPos_In_wCANDriveControl 42201 LA_SwitchPos_In_wMCIDriveControl 42202 LA_SwitchPos_In_nVoltageAdd_a 42203 LA_SwitchPos_In_nBoost_a 42204 LA_SwitchPos_In_nPWMAngleOf...

Page 705: ...DriveReady 1204 LA_SwitchPos_bCInhActive 1205 LA_SwitchPos_bImpIsActive 1206 LA_SwitchPos_bQSPIsActive 1207 LA_SwitchPos_bSpeedCcw 1208 LA_SwitchPos_bSpeedActCompare 1209 LA_SwitchPos_bImaxActive 1210...

Page 706: ...bIn2_B7 16085 MciIn_bIn2_B8 16086 MciIn_bIn2_B9 Selection list digital signals 16087 MciIn_bIn2_B10 16088 MciIn_bIn2_B11 16089 MciIn_bIn2_B12 16090 MciIn_bIn2_B13 16091 MciIn_bIn2_B14 16092 MciIn_bIn2...

Page 707: ...6 DCTRL_bFail 32107 DCTRL_bCollectedFail 32108 DCTRL_bSafeTorqueOff 32109 DCTRL_bIMPIsActive 32110 DCTRL_bCINHIsActive 32111 DCTRL_bSafetyIsActive 32112 DCTRL_bCwCcw 32113 DCTRL_bNactCompare 32200 MCK...

Page 708: ..._bFailReset 42202 LA_SwitchPos_bSetQuickstop 42203 LA_SwitchPos_bSetDCBrake 42204 LA_SwitchPos_bRFG_Stop 42205 LA_SwitchPos_bSetSpeedCcw 42206 LA_SwitchPos_bRLQCw 42207 LA_SwitchPos_bRLQCcw 42208 LA_S...

Page 709: ...n34_p 16003 LP_MciIn_dnIn34_p 16006 CAN1_dnIn12_p 16007 CAN2_dnIn12_p 16008 CAN3_dnIn12_p 16009 LP_MciIn_dnIn56_p 16010 LP_MciIn_dnIn78_p 17020 DigIn_dnPosIn12_p 20000 dnC474_1_p 20001 dnC474_2_p 2000...

Page 710: ...cess Reading permitted W Write access Writing permitted CINH Controller inhibit required Writing is only possible if the controller is inhibited Code Name Index Data Access dec hex DS DA DT Factor R W...

Page 711: ...6 A 2 UNSIGNED_16 100 C00074 Reset time Imax M controller 24501 5FB5 A 2 UNSIGNED_16 1 C00075 Vp current controller 24500 5FB4 E 1 UNSIGNED_16 100 C00076 Ti current controller 24499 5FB3 E 1 UNSIGNED_...

Page 712: ...E A 4 UNSIGNED_16 1 C00163 Logbook binary elements 24412 5F5C A 2 UNSIGNED_16 1 C00164 Logbook analog elements 24411 5F5B A 1 UNSIGNED_16 1 C00165 Error information 24410 5F5A A 2 VISIBLE_STRING 14 C0...

Page 713: ...point reached 24328 5F08 E 1 INTEGER_16 100 C00249 L_PT1_1 Time constant 24326 5F06 E 1 UNSIGNED_16 1 C00270 SC Freq current setpoint filter 24305 5EF1 E 1 UNSIGNED_16 10 C00271 SC Current setpoint fi...

Page 714: ...24165 5E65 A 4 UNSIGNED_16 1 C00411 L_SignalMonitor_b Signal sources 24164 5E64 A 4 UNSIGNED_16 1 C00412 L_SignalMonitor_b Inversion 24163 5E63 E 1 UNSIGNED_8 1 C00413 L_SignalMonitor_a Offs gain 2416...

Page 715: ...UNSIGNED_8 1 C00567 Resp to speed controller limited 24008 5DC8 E 1 UNSIGNED_8 1 C00569 Resp to peak current 24006 5DC6 A 1 UNSIGNED_8 1 C00570 Resp to controller limitations 24005 5DC5 A 4 UNSIGNED_8...

Page 716: ...mpare_2 Hysteresis 23889 5D51 E 1 INTEGER_16 100 C00687 L_Compare_2 Window 23888 5D50 E 1 INTEGER_16 100 C00690 L_Compare_3 Fct 23885 5D4D E 1 UNSIGNED_8 1 C00691 L_Compare_3 Hysteresis 23884 5D4C E 1...

Page 717: ...36 5C54 E 1 UNSIGNED_16 10 C00950 L_Interpolator_1 Activation FB functions 23625 5C49 A 3 UNSIGNED_8 1 C00951 L_Interpolator_1 No of interpolation steps 23624 5C48 E 1 UNSIGNED_16 1 C00952 L_Interpola...

Page 718: ...umerator 23481 5BB9 A 3 INTEGER_16 1 C01095 LS_ParReadWrite 1 3 Denominator 23480 5BB8 A 3 INTEGER_16 1 C01120 Sync signal source 23455 5B9F E 1 UNSIGNED_8 1 C01121 Sync cycle time setpoint 23454 5B9E...

Page 719: ...dentification process 21708 54CC A 1 UNSIGNED_8 1 C02870 PLI without motion Optimisation factor 21705 54C9 A 1 INTEGER_16 100 C02871 PLI without motion Running time 21704 54C8 A 1 INTEGER_16 100 C0287...

Page 720: ...lement their own drive solutions independent of the predefined technology applications by using so called free interconnections For this purpose the FB Editor provides the following functions Copying...

Page 721: ...teLine version the interconnection shown in the application level cannot be edited M M n t Switch off positioning Actuating drive speed Setpoint generator Process controller Motion Control Kernel Devi...

Page 722: ...ction block has a unique identifier and a processing number which defines the position at which the function block is calculated during runtime 15 2 Information on a function block in the FB Editor Ti...

Page 723: ...n the parameterisation dialog or the parameter list for the module Example Parameterisation dialog for the FB L_DigitalDelay_2 15 1 1 3 What is a system block System blocks are a special variant of a...

Page 724: ...in C00005 is shown as application block in the I O level of the FB Editor The application block comprises the signal flow processing generated via function block interconnection for the selected appli...

Page 725: ...sed from its identifier An identifier consists of a data type entry an identifier the proper name of the input output an optional signal type specification Data type entry The data type entry provides...

Page 726: ...know the signal types and their scaling listed in the following table which are used to process physical values e g an angular velocity or position in the function block interconnection Signal type e...

Page 727: ...ontroller depend on the control mode selected in C00007 The user interface of the FB Editor includes the following control and function elements Tip Go to the Engineer toolbar and click the icon to hi...

Page 728: ...function block 742 Inserting a system block 744 Inserting a port block 746 Adjusting online and offline interconnection 765 Acknowledge error in the interconnection reload interconnection Correct int...

Page 729: ...in module of the interconnection The list field of the search function contains all function blocks system blocks and port blocks of the interconnection When you select a module in the list field this...

Page 730: ...Level selection list field and select the interconnection level to be displayed I O interconnection level This level displays only the I O interconnection of the currently selected technology applica...

Page 731: ...controller with the inputs and outputs of the application is masked out in this level 15 6 Schematic diagram of Application interconnection Tip Every application block features so called free inputs a...

Page 732: ...tem blocks The processing order of the function blocks can be optimised manually or according to an automatically generated selection Changing the processing order 759 Note When you select the Free in...

Page 733: ...B Editor shows among other things information about the system load and the error status of the interconnection Symbol Meaning System load Here out of the available computing time of 610 s 226 s are r...

Page 734: ...dden again The green frame in the overview window indicates the interconnection cutout that is currently displayed in the drawing area Use the mouse pointer to shift and resize the cutout to be displa...

Page 735: ...of the frame that is drawn also the presentation size of the objects in the drawing area changes Tip Go to the FB Editor toolbar and click the icon to adapt the view size so that all objects included...

Page 736: ...outputs of the objects Process scaled signals can be scaled in a user defined way for easy diagnostics in the FB Editor Change online display format 739 Getting a better understanding for the operati...

Page 737: ...each certain signals How to navigate from one output to another connected input 1 Open the context menu right mouse button of the port symbol at the output The context menu for the port symbol contain...

Page 738: ...an only be connected to an input the context menu contains only an output The output is displayed in the centre of the drawing area 15 3 2 Keyboard commands for navigation Keyboard command Function Pi...

Page 739: ...display format command Tip You can call the context menu of a block by clicking with the right mouse button on the header of the block The Display format dialog box is displayed 2 Select the inputs ou...

Page 740: ...t template list field and select No template 6 Select the required scaling unit number of decimal positions and sign handling 7 Click OK to accept the settings and close the Edit display format dialog...

Page 741: ...xt menu of the drawing area The following subchapters provide detailed information on how to insert delete the different objects Tip Use the context menu of the drawing area to insert a function block...

Page 742: ...detailed description of all available function blocks can be found in the main chapter Function library 772 3 If required define Search criteria to narrow down the available function blocks Block name...

Page 743: ...eleting objects that are no longer required 750 Changing connector visibilities 751 Arranging objects in the drawing area 752 Creating deleting connections 753 Changing the processing order 759 Comman...

Page 744: ...s tab All system blocks available are displayed in the Search results list field A preview of the selected function block is displayed 3 If required define Search criteria to accordingly narrow down t...

Page 745: ...opy Insert Delete Related topics Deleting objects that are no longer required 750 Changing connector visibilities 751 Arranging objects in the drawing area 752 Creating deleting connections 753 Comman...

Page 746: ...Editor toolbar click the icon The Insert port block dialog box appears All port blocks available are displayed in the Search results list field A preview of the selected port block is displayed 2 If r...

Page 747: ...g objects that are no longer required 750 Changing connector visibilities 751 Arranging objects in the drawing area 752 Creating deleting connections 753 Command Function Center Move the visible cutou...

Page 748: ...that belong together in terms of function or separate them from other areas 15 7 Example Graphical arrangement of FBs by means of two comments that overlap How to insert a new comment into the interc...

Page 749: ...eing inserted the corner points of the comment are shown 7 Optional Change size of the comment For this purpose click one of the corner points with the left mouse button and enlarge the comment to the...

Page 750: ...elect objects to be deleted You can select a single object by clicking the header of the object You can selectobjectsthat are placed together by drawing a frame around these objects while keeping the...

Page 751: ...menu of the block and select the Connector visibilities command The Define Visible Inputs and Outputs for Function Blocks is displayed All visible connections have a checkmark In case of a block that...

Page 752: ...ton pressed and drag the object to the required position in the drawing area Via Esc you can cancel this action How to drag several objects at the same time 1 Select the objects to be dragged You can...

Page 753: ...s can also be interconnected From the Engineer V2 13 Analog scaled _a and Angular velocity _v signal types can also be interconnected An output represents a possible source in the interconnection Anin...

Page 754: ...n line 15 9 Example 2 Connection via flags Tip The commands Show as flag or Show as line in the context menu of a connection serve to change the representation of the connection at any time When an ou...

Page 755: ...connection is drawn from this port symbol Via Esc you can cancel this action 2 Click the port symbol where the connection is to end Thereupon the corresponding connection is routed automatically if th...

Page 756: ...highlighted in light green 2 Drag the port segment to the required port while keeping the left mouse button pressed After releasing the mouse button the connection via port identifiers flags is create...

Page 757: ...the port and select the Add change connection command The Add change connection dialog box is displayed In a tree structure all inputs and outputs of the application are shown to which a connection is...

Page 758: ...re added to an already existing selection multi selection All connection lines are highlighted in red 2 Press Del How to delete port identifiers flags 1 Select the port identifiers to be deleted Selec...

Page 759: ...time The first function block inserted contains the order index 1 the next function block inserted contains the order index 2 etc The respective order index is displayed in the header of the function...

Page 760: ...d select the entry Manual selection in the Optimisation list field 3 Select the function block which is to receive a different position within the processing order If you click further function blocks...

Page 761: ...Moreover the separate technical objects e g port definition are copied Selected connections cannot be copied on their own The Paste command is available if the clipboard is not empty and if it was co...

Page 762: ...tion is also possible via the Enter button if at least one element is selected from the list for insertion The original layout and the relative position of the inserted blocks to each other are mainta...

Page 763: ...added In the Selection column you can check uncheck the elements to be added Connections are only inserted when the dialog box is closed which applies to all modules inserted so far They are displaye...

Page 764: ...ol scheme in the Control source list field Button Function Insert Add elements selected in the list to the target interconnection Only possible if at least one element in the list has been selected fo...

Page 765: ...on Function Accepting the interconnection from the device Add the interconnection in the device to the FB Editor The interconnection existing in the FB Editor will be overwritten by this action Transf...

Page 766: ...e page on four pages or not scaled Tip By clicking the icon in the FB Editor toolbar you can get a print view before printing How to print the interconnection 1 In the FB Editor toolbar click the icon...

Page 767: ...nnections dialog box is displayed 2 Select the interconnections to be compared in the project view represented on the left and right In order to execute a comparison with an online device select Onlin...

Page 768: ...dialog box Press Back Representation of the comparison result The comparison result is displayed in the form of a list in the FB interconnection comparison dialog box The symbols in the Toolbar serve...

Page 769: ...Show all Function is only available in expert mode Show general information Show summary Activate expert mode In the expert mode also non functional differences are shown Apply filter Only show list...

Page 770: ...interconnection to be copied in the project view 2 Select the command Application data Copy FB interconnections 3 Go to project view and select the application which is to be inserted into the copied...

Page 771: ...d the file name for the interconnection to be exported in the Export FB interconnection dialog box 3 Click Save to export the interconnection and close the dialog box How to import the interconnection...

Page 772: ...ls L_DigitalLogic_1 L_DigitalLogic_3 2 s provides a binary output signal which is generated by the logic combination of three input signals L_DigitalLogic_3 is available from version 11 00 00 L_GainOf...

Page 773: ...rsion 11 00 00 L_PCTRL_1 20 s is a PID controller and can be used for various control tasks L_PT1_1 1 s filters and delays analog signals L_RLQ_1 3 s links a selected direction of rotation to the QSP...

Page 774: ...Absolute_1 This FB converts a bipolar input signal into a unipolar output signal Inputs Outputs Identifier Data type Information possible settings nIn_a INT Input signal Identifier Data type Value mea...

Page 775: ...ted to 32767 Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input signal 1 This input is added nIn2_a INT Input signal 2 This input is added nIn3_a INT Input signal 3 Thi...

Page 776: ...s controlled via a boolean input signal Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input signal 1 nIn2_a INT Input signal 2 bSet BOOL Selection of the input signal fo...

Page 777: ...s controlled via a boolean input signal Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input signal 1 nIn2_a INT Input signal 2 bSet BOOL Selection of the input signal fo...

Page 778: ...s controlled via a boolean input signal Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input signal 1 nIn2_a INT Input signal 2 bSet BOOL Selection of the input signal fo...

Page 779: ...B L_And_1 Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 780: ...B L_And_2 Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 781: ...B L_And_3 Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 782: ...ts and the value output at the nOut_a output are internally limited to 32767 Division is not remainder considered Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input sig...

Page 783: ...er Possible settings Info C00338 Function selection 0 1 2 3 4 When the denominator has the value 0 it will be set to 1 5 nOut_a nIn1_a nOut_a nIn1_a nIn2_a nOut_a nIn1_a nIn2_a nOut_a nIn1_a nIn2_a 16...

Page 784: ...lts and the value output at the nOut_a output are internally limited to 32767 Division is not remainder considered Inputs Outputs Identifier Data type Information possible settings nIn1_a INT Input si...

Page 785: ...er Possible settings Info C00339 Function selection 0 1 2 3 4 When the denominator has the value 0 it will be set to 1 5 nOut_a nIn1_a nOut_a nIn1_a nIn2_a nOut_a nIn1_a nIn2_a nOut_a nIn1_a nIn2_a 16...

Page 786: ...ble settings nIn1_a INT Input signal 1 nIn2_a INT Input signal 2 Identifier Data type Value meaning bOut BOOL Status signal Comparison statement is true TRUE The statement of the selected comparison m...

Page 787: ...quals setpoint speed nact nset Use C00682 to set the window within which the equality is to apply Use C00681 to set a hysteresis if the input signals are not stable and the output oscillates 16 4 Func...

Page 788: ...on of rotation 16 6 Function 2 Switching performance Functional sequence 1 If the value at nIn1_a exceeds the value nIn2_a bOut changes from FALSE to TRUE 2 Only if the signal at nIn1_a falls below th...

Page 789: ...of rotation 16 8 Function 3 Switching performance Functional sequence 1 If the value at nIn1_a falls below the value at nIn2_a bOut changes from FALSE to TRUE 2 Only if the signal at nIn1_a exceeds t...

Page 790: ...tion serves to implement e g the comparison nact nx irrespective of the direction of rotation This function is similar to function 2 However the amount is generated by the input signals before signal...

Page 791: ...ut signal 1 nIn2_a INT Input signal 2 Identifier Data type Value meaning bOut BOOL Status signal Comparison statement is true TRUE The statement of the selected comparison mode is true Parameter Possi...

Page 792: ...ut signal 1 nIn2_a INT Input signal 2 Identifier Data type Value meaning bOut BOOL Status signal Comparison statement is true TRUE The statement of the selected comparison mode is true Parameter Possi...

Page 793: ...the bOut output where it is retained Identifier Data type Information possible settings bD BOOL Data input bClk BOOL Clock input Only FALSE TRUE edges are evaluated bClr BOOL Reset input TRUE The bOu...

Page 794: ...10 2011 If the bClr input TRUE Due to the priority bClr bClk bD the bOut output signal can be set any time to the FALSE status by the bClr input signal TRUE The output signal is kept in this status in...

Page 795: ...nother Inputs Outputs Parameter Identifier Data type Information possible settings bIn BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal time delayed input signal Parameter...

Page 796: ...lay the input signal bIn is output at bOut 3 A TRUE FALSE edge at bIn starts the internal timing element for the OFF delay 4 After the defined OFF delay the input signal bIn is output at bOut n ON del...

Page 797: ...from the input signals can be output Output of a constant binary value Logical ANDing of the inputs Logical ORing of the inputs Output depending on the combination of the input signals Inputs Outputs...

Page 798: ...on the parameterised truth table C00821 see truth table Truth table Each of the 8 possible input combinations can be assigned to the output value FALSE or TRUE bIn3 bIn2 bIn1 Output signal bOut FALSE...

Page 799: ...from the input signals can be output Output of a constant binary value Logical ANDing of the inputs Logical ORing of the inputs Output depending on the combination of the input signals Inputs Outputs...

Page 800: ...on the parameterised truth table C00829 see truth table Truth table Each of the 8 possible input combinations can be assigned to the output value FALSE or TRUE bIn3 bIn2 bIn1 Output signal bOut FALSE...

Page 801: ...ivision is not remainder considered Gain and offset are selected via FB inputs The value provided at the nOut_a output is internally limited to 199 99 Inputs Outputs Function Identifier Data type Info...

Page 802: ...ivision is not remainder considered Gain and offset are selected via FB inputs The value provided at the nOut_a output is internally limited to 199 99 Inputs Outputs Function Identifier Data type Info...

Page 803: ...ivision is not remainder considered Gain and offset are selected via FB inputs The value provided at the nOut_a output is internally limited to 199 99 Inputs Outputs Function Identifier Data type Info...

Page 804: ...o be transmitted by the setpoint source to ensure trouble free operation TRUE Current speed is zero Identifier Data type Value meaning dnPhOut_p DINT Output of the dnPhIn_p position setpoint which if...

Page 805: ...ignals Lenze setting Off Signal interpolation 805 0 Off 1 On C00950 2 Signal monitoring of the dnPhIn_p input signal Lenze setting Off Signal monitoring 806 0 Off 1 On C00951 1 65535 Number of interpo...

Page 806: ...applies This status signal needs to be transmitted by the setpoint source to ensure trouble free operation bSpeedAct0 FALSE means that the speed is not zero so an error is assumed The signal characte...

Page 807: ...og1Out and bJog2Out outputs To achieve the desired behaviour starting at high speed pre switch off at low speed both inputs must be set to TRUE Fixed setpoint 2 must be less than fixed setpoint 3 Othe...

Page 808: ...esponse in the L_NSet FB bInputSel1 bInputSel2 FALSE FALSE Pre switch off inactive No response The bRfgIn input signal is directly output at the bRfgOut output The bJogIn1 and bJogIn2 input signals ar...

Page 809: ...tiometer FALSE The value applied to nIn_a is output at nOut_a nln_a INT When bEnable FALSE the analog input signal nIn_ is switched to the nOut_a output bUp BOOL Approaching of the upper speed limit v...

Page 810: ...it value C00801 within the deceleration time Tif 3 The motor potentiometer output immediately changes to 0 Important for the emergency stop function 4 The motor potentiometer output immediately change...

Page 811: ...ut_a output signal is inside the limits set the output signal changes according to the control signals at bUp and bDown 16 11 Example Control of the motor potentiometer nOut_a t t TRUE FALSE bUp t TRU...

Page 812: ...via Function 16 12 Example Deactivation of the motor potentiometer when the Function 1 has been selected When the motor potentiometer is deactivated nOut_a is reduced to 0 with the deceleration time...

Page 813: ...at nOut_a is limited to 199 99 Division is not remainder considered Inputs Outputs Parameter Function Identifier Data type Information possible settings nIn1 INT Input signal Identifier Data type Valu...

Page 814: ...e the input signal is multiplied by the value 1 and is then output With the value 32768 at the nIn_a input the value 32767 is provided at the nOut_a output Inputs Outputs Identifier Data type Value me...

Page 815: ...L data type Inputs Outputs Identifier Data type Value meaning bIn BOOL Input signal Identifier Data type Value meaning bOut BOOL Result of the NOT operation negated input signal B1RWB E Q E2XW Identif...

Page 816: ...6 1 28 L_Not_3 This FB negates a signal of BOOL data type Inputs Outputs Identifier Data type Value meaning bIn BOOL Input signal Identifier Data type Value meaning bOut BOOL Result of the NOT operati...

Page 817: ...path With S shaped ramp PT1 rounding Setting and holding Internal limitation of the input signal 3 adjustable blocking zones Arithmetic function 15 fixed setpoints JOG setpoints 15 acceleration and de...

Page 818: ...TI1 bTI8 BOOL Selection inputs for alternative acceleration deceleration times for the main setpoint Selection inputs are binary coded nSet_a INT Starting value which is loaded into the main setpoint...

Page 819: ...tpoints JOG setpoints Lenze setting 0 00 C00101 1 15 0 000 s 999 900 Alternative acceleration times Tir for the main setpoint Lenze setting 0 000 s C00103 1 15 0 000 s 999 900 Alternative deceleration...

Page 820: ...ction of the maximum limit values for the blocking zones in which the speed must not be constant Lenze setting 0 00 C00633 1 3 0 00 199 99 Minimum limit values for the speed blocking zones Selection o...

Page 821: ...can be limited by using the following parameters C00635 MaxLimit default setting 199 99 C00636 MinLimit default setting 199 99 Selection inputs Main setpoint Main setpoint bJog8 bJog4 bJog2 bJog1 FAL...

Page 822: ...may be speeds during acceleration time which must be bridged very fast e g natural resonant frequencies The skip frequency function offers the opportunity to select a range in which the initial speed...

Page 823: ...6 13 Zone masking by means of parameterisable blocking zones The parameterised blocking zones have the same effect on negative input signals A blocking zone is deactivated by entering identical limit...

Page 824: ...0 xx During zero crossing of the speed setpoint 0 speed is output as setpoint It is possible to exclude 0 speed However in this case the output speed will remain on the upper limit value when the inp...

Page 825: ...nary coded selection inputs bTI1 bTI8 w1 w2 change of the main setpoint as a function of tir and tif RFG OUT output of the ramp function generator RFG OUT 100 w2 w1 t 0 t ir t ir Tir Tir Selection inp...

Page 826: ...C00101 15 C00103 15 CINH bLoad bRfg0 bRfgStop Function FALSE FALSE FALSE FALSE The ramp function generator follows the input value via the set ramps FALSE FALSE FALSE TRUE Stop the ramp function gener...

Page 827: ...imes The same applies when the controller is inhibited The following arithmetic combination of main setpoint and additional setpoint can be selected in C00190 16 1 29 9 Application example for the add...

Page 828: ...w Division is not remainder considered Offset and gain are selected via FB inputs The value provided at the nOut_a output is internally limited to 199 99 Inputs Outputs Function Identifier Data type I...

Page 829: ...w Division is not remainder considered Offset and gain are selected via FB inputs The value provided at the nOut_a output is internally limited to 199 99 Inputs Outputs Function Identifier Data type I...

Page 830: ...ed at the nOut_a output is internally limited to 199 99 Inputs Outputs Parameter Function Identifier Data type Information possible settings nIn_a INT Input signal Identifier Data type Value meaning n...

Page 831: ...ed at the nOut_a output is internally limited to 199 99 Inputs Outputs Parameter Function Identifier Data type Information possible settings nIn_a INT Input signal Identifier Data type Value meaning n...

Page 832: ...ed at the nOut_a output is internally limited to 199 99 Inputs Outputs Parameter Function Identifier Data type Information possible settings nIn_a INT Input signal Identifier Data type Value meaning n...

Page 833: ...FB L_Or_1 Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 834: ...FB L_Or_2 Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 835: ...L_Or_3 FB Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 836: ...L_Or_4 FB Identifier Data type Information possible settings bIn1 bIn2 bIn3 BOOL Input signal Identifier Data type Value meaning bOut BOOL Output signal Inputs Output bIn3 bIn2 bIn1 bOut FALSE FALSE F...

Page 837: ...the output signal Vp adaptation Integral action component can be switched off Comparison function Actual value setpoint Inputs Identifier Data type Information possible settings nAdapt_a INT Adaptatio...

Page 838: ...roller contained in the FB to a required value 199 99 199 99 Scaling 16384 100 Internal limitation to 199 99 Display parameter C00830 64 bEnableInfluenceRamp BOOL Activate ramp for influencing factor...

Page 839: ...00224 0 0 0 1 5 0 Differential component Kd Lenze setting 0 0 C00225 199 99 199 99 MaxLimit Maximum value of the PID operating range Lenze setting 199 99 C00226 199 99 199 99 MinLimit Minimum value of...

Page 840: ...ed as PID input values The arriving nNSet_a setpoint is additively linked to the value output by the PID element 5 nNSet nSet_PID nSet_a and nAct_a are used as PID input values The setpoint nNSet_a is...

Page 841: ...ows Integral action component I component The I component can be selected via the input nISet_a With a TRUE signal at bISet the assigned value is accepted in the PID controller Setting the adjustment...

Page 842: ...s are converted into the required Ti times according to the following formula The ramp function generator is immediately set to 0 by setting bInAct to TRUE 16 1 39 3 Operating range of the PID process...

Page 843: ...mparison function Actual value setpoint If setpoint and actual value are identical and there is no system deviation the bSetEqAct status output is set to TRUE The hysteresis of the comparison function...

Page 844: ...ation block TRUE The current output value is frozen The internal control algorithm is stopped However a setpoint selected via input nNSet_a is still provided in operating modes 0 1 4 5 bIOff BOOL Swit...

Page 845: ...time constant T of the first order delay element Identifier Data type Information possible settings nIn_a INT Input signal Identifier Data type Value meaning nOut INT Output signal Parameter Possible...

Page 846: ...e meaning bQSP BOOL Output signal for quick stop QSP bCwCcw BOOL Output signal for CW CCW rotation TRUE CCW rotation Inputs Outputs Notes bCw bCCw bCwCcw bQSP TRUE TRUE FALSE TRUE The inputs have this...

Page 847: ...767 nOut2_a INT Output signal Internal limitation to 32767 nOut3_a INT Output signal Internal limitation to 32767 nOut4_a INT Output signal Internal limitation to 32767 Parameter Possible settings Inf...

Page 848: ...meaning bOut1 bOut4 BOOL Output signal FALSE TRUE Parameter Possible settings Info C00411 1 C00411 4 Selection of the signal sources for bOut1 bOut4 0 Not connected 1000 LA_nCtrl_bDriveReady 1001 LA_...

Page 849: ...ts Parameter Identifier Data type Information possible settings bIn BOOL Input for edge evaluation The function depends on the selection of edge evaluation in C01138 1 Identifier Data type Value meani...

Page 850: ...tarts again from the beginning i e the bOut output can be retriggered 16 1 44 2 Function 1 Evaluate falling signal edges 16 25 Switching performance for function selection 1 Low edge Functional sequen...

Page 851: ...ange FALSE TRUE edge or TRUE FALSE edge at the bIn input sets the bOut output to TRUE 2 After the parameterised pulse duration has elapsed the bOut output is reset to FALSE unless another signal chang...

Page 852: ...type Information possible settings bIn BOOL Input for edge evaluation The function depends on the selection of edge evaluation in C01138 2 Identifier Data type Value meaning bOut BOOL Output retrigger...

Page 853: ...type Information possible settings bIn BOOL Input for edge evaluation The function depends on the selection of edge evaluation in C01138 3 Identifier Data type Value meaning bOut BOOL Output retrigger...

Page 854: ...type Information possible settings bIn BOOL Input for edge evaluation The function depends on the selection of edge evaluation in C01138 4 Identifier Data type Value meaning bOut BOOL Output retrigger...

Page 855: ...sFree_a Any four analog signals of the application can be displayed on display codes z z LS_DisFree_b Any eight digital signals of the application can be displayed on a bit coded display code z z LS_D...

Page 856: ...tripped Diagnostics error management 380 z z LS_SyncManagement Output of status information for synchronising the internal time base Synchronisation of the internal time base 506 z z LS_WriteParamList...

Page 857: ...terface to the digital output terminals For a detailed description see the main chapter I O terminals Internal interfaces System block LS_AnalogInput 280 For a detailed description see the main chapte...

Page 858: ...possible settings wDis1 wDis4 WORD From version 11 00 00 wC481_1 wC481_4_a Inputs for any 16 bit signal of the application Note From version 11 00 00 the inputs are named according to the display par...

Page 859: ...ote From version 11 00 00 the inputs are named according to the display parameter for an easier allocation Parameter Possible settings Info C00482 1 4 199 99 199 99 Display of the analog signals which...

Page 860: ...g the display Example 1 Input variable nDis1_a 100 Offset 1 C00484 1 0 Display factor 1 C00485 1 123 45 Text 1 C00486 1 bottles Example 2 Input variable nDis2_a 40 Offset 2 C00484 2 35 Display factor...

Page 861: ...cation Note From version 11 00 00 the inputs are named according to the display parameter for an easier allocation Parameter Possible settings Info C00480 0x0000 0xFFFF Display of the digital signals...

Page 862: ...e limit in motor mode set in C00728 1 Lenze setting 100 00 nTorqueGenLim INT Torque limit in generator mode set in C00728 2 Lenze setting 100 00 bSetSpeedCcw BOOL C00727 3 1 Request reversal nMainSetV...

Page 863: ...trol commands for keypad operation See the Outputs table for the meaning of the individual subcodes C00728 1 3 199 99 199 99 Analog values keypad Specification of various setpoints for keypad operatio...

Page 864: ...bTrue BOOL 1 TRUE nPos100_a INT 16384 100 nNeg100_a INT 16384 100 nPos199_99_a INT 32767 199 99 nNeg199_99_a INT 32767 199 99 w65535 WORD 65535 0xFFFF wDriveCtrl WORD 9 0x0009 Bit 0 SwitchOn TRUE Bit...

Page 865: ...ing wPar1 wPar4 WORD From version 11 00 00 wC471_1 wC471_4 Output of the 16 bit signals parameterised in C00471 1 4 Note From version 11 00 00 the outputs are named according to the respective setting...

Page 866: ...1_a nPar4_a INT From version 11 00 00 nC472_1_a nC472_4_a Output of the analog signals parameterised in C00472 1 4 Note From version 11 00 00 the outputs are named according to the respective setting...

Page 867: ...11 00 00 bC470_1 bC470_16 Output of the signal levels FALSE TRUE parameterised in C00470 1 16 Note From version 11 00 00 the outputs are named according to the respective setting parameter for an easi...

Page 868: ...ion signals Outputs Parameter Identifier Data type Value meaning dnC474_1_p dnC474_4_p DINT Output of the position signals parameterised in C00474 1 4 Parameter Possible settings Info C00474 1 4 21474...

Page 869: ...s nPar1_v nPar4_v INT From version 11 00 00 nC473_1_v nC473_4_v Output of the speed signals parameterised in C00473 1 4 Note From version 11 00 00 the outputs are named according to the respective set...

Page 870: ...wParSubindex inputs If cycle time C01091 0 ms Cyclic reading writing of the parameter value which has been addressed via the wParIndex and wParSubindex inputs TRUE FALSE Deactivate cyclic reading writ...

Page 871: ...TRUE An error has occurred group signal See display parameter C01092 for details wOutHWord wOutLWord WORD Value which was read DataHigh DataLow portion after read request Parameter Possible settings I...

Page 872: ...itted 33816 Writing of the parameter only permitted if controller is inhibited 33829 Invalid subcode 33865 No parameter with subcodes C01093 1 3 from version 06 00 00 Arithmetic mode Lenze setting 0 N...

Page 873: ...nverted via parameterisable factors Division is not remainder considered 16 28 Internal conversion for write access 16 29 Internal conversion for read access C01094 Numerator C01095 Denominator Parame...

Page 874: ...b10Hz BOOL Rectangular signal 10 Hz b2Hz BOOL Rectangular signal 2 Hz b1Hz BOOL Rectangular signal 1 Hz b1HzFlash BOOL 80 ms pulse repetition rate every second b2HzFlash BOOL 80 ms pulse repetition ra...

Page 875: ...of LOW level break For output bSquareWave Lenze setting 1000 ms C00400 2 0 ms 60000 Length of HIGH level For output bSquareWave Lenze setting 1000 ms C00400 3 from version 06 00 00 0 ms 60000 Delay of...

Page 876: ...its C00486 608 Configuration of the display parameters 860 Offset C00484 607 Application units display factor C00485 607 Application units C00487 608 Assigning digital inputs 636 Assigning signal sour...

Page 877: ...562 C166 562 C167 562 C168 562 C169 563 C170 563 C171 563 C173 563 C174 564 C175 564 C1751 688 C1752 688 C1755 688 C176 564 C1763 688 C1764 688 C1765 688 C177 564 C1770 688 C178 565 C179 565 C18 533...

Page 878: ...699 C2872 699 C2873 699 C2874 700 C2875 700 C2879 701 C29 535 C290 574 C291 574 C296 574 C297 574 C2994 701 C2995 701 C3 526 C301 575 C302 575 C304 575 C305 575 C306 575 C307 575 C308 575 C309 575 C31...

Page 879: ...5 865 C472 605 866 C473 606 869 C474 606 868 C480 606 861 C481 606 858 C482 607 859 C484 607 860 C485 607 860 C486 608 860 C487 608 860 C488 608 C495 609 C496 609 C497 609 C5 526 C50 537 C505 609 C507...

Page 880: ...638 C706 638 C71 540 C72 540 C720 638 795 C725 639 C726 639 C727 640 863 C728 640 863 C729 640 C73 541 C730 640 C731 640 C732 640 C734 641 C735 641 C736 641 C74 541 C740 641 C741 641 C742 641 C743 64...

Page 881: ...42 580 CAN error status C00345 582 CAN Heartbeat producer time C00381 591 CAN IN OUT COBID source C00353 584 CAN input words C00866 666 CAN management error configuration C00341 579 CAN MessageError C...

Page 882: ...tection C00507 610 Current setpoint filter band stop filter 189 Current switching frequency C00725 639 D Data type 519 Data type entry 725 DC braking Current C00036 536 Hold time C00107 546 DCB DC inj...

Page 883: ...erview 407 Error messages system bus 462 Error number 401 404 xx 0111 00002 409 xx 0111 00003 409 xx 0111 00004 409 xx 0111 00006 410 xx 0119 00000 410 xx 0119 00001 410 xx 0119 00015 410 xx 0119 0005...

Page 884: ...tpoint x L_NSet_1 n Fix C00039 536 Flying restart fct 200 Activation C00990 677 Current C00994 678 Integration time C00993 678 Process C00991 678 Start frequency C00992 678 Format error 469 FreqIn12 F...

Page 885: ...5 L_AnalogSwitch 776 L_AnalogSwitch_1 776 L_AnalogSwitch_2 777 L_AnalogSwitch_3 778 L_And 779 L_And_1 779 L_And_2 780 L_And_3 781 L_Arithmetik 782 L_Arithmetik_1 782 Function C00338 578 L_Arithmetik_2...

Page 886: ...C00245 572 Root function C00233 571 Tn C00223 569 Vp C00222 569 Window setpoint reached C00247 573 L_PT1 845 L_PT1_1 845 Time constant C00249 573 L_RLQ 846 L_RLQ_1 846 L_SignalMonitor_a 847 Offs gain...

Page 887: ...nt 508 LS_WriteParamList 509 Error line C01084 681 Error status C01083 681 Execute Mode C01082 680 Index C01085 681 WriteValue_1 C01086 681 WriteValue_2 C01087 682 WriteValue_3 C01088 682 WriteValue_4...

Page 888: ...36 596 oC1 Power section short circuit error message 412 oC10 Maximum current reached error message 412 oC11 Clamp operation active error message 414 oC12 I2xt overload brake resistor error message 41...

Page 889: ...saturation characteristic C02853 697 Maximum motor current field weakening C00938 671 PTC 236 R Rated device current C00098 545 Rated motor current C00088 543 Rated motor frequency C00089 544 Rated m...

Page 890: ...e address 432 Short overview of error messages 407 Show details about the current error 385 Show error details 385 Signal flow Energy saving V f characteristic control VFCplusEco 145 176 Sensorless ve...

Page 891: ...r I 1802 496 TPDO3 mapping parameter I 1A02 498 Transmission mode CAN Rx PDOs C00323 577 Transmission mode CAN TxPDOs C00322 577 Transmission type 451 U Ultimate motor current C00939 671 US01 User err...

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